A device for chemically repairing soil

Abstract

The present invention provides a device for chemically remediating soil, comprising a mobile body, one end of which is connected to a remediation construction component, and a surface-mounted spraying component comprising a chemical reagent tank, a control pump, and a spray head. The present invention not only solves the problem of the prior art in being unable to adjust the soil turning depth according to the pollution situation, but also can dynamically adjust the soil detection strategy and the chemical reagent spraying strategy according to real-time data. By generating specific action instructions and spraying instructions, the device can achieve precise control of soil remediation construction and chemical reagent spraying, thereby improving the remediation quality and effect.

Description

Technical Field

[0001] The present invention relates to the technical field of soil remediation, in particular to a device for remediating soil using a chemical method. Background Art

[0002] Soil remediation construction methods mainly include measures such as imported soil, soil replacement, and deep plowing. Imported soil refers to non-native soil that is moved from elsewhere to replace native soil. It usually refers to loam (sandy loam) or artificial soil with good texture. Other substances should be added to the replaced imported soil, such as fiber materials, which can increase the organic matter content of the imported soil and prevent soil particles from scattering; various fertilizers (inorganic and organic) to provide the nutrients needed for plant growth; soil conditioners (such as water-retaining agents, adhesives, and soil stabilizers) to improve the water retention of the imported soil and enhance the aggregate structure and stability.

[0003] The Chinese patent publication number CN113042362B discloses a soil remediation device, including a vibration device, the vibration device is symmetrical on both sides, and a fixed block is provided in each vibration device on both sides, and a vibration motor is provided in each vibration device on both sides to drive the fixed blocks on both sides to vibrate, a screen plate is provided between the fixed blocks on both sides, a sliding cavity is provided in the screen plate, a sliding plate is provided in the sliding cavity, a through-movable screening cavity is provided in the sliding plate, a plurality of rectangular arrays of mobile screening cavities are provided, a through-movable telescopic cavity is provided in the sliding plate, a plurality of rectangular arrays of telescopic cavities are provided, and each mobile screening cavity There is a telescopic cavity on one side of the telescopic cavity, and a push block is slidingly provided in the telescopic cavity. The push blocks are symmetrical on both sides and can quickly move the sliding plate to close the screen plate. While moving, the push block can be extended to push the blockage in the screen hole, thereby directly pushing the blockage out of the screen hole or pushing it to loosen it. At the same time, when the push block is extended, the side push block inside the push block is synchronously extended to further push the blockage, thereby improving the cleaning effect of the blockage. After the sieve hole is cleaned, the screen plate is driven by the motor to rotate 180 degrees, thereby driving the blockage to fall naturally, and the cleaning efficiency is high.

[0004] During actual use, the soil remediation equipment of the above patent cannot perform deep plowing on the land, which makes soil replacement troublesome, and cannot adjust the tillage depth according to the pollution situation, which makes soil remediation inconvenient. Therefore, it does not meet the existing needs. In this regard, we propose a device for chemically repairing soil. Summary of the Invention

[0005] The purpose of the present invention is to provide a device for chemically remediating soil. By accurately analyzing contaminated soil at different depths and generating targeted soil detection strategies based on this, the device further improves the accuracy of soil remediation by determining key treatment areas and depths based on the soil pollution status. The device dynamically adjusts the soil detection strategy and chemical reagent spraying strategy based on real-time data. By generating specific action instructions and spraying instructions, the device can achieve precise control of soil remediation construction and chemical reagent spraying, thereby improving the quality and effect of remediation and solving the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: a device for chemically remediating soil, comprising a mobile body, one end of which is connected to a remediation construction component, a surface of which is mounted a spray component, the spray component comprising a chemical reagent box, a control pump, and a spray head, the chemical reagent box being fixedly mounted within a fixed box, the spray heads being symmetrically arranged on both sides of the fixed box, and the control pump connecting the spray heads to the chemical reagent box via a pipeline;

[0007] The repair construction assembly includes an installation support plate, a soil-turning assembly, an adjustment assembly and a leveling assembly. The soil-turning assembly is installed on the installation support plate, the adjustment assembly is installed on the installation support plate, the adjustment assembly is docked with the soil-turning assembly, and the leveling assembly is provided at one end of the installation support plate.

[0008] Preferably, the soil turning assembly includes an inclined soil turning plow, a mounting support rod, a miter rod, a rear soil turning plow, a connecting column and a mounting shaft rod. One end of the mounting support rod and the miter rod are mounted on the mounting support plate through the mounting shaft rod. One end face of the inclined soil turning plow is connected to one end of the mounting support rod through the connecting column, and one end face of the rear soil turning plow is connected to the miter rod through the connecting column.

[0009] Preferably, the mounting support plate is sleeved on the adjustment column, the two ends of the adjustment column are respectively connected to the mounting bracket, one end of the mounting bracket is docked with the mobile vehicle body, a rotating motor is installed on the mounting bracket, the output end of the rotating motor is connected to the adjustment column, two soil-turning assemblies are provided, and the two soil-turning assemblies are respectively fixed on the upper and lower ends of the mounting support plate, and the two soil-turning assemblies are connected to the adjustment column through the adjustment assembly.

[0010] Preferably, the adjustment component includes an upper adjustment motor, a lower adjustment motor, an upper rotating rod, a lower rotating rod, an upper adjustment gear, a lower adjustment gear, an upper half-gear and a lower half-gear. The upper adjustment motor and the lower adjustment motor are both fixed inside the adjustment column. The output end of the upper adjustment motor is connected to the upper rotating rod. The upper adjustment gear is sleeved on the upper rotating rod. The lower adjustment gear is sleeved on the upper rotating rod. The upper half-gear is sleeved on the mounting shaft of the upper turning assembly, and the lower half-gear is sleeved on the mounting shaft of the lower turning assembly.

[0011] Preferably, notches are provided on both side end faces of the adjustment column, and one end of the upper adjustment gear and the lower adjustment gear are arranged on the outside of the adjustment column through the notches, the upper adjustment gear is engaged with the upper half gear, and the lower adjustment gear is engaged with the lower half gear.

[0012] Preferably, the turning assembly includes a connecting bracket, a turning motor, a turning rod, a connecting plate, a transverse rod and a soil plow. One end of the connecting bracket is docked with the mounting bracket. One end of the connecting bracket is installed with a turning motor. The output end of the turning motor is connected to the turning rod. The connecting plate is sleeved on the turning rod. One end of the connecting plate is connected to the transverse rod. A soil plow is installed on the transverse rod. There are multiple soil plows, and multiple soil plows are installed side by side on the transverse rod. A curved hook plow head for scraping soil is provided at the front end of the soil plow.

[0013] Preferably, it also includes:

[0014] The sensor module includes a pressure sensor, a depth sensor, and a toxicity detection sensor, which are used to detect pressure, detect soil depth, and detect the toxicity level of soil at different depths;

[0015] A signal receiving module is used to receive signals from the sensor module, including pressure signals, soil depth, and toxicity level data;

[0016] The analysis module is used to receive the signal transmitted by the signal receiving module, analyze and process the signal, extract key information such as soil depth and toxicity, and generate corresponding control instructions based on the analysis results;

[0017] The general processing module is used to obtain the status information of each control terminal and formulate the soil detection strategy and chemical reagent spraying strategy based on the control instructions and the status information of each control terminal;

[0018] The main drive module is used to convert the spraying strategy into a specific drive instruction and send the drive instruction to the motor control module and the motor control module according to the drive component type corresponding to the drive instruction;

[0019] A motor control module, configured to control the operation of a motor on the repair construction component based on a drive instruction generated by the overall drive module;

[0020] The reagent spraying module is used to coordinate and control the spraying components to spray chemical reagents based on the driving instructions generated by the main driving module.

[0021] Preferably, the general processing module formulates a soil detection strategy and a chemical reagent spraying strategy, specifically including:

[0022] Read the preset soil detection and chemical reagent spraying parameters, and receive data on soil depth and toxicity from the sensor module;

[0023] Obtain status information from each control terminal, including the working status of soil remediation construction components and spray components;

[0024] Determine the excavation depth and the scope of soil turning based on the received soil depth data; analyze the soil contamination status based on the toxicity data, identify the areas and depths that require key treatment, and generate a soil testing strategy;

[0025] Combining soil detection strategies and status information from each control terminal, the type and amount of chemical reagents to be applied are determined. Based on the toxicity of soil at different depths, the spraying intensity and frequency parameters are determined to generate a chemical reagent spraying strategy.

[0026] Generate specific control instructions based on the soil detection strategy and chemical reagent spraying strategy, including the action instructions of the soil remediation construction components and the spraying instructions of the spray components;

[0027] During the execution process, the system continuously receives real-time data from the sensor module and each control terminal. Based on the real-time data, it dynamically adjusts the soil detection strategy and chemical reagent spraying strategy. If any abnormal situation is found or the expected effect is not achieved, the operation will be stopped in time and troubleshooting and strategy optimization will be carried out.

[0028] Preferably, the number of motor control modules is the same as the number of motors on the repair construction assembly, and a motor control module is set in each motor. The main driving module controls the motor control modules to drive individual motors through signal instructions. The main processing module is connected to the display module, and a human-computer interaction interface is set on the display module.

[0029] The signal receiving module includes:

[0030] A pressure information receiving module, used for the signal receiving module to receive the pressure signal value transmitted by the sensor module 32 in real time;

[0031] a comparison module, configured to compare the currently received pressure signal value with the pressure signal value last transmitted by the sensor module after the signal receiving module receives the pressure signal value, to obtain a pressure value comparison result;

[0032] The sending judgment module is used for the signal receiving module to judge whether to send the currently received pressure signal value to the analysis module according to the pressure value comparison result.

[0033] Preferably, the sending judgment module includes:

[0034] a first judgment and transmission execution module, configured to not transmit the currently received pressure signal value to the analysis module when the pressure value comparison result indicates that the pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module is 0;

[0035] a second judgment and transmission execution module, configured to, when the pressure value comparison result indicates that the pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module is not zero, determine whether to send the currently received pressure signal value to the analysis module based on the pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module;

[0036] The second judgment and sending execution module includes:

[0037] an extraction module, configured to extract a pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module 32;

[0038] The first difference value judgment module is configured to not send the currently received pressure signal value to the analysis module when the pressure difference value is less than a first pressure difference threshold; wherein the first pressure difference threshold is set as follows:

[0039]

[0040] Among them, P 01 represents the first pressure difference threshold corresponding to the current soil remediation operation of the soil remediation construction equipment; m represents the number of times the sensor module has collected pressure signal values ​​during the current soil remediation operation of the soil remediation construction equipment; n represents the number of soil remediation operations completed by the soil remediation construction equipment; P ymin represents the minimum threshold value among multiple pressure thresholds set in the soil remediation construction equipment (the pressure threshold value is used when it is detected that the current pressure signal value exceeds the pressure threshold value); P ci represents the first pressure signal value collected by the sensor module during the i-th soil remediation operation; P j represents the pressure signal value collected by the sensor module for the jth time in the current soil remediation operation; P c Indicates the first pressure difference value collected by the sensor module during the current soil remediation operation;

[0041] The second difference value judgment module is used to store the currently received pressure signal value when the pressure difference value reaches or exceeds the first pressure difference threshold and does not exceed the second pressure difference threshold, and perform a cumulative calculation of the pressure value change in combination with the subsequent pressure signal values. When the current cumulative value of the pressure value change exceeds the second pressure difference threshold, the currently received pressure signal value, the subsequently collected pressure signal value, and the cumulative value of the pressure value change are simultaneously sent to the analysis module 35; wherein, the second pressure difference threshold is set in the following manner:

[0042]

[0043] Among them, P 02 Indicates the second pressure difference threshold corresponding to the current soil remediation operation of the soil remediation construction equipment; P 01 P represents the first pressure difference threshold corresponding to the current soil remediation operation of the soil remediation construction equipment; yi Indicates the value corresponding to the i-th pressure threshold among the multiple pressure thresholds set in the soil remediation construction equipment;

[0044] The third difference value judgment module is configured to directly send the currently received pressure signal value to the analysis module when the pressure difference value reaches or exceeds a second pressure difference threshold.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. The present invention connects the end face of one side of the rear plow with the miter rod through a connecting column, and the plow surface of the inclined plow and the plow surface of the rear plow are diagonally opposite to each other to form an angled surface, which is convenient for scraping into the soil and improving the plowing efficiency. The setting of the front and rear plow surfaces facilitates turning the soil while preventing the soil from sticking to the plow, reducing resistance and achieving rapid turning of the soil.

[0047] 2. The present invention is connected to the adjustment column at the output end of the rotating motor. Two soil-turning assemblies are provided, and the two soil-turning assemblies are respectively fixed on the upper and lower ends of the mounting support plate. The two soil-turning assemblies are connected to the adjustment column through the adjustment assembly. The rotating motor can drive the mounting support plate and the soil-turning assembly to turn over together. The soil-turning assembly can be replaced as needed to realize the two sets of soil-turning assemblies replacing each other to turn the soil back and forth.

[0048] 3. The present invention meshes the upper adjustment gear with the upper half-connected gear, and the lower adjustment gear with the lower half-connected gear. The upper adjustment motor drives the upper adjustment gear to rotate through the upper rotating rod, thereby driving the upper half-connected gear to rotate, and then drives the upper turning assembly to rotate. The lower adjustment motor drives the lower adjustment gear to rotate through the lower rotating rod, and then drives the lower turning assembly to rotate, thereby adjusting the turning depth of the turning assembly. The turning depth can be increased according to the degree of soil pollution, thereby improving the convenience and flexibility of adjustment and increasing the overall adaptability.

[0049] 4. The present invention installs a soil-moving plow on the transverse rod, and the turning motor drives the connecting plate and the transverse rod to rotate through the turning rod, thereby adjusting the soil-moving depth of the soil-moving plow, effectively turning the plowed soil, improving the uniformity of turning the soil, and quickly arranging the turned-up soil. There are multiple soil-moving plows, and multiple soil-moving plows are installed side by side on the transverse rod. A curved hook plowshare for scraping the soil is provided at the front end of the soil-moving plowshare, and both ends of the curved hook plowshare are inclined surfaces, which reduce resistance while moving the soil and prevent soil adhesion.

[0050] 5. By integrating various modules, the present invention achieves intelligent control of the soil remediation process. The depth sensor and toxicity detection sensor accurately detect the degree of soil toxicity at different depths, conduct precise analysis of contaminated soil at different depths, and generate targeted soil detection strategies accordingly. At the same time, the key treatment areas and depths are determined according to the soil pollution status, further improving the accuracy of soil remediation. The soil detection strategy and chemical reagent spraying strategy are dynamically adjusted based on real-time data. By generating specific action instructions and spraying instructions, the device can achieve precise control of soil remediation construction and chemical reagent spraying, thereby improving the quality and effectiveness of remediation and reducing the waste of chemical reagents and the potential impact on the surrounding environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0052] Figure 2 This is a schematic diagram of the repair construction assembly structure of the present invention;

[0053] Figure 3 This is a rear side view of the repair construction assembly structure of the present invention;

[0054] Figure 4 This is a schematic structural diagram of the soil turning assembly of the present invention;

[0055] Figure 5 This is a schematic diagram of the mounting support plate structure of the present invention;

[0056] Figure 6 This is a schematic diagram of the structure of the adjustment component of the present invention;

[0057] Figure 7An exploded view of the adjustment component structure of the present invention;

[0058] Figure 8 This is a schematic structural diagram of the stirring assembly of the present invention;

[0059] Figure 9 It is a schematic structural diagram of the spray assembly of the present invention;

[0060] Figure 10 It is the module principle diagram of the present invention;

[0061] Figure 11 This is a flow chart of the overall processing module of the present invention.

[0062] In the figure: 1. Mobile body; 11. Spray assembly; 111. Chemical reagent box; 112. Control pump; 113. Spray head; 114. Fixed box; 2. Repair construction assembly; 21. Mounting support plate; 211. Adjustment column; 2111. Notch; 212. Mounting bracket; 213. Rotating motor; 22. Soil turning assembly; 221. Inclined soil turning plow; 222. Mounting support rod; 223. Miter rod; 224. Rear turning plow; 225. Connecting column; 226. Mounting shaft rod; 23. Adjustment assembly; 231. Upper adjustment motor; 232. Lower adjustment motor; 233, upper rotating rod; 234, lower rotating rod; 235, upper adjustment gear; 236, lower adjustment gear; 237, upper half connecting gear; 238, lower half connecting gear; 24, evenly turning assembly; 241, connecting bracket; 242, flipping motor; 243, flipping rod; 244, connecting plate; 245, transverse rod; 246, soil plow; 31, signal receiving module; 32, sensor module; 33, motor control module; 34, main drive module; 35, analysis module; 36, main processing module; 37, reagent spraying module. DETAILED DESCRIPTION

[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0064] In order to solve the existing problem of being unable to deep plow the land, which leads to the trouble of changing the soil and the inconvenience of soil repair, please refer to Figure 1-Figure 5 , this embodiment provides the following technical solutions:

[0065] A device for chemically remediating soil includes a mobile body 1, one end of which is connected to a remediation construction component 2. A spray component 11 is mounted on the surface of the mobile body 1. The spray component 11 includes a chemical reagent box 111, a control pump 112, and a spray head 113. The chemical reagent box 111 is fixedly mounted in a fixed box 114, and the spray heads 113 are symmetrically arranged on both sides of the fixed box 1. The control pump 112 connects the spray heads 113 to the chemical reagent box 111 through a pipe. The chemical reagent in the chemical reagent box 111 is sprayed by the spray heads 113 onto the soil to be remediated based on the driving instructions received by the control pump 112.

[0066] The repair construction component 2 includes an installation support plate 21, a soil-turning component 22, an adjustment component 23 and a leveling component 24. The soil-turning component 22 is installed on the installation support plate 21, and the adjustment component 23 is installed on the installation support plate 21. The adjustment component 23 is docked with the soil-turning component 22, and a leveling component 24 is provided at one end of the installation support plate 21.

[0067] The tillage assembly 22 includes an inclined tillage plow 221, a mounting support rod 222, a miter rod 223, a rear tillage plow 224, a connecting column 225 and a mounting shaft rod 226. One end of the mounting support rod 222 and the miter rod 223 are mounted on the mounting support plate 21 through the mounting shaft rod 226. One end face of the inclined tillage plow 221 is connected to one end of the mounting support rod 222 through the connecting column 225, and one end face of the rear tillage plow 224 is connected to the miter rod 223 through the connecting column 225. The plow surface of the inclined tillage plow 221 and the plow surface of the rear tillage plow 224 are diagonally opposite to each other to form an angled surface, which is convenient for scraping into the soil and improving the tillage efficiency. The setting of the front and rear plow surfaces facilitates tillage while preventing soil from sticking to the tillage plow, reducing resistance and achieving rapid tillage.

[0068] The mounting support plate 21 is sleeved on the adjusting column 211, and both ends of the adjusting column 211 are respectively connected to the mounting bracket 212, and one end of the mounting bracket 212 is docked with the mobile body 1. A rotating motor 213 is installed on the mounting bracket 212, and the output end of the rotating motor 213 is connected to the adjusting column 211. Two soil-turning components 22 are provided, and the two soil-turning components 22 are respectively fixed on the upper and lower ends of the mounting support plate 21. The two soil-turning components 22 are connected to the adjusting column 211 through the adjusting component 23. The rotating motor 213 can drive the mounting support plate 21 and the soil-turning component 22 to flip together. The soil-turning component 22 can be replaced as needed to realize the two groups of soil-turning components 22 replacing each other to turn over the soil.

[0069] To solve the existing problem of not being able to adjust the tillage depth according to the pollution situation, please refer to Figure 6-Figure 7 , this embodiment provides the following technical solutions:

[0070] The adjustment assembly 23 includes an upper adjustment motor 231, a lower adjustment motor 232, an upper rotating rod 233, a lower rotating rod 234, an upper adjustment gear 235, a lower adjustment gear 236, an upper half gear 237 and a lower half gear 238. The upper adjustment motor 231 and the lower adjustment motor 232 are both fixed to the inside of the adjustment column 211. The output end of the upper adjustment motor 231 is connected to the upper rotating rod 233. The upper adjustment gear 235 is sleeved on the upper rotating rod 233. The lower adjustment gear 236 is sleeved on the upper rotating rod 233. The upper half gear 237 is sleeved on the mounting shaft 226 of the upper turning assembly 22. The lower half gear 238 is sleeved on the mounting shaft 226 of the lower turning assembly 22. The end surfaces of both sides of the adjustment column 211 are provided with slots 22. 111. One end of the upper adjusting gear 235 and the lower adjusting gear 236 are set on the outside of the adjusting column 211 through the slot 2111. The upper adjusting gear 235 is engaged with the upper half gear 237, and the lower adjusting gear 236 is engaged with the lower half gear 238. The upper adjusting motor 231 drives the upper adjusting gear 235 to rotate through the upper rotating rod 233, thereby driving the upper half gear 237 to rotate, and then driving the upper turning assembly 22 to rotate. The lower adjusting motor 232 drives the lower adjusting gear 236 to rotate through the lower rotating rod 234, and then drives the lower turning assembly 22 to rotate, thereby adjusting the turning depth of the turning assembly 22. The turning depth can be increased according to the degree of soil pollution, thereby improving the convenience and flexibility of adjustment and increasing the overall adaptability.

[0071] To solve the existing problem of not being able to level the soil after turning over, please refer to Figure 8 , this embodiment provides the following technical solutions:

[0072] The turning assembly 24 includes a connecting bracket 241, a turning motor 242, a turning rod 243, a connecting plate 244, a transverse rod 245 and a soil plow 246. One end of the connecting bracket 241 is docked with the mounting bracket 212. A turning motor 242 is installed at one end of the connecting bracket 241. The output end of the turning motor 242 is connected to the turning rod 243. The connecting plate 244 is sleeved on the turning rod 243. One end of the connecting plate 244 is connected to the transverse rod 245. A soil plow 246 is installed on the transverse rod 245. The turning motor 242 drives the connecting plate 244 and the transverse rod 245 to rotate through the turning rod 243, thereby adjusting the soil-turning depth of the soil plow 246, effectively turning the plowed soil, improving the uniformity of turning the soil, and quickly arranging the turned-up soil.

[0073] There are multiple soil plows 246, and multiple soil plows 246 are installed side by side on the transverse rod 245. The front end of the soil plow 246 is provided with a curved hook plowshare for scraping the soil. The two ends of the curved hook plowshare are inclined surfaces, which reduce resistance while moving the soil and prevent soil adhesion.

[0074] To solve the existing problem of being unable to control and adjust intelligently, please refer to Figure 9 , this embodiment provides the following technical solutions:

[0075] In this embodiment, it also includes:

[0076] The sensor module 32 includes a pressure sensor, a depth sensor, and a toxicity detection sensor, which are used to detect pressure, detect soil depth, and detect the toxicity level of soil at different depths;

[0077] The signal receiving module 31 is used to receive signals from the sensor module 32, including pressure signals, soil depth, and toxicity level data;

[0078] The analysis module 35 is used to receive the signal transmitted by the signal receiving module 31, analyze and process the signal, extract key information such as soil depth and toxicity, and generate corresponding control instructions based on the analysis results;

[0079] The general processing module 36 is used to obtain the status information of each control terminal and formulate the soil detection strategy and chemical reagent spraying strategy based on the control instructions and the status information of each control terminal;

[0080] The main driving module 34 is used to convert the spraying strategy into a specific driving instruction, and send the driving instruction to the motor control module 33 and the motor control module 33 according to the driving component type corresponding to the driving instruction;

[0081] The motor control module 33 is used to control the operation of the motor on the repair construction component 2 based on the driving instructions generated by the overall driving module 34;

[0082] The reagent spraying module 37 is used to coordinate and control the spraying component 11 to spray chemical reagents based on the driving instructions generated by the overall driving module 34.

[0083] In this embodiment, the general processing module 36 formulates a soil detection strategy and a chemical reagent spraying strategy, specifically including:

[0084] Reading preset soil detection and chemical reagent spraying parameters, and receiving soil depth and toxicity data from the sensor module 32;

[0085] Obtain status information from each control terminal, including the working status of the soil remediation construction component 2 and the spray component 11;

[0086] Determine the excavation depth and the scope of soil turning based on the received soil depth data; analyze the soil contamination status based on the toxicity data, identify the areas and depths that require key treatment, and generate a soil testing strategy;

[0087] Combining soil detection strategies and status information from each control terminal, the type and amount of chemical reagents to be applied are determined. Based on the toxicity of soil at different depths, the spraying intensity and frequency parameters are determined, generating a chemical reagent spraying strategy that helps reduce remediation costs and improve remediation efficiency.

[0088] Generate specific control instructions based on the soil detection strategy and chemical reagent spraying strategy, including action instructions for the soil remediation construction component, such as digging depth, turning speed, etc., and spraying instructions for the spray component 11, such as reagent type, spraying intensity, spraying frequency, etc.;

[0089] During the execution process, the system continuously receives real-time data from the sensor module 32 and each control terminal, and dynamically adjusts the soil detection strategy and chemical reagent spraying strategy based on the real-time data. If an abnormal situation is found or the expected effect is not achieved, the operation is stopped in time and troubleshooting and strategy optimization are carried out.

[0090] In this embodiment, by integrating various modules, intelligent control of the soil remediation process is achieved. The depth sensor and toxicity detection sensor accurately detect the degree of soil toxicity at different depths, accurately analyze the contaminated soil at different depths, and generate targeted soil detection strategies accordingly. At the same time, the key treatment areas and depths are determined according to the soil pollution status, further improving the accuracy of soil remediation, and dynamically adjusting the soil detection strategy and chemical reagent spraying strategy according to real-time data. By generating specific action instructions and spraying instructions, the device can achieve precise control of soil remediation construction and chemical reagent spraying, thereby improving the quality and effect of remediation, reducing the waste of chemical reagents and the potential impact on the surrounding environment. The real-time feedback mechanism enables the device to quickly respond to changing environmental and soil conditions, improving the adaptability and reliability of the device. At the same time, by continuously optimizing the strategy, the effect and quality of soil remediation are further improved.

[0091] In this embodiment, the total driving module 34 controls the motor control module 33 to drive a single motor through signal instructions. The total processing module 36 is connected to the display module. A human-computer interaction interface is provided on the display module. The user operates through the human-computer interaction interface. The total processing module 36 issues instructions to control a single or multiple motor control modules 33 through the total driving module 34, driving the repair construction component 2 to adjust the angle and depth. When turning the soil, the sensor module 32 detects the pressure borne by the turning component 22, and transmits the detected data to the analysis module 35 through the signal receiving module 31. By analyzing and calculating the data, the depth of the turning of the soil by the turning component 22 can be obtained, and effective adjustments can be made according to the calculation results, thereby improving the overall intelligence and facilitating precise adjustment.

[0092] Working principle: When using soil remediation construction equipment, according to Figure 1 、 Figure 2 and Figure 3 The rotating motor 213 can drive the mounting support plate 21 and the soil turning assembly 22 to turn over together, and the soil turning assembly 22 can be replaced as needed. Figure 4 The plowing surface of the inclined soil turning plow 221 and the plowing surface of the rear plow 224 are obliquely diagonal to form an angled surface, which is convenient for scraping into the soil and improving the plowing efficiency. Figure 5 、 Figure 6 and Figure 7 The upper adjustment motor 231 drives the upper adjustment gear 235 to rotate through the upper rotating rod 233, thereby driving the upper half gear 237 to rotate, and then driving the upper turning assembly 22 to rotate. The lower adjustment motor 232 drives the lower adjustment gear 236 to rotate through the lower rotating rod 234, and then drives the lower turning assembly 22 to rotate, thereby adjusting the turning depth of the turning assembly 22. Figure 8 The turning motor 242 drives the connecting plate 244 and the transverse rod 245 to rotate through the turning rod 243, thereby adjusting the soil-moving depth of the soil-moving plow 246. Figure 9 The user controls the operation through the human-computer interaction interface. The general processing module 36 issues instructions and controls a single or multiple motor control modules 33 through the general drive module 34 to drive the repair construction component 2 to adjust the angle and depth. When turning the soil, the sensor module 32 detects the pressure borne by the turning component 22 and transmits the detected data to the analysis module 35 through the signal receiving module 31. By analyzing and calculating the data, the depth of the turning of the soil by the turning component 22 can be obtained.

[0093] In one embodiment of the present invention, the signal receiving module 31 includes:

[0094] A pressure information receiving module, used for the signal receiving module 31 to receive the pressure signal value transmitted by the sensor module 32 in real time;

[0095] a comparison module configured to compare the currently received pressure signal value with the pressure signal value last transmitted by the sensor module 32 after the signal receiving module 31 receives the pressure signal value, to obtain a pressure value comparison result;

[0096] The sending judgment module is used for the signal receiving module 31 to judge whether to send the currently received pressure signal value to the analysis module 35 according to the pressure value comparison result.

[0097] The effect of the above technical solution is as follows: during the soil remediation process, the sensor module will detect the pressure signal as the soil turning component 22 operates. However, since the soil turning process has a high-frequency continuity, the signal transmitted by the sensor module will be a high-frequency continuity. However, during the soil turning depth adjustment process, the depth adjustment will not be performed until the pressure value reaches a certain value (i.e., the pressure threshold), and it is not necessary to adjust the soil turning depth according to each pressure signal detection. In this case, if each pressure signal is transmitted to the analysis module in real time, the analysis module will obtain the pressure signal in real time. When the pressure signal has no substantial effective effect on the soil turning depth adjustment, data analysis and processing will also be performed, resulting in an increase in the operating load of the analysis module. Therefore, it is necessary to perform preliminary screening and processing on the signal collected by the sensor module 32 by means of pressure signal processing through the signal receiving module. The pressure signal values ​​that are invalid for soil turning depth adjustment are not directly sent to the analysis module, thereby reducing the computing load of the analysis module.

[0098] Specifically, the sending judgment module includes:

[0099] a first judgment and transmission execution module, configured to not transmit the currently received pressure signal value to the analysis module 35 when the pressure value comparison result indicates that the pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module 32 is 0;

[0100] a second judgment and transmission execution module, configured to determine whether to send the currently received pressure signal value to the analysis module 35 based on the pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module 32 when the pressure value comparison result indicates that the pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module 32 is not zero;

[0101] The second judgment and sending execution module includes:

[0102] an extraction module, configured to extract a pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module 32;

[0103] The first difference value judgment module is configured to not send the currently received pressure signal value to the analysis module 35 when the pressure difference value is less than a first pressure difference threshold value; wherein the first pressure difference threshold value is set as follows:

[0104]

[0105] Among them, P 01represents the first pressure difference threshold corresponding to the current soil remediation operation performed by the soil remediation construction equipment; m represents the number of times the sensor module 32 has collected pressure signal values ​​during the current soil remediation operation performed by the soil remediation construction equipment; n represents the number of soil remediation operations completed by the soil remediation construction equipment; P ymin represents the minimum threshold value among multiple pressure thresholds set in the soil remediation construction equipment (the pressure threshold value is used when it is detected that the current pressure signal value exceeds the pressure threshold value); P ci represents the first pressure signal value collected by the sensor module 32 during the i-th soil remediation operation; P j represents the pressure signal value collected by the sensor module 32 for the jth time during the current soil remediation operation; P c Indicates the first pressure difference value collected by the sensor module 32 during the current soil remediation operation;

[0106] The second difference value judgment module is used to store the currently received pressure signal value when the pressure difference value reaches or exceeds the first pressure difference threshold and does not exceed the second pressure difference threshold, and perform a cumulative calculation of the pressure value change in combination with the subsequent pressure signal values. When the current cumulative value of the pressure value change exceeds the second pressure difference threshold, the currently received pressure signal value, the subsequently collected pressure signal value, and the cumulative value of the pressure value change are simultaneously sent to the analysis module 35; wherein, the second pressure difference threshold is set in the following manner:

[0107]

[0108] Among them, P 02 Indicates the second pressure difference threshold corresponding to the current soil remediation operation of the soil remediation construction equipment; P 01 P represents the first pressure difference threshold corresponding to the current soil remediation operation of the soil remediation construction equipment; yi Indicates the value corresponding to the i-th pressure threshold among the multiple pressure thresholds set in the soil remediation construction equipment;

[0109] The third difference value judgment module is configured to directly send the currently received pressure signal value to the analysis module 35 when the pressure difference value reaches or exceeds the second pressure difference threshold.

[0110] The effect of the above technical solution is: by combining the actual soil conditions of the current soil remediation operation with the above method, that is, by reflecting the basic soil conditions of the current soil remediation through the first pressure signal difference value, and setting the first pressure difference threshold and the second pressure difference threshold based on the actual soil conditions of the current soil remediation operation, the accuracy of screening the effective pressure signal values ​​for adjusting the soil turning depth can be effectively improved, thereby improving the accuracy of screening the effective pressure signal values ​​for adjusting the soil turning depth while minimizing the analysis load of the analysis module. At the same time, according to the above method, when the soil conditions are different in different soil remediation operations, the matching and adaptive adjustment performance of the first pressure difference threshold and the second pressure difference threshold with the actual conditions of the soil remediation operation can be improved, further improving the accuracy of screening the effective pressure signal values ​​for adjusting the soil turning depth.

[0111] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0112] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A device for chemically remediating soil, comprising a mobile vehicle, characterized in that: One end of the mobile body is connected to a repair construction component, and a spray component is installed on the surface of the mobile body. The spray component includes a chemical reagent box, a control pump and a spray head. The chemical reagent box is fixedly installed in the fixed box, and the spray heads are symmetrically arranged on both sides of the fixed box. The control pump connects the spray head to the chemical reagent box through a pipeline. The repair construction assembly includes an installation support plate, a soil turning assembly, an adjustment assembly and a smoothing assembly. The installation support plate is installed with a soil turning assembly, the installation support plate is installed with an adjustment assembly, the adjustment assembly is docked with the soil turning assembly, and one end of the installation support plate is provided with a smoothing assembly; The mounting support plate is sleeved on the adjustment column, and both ends of the adjustment column are connected to the mounting bracket respectively. One end of the mounting bracket is docked with the mobile vehicle body. A rotating motor is installed on the mounting bracket, and the output end of the rotating motor is connected to the adjustment column. Two soil turning assemblies are provided, and the two soil turning assemblies are respectively fixed to the upper and lower ends of the mounting support plate. The two soil turning assemblies are connected to the adjustment column through the adjustment assembly. The soil turning assembly includes an inclined soil turning plow, a mounting support rod, a miter rod, a rear turning plow, a connecting column and a mounting shaft rod, wherein one end of the mounting support rod and the miter rod are mounted on the mounting support plate through the mounting shaft rod, one end face of the inclined soil turning plow is connected to one end of the mounting support rod through the connecting column, and one end face of the rear turning plow is connected to the miter rod through the connecting column; The adjustment assembly includes an upper adjustment motor, a lower adjustment motor, an upper rotating rod, a lower rotating rod, an upper adjustment gear, a lower adjustment gear, an upper half gear and a lower half gear. The upper adjustment motor and the lower adjustment motor are both fixed inside the adjustment column. The output end of the upper adjustment motor is connected to the upper rotating rod. The upper adjustment gear is sleeved on the upper rotating rod. The lower adjustment gear is sleeved on the upper rotating rod. The upper half gear is sleeved on the mounting shaft rod of the upper turning assembly, and the lower half gear is sleeved on the mounting shaft rod of the lower turning assembly. Notches are provided on both side end surfaces of the adjustment column, and one end of the upper adjustment gear and the lower adjustment gear is arranged on the outside of the adjustment column through the notches. The upper adjustment gear is engaged with the upper half gear, and the lower adjustment gear is engaged with the lower half gear.

2. The device for chemically remediating soil according to claim 1, characterized in that: The turning assembly includes a connecting bracket, a turning motor, a turning rod, a connecting plate, a transverse rod and a soil plow. One end of the connecting bracket is connected to the mounting bracket, and the turning motor is installed at one end of the connecting bracket. The output end of the turning motor is connected to the turning rod. The connecting plate is sleeved on the turning rod, and one end of the connecting plate is connected to the transverse rod. The soil plow is installed on the transverse rod. There are multiple soil plows, and the multiple soil plows are installed side by side on the transverse rod. A curved hook plow head for scraping soil is provided at the front end of the soil plow.

3. The device for chemically remediating soil according to claim 2, characterized in that: Also includes: The sensor module includes a pressure sensor, a depth sensor, and a toxicity detection sensor, which are used to detect pressure, detect soil depth, and detect the toxicity level of soil at different depths; A signal receiving module is used to receive signals from the sensor module, including pressure signals, soil depth, and toxicity level data; The analysis module is used to receive the signal transmitted by the signal receiving module, analyze and process the signal, extract key information such as soil depth and toxicity, and generate corresponding control instructions based on the analysis results; The general processing module is used to obtain the status information of each control terminal and formulate the soil detection strategy and chemical reagent spraying strategy based on the control instructions and the status information of each control terminal; The main drive module is used to convert the spraying strategy into a specific drive instruction and send the drive instruction to the motor control module and the motor control module according to the drive component type corresponding to the drive instruction; A motor control module, configured to control the operation of a motor on the repair construction component based on a drive instruction generated by the overall drive module; The reagent spraying module is used to coordinate and control the spraying components to spray chemical reagents based on the driving instructions generated by the main driving module.

4. The device for chemically remediating soil according to claim 3, characterized in that: The general processing module formulates soil detection strategy and chemical reagent spraying strategy, specifically including: Read the preset soil detection and chemical reagent spraying parameters, and receive data on soil depth and toxicity from the sensor module; Obtain status information from each control terminal, including the working status of soil remediation construction components and spray components; Determine the excavation depth and the scope of soil turning based on the received soil depth data; analyze the soil contamination status based on the toxicity data, identify the areas and depths that require key treatment, and generate a soil testing strategy; Combining soil detection strategies and status information from each control terminal, the type and amount of chemical reagents to be applied are determined. Based on the toxicity of soil at different depths, the spraying intensity and frequency parameters are determined to generate a chemical reagent spraying strategy. Generate specific control instructions based on the soil detection strategy and chemical reagent spraying strategy, including the action instructions of the soil remediation construction components and the spraying instructions of the spray components; During the execution process, the system continuously receives real-time data from the sensor module and each control terminal, and dynamically adjusts the soil detection strategy and chemical reagent spraying strategy based on the real-time data. If any abnormal situation is found or the expected effect is not achieved, the operation will be stopped in time and troubleshooting and strategy optimization will be carried out.

5. The device for chemically remediating soil according to claim 4, characterized in that: The number of motor control modules is the same as the number of motors on the repair construction assembly, and each motor is provided with a motor control module. The overall driving module controls the motor control modules to drive individual motors through signal instructions. The overall processing module is connected to the display module, and a human-computer interaction interface is provided on the display module. The signal receiving module includes: A pressure information receiving module, configured for the signal receiving module to receive the pressure signal value transmitted by the sensor module in real time; a comparison module, configured to compare the currently received pressure signal value with the pressure signal value last transmitted by the sensor module after the signal receiving module receives the pressure signal value, to obtain a pressure value comparison result; The sending judgment module is used for the signal receiving module to judge whether to send the currently received pressure signal value to the analysis module according to the pressure value comparison result.

6. The device for chemically remediating soil according to claim 5, characterized in that: The sending judgment module includes: a first judgment and sending execution module, configured to not send the currently received pressure signal value to the analysis module when the pressure value comparison result indicates that the pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module is ; a second judgment and sending execution module, configured to, when the pressure value comparison result indicates that the pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module is not, determine whether to send the currently received pressure signal value to the analysis module based on the pressure difference between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module; The second judgment and sending execution module includes: an extraction module, configured to extract a pressure difference value between the currently received pressure signal value and the pressure signal value last transmitted by the sensor module; The first difference value judgment module is configured to not send the currently received pressure signal value to the analysis module when the pressure difference value is less than a first pressure difference threshold; wherein the first pressure difference threshold is set as follows: ； Among them, P 01 represents the first pressure difference threshold corresponding to the current soil remediation operation of the soil remediation construction equipment; m represents the number of times the sensor module has collected pressure signal values ​​during the current soil remediation operation of the soil remediation construction equipment; n represents the number of soil remediation operations completed by the soil remediation construction equipment; P ymin Indicates the minimum threshold value among multiple pressure thresholds set in the soil remediation construction equipment; P ci represents the first pressure signal value collected by the sensor module during the i-th soil remediation operation; P j represents the pressure signal value collected by the sensor module for the jth time in the current soil remediation operation; P c Indicates the first pressure difference value collected by the sensor module during the current soil remediation operation; The second difference value judgment module is configured to store the currently received pressure signal value when the pressure difference value reaches or exceeds the first pressure difference threshold and does not exceed the second pressure difference threshold, and perform cumulative pressure value change calculation in combination with subsequent pressure signal values. When the current cumulative pressure value change exceeds the second pressure difference threshold, the currently received pressure signal value, the subsequently collected pressure signal value, and the cumulative pressure value change are simultaneously sent to the analysis module; wherein the second pressure difference threshold is set in the following manner: ； Among them, P 02 Indicates the second pressure difference threshold corresponding to the current soil remediation operation of the soil remediation construction equipment; P 01 P represents the first pressure difference threshold corresponding to the current soil remediation operation of the soil remediation construction equipment; yi Indicates the value corresponding to the i-th pressure threshold among the multiple pressure thresholds set in the soil remediation construction equipment; The third difference value judgment module is configured to directly send the currently received pressure signal value to the analysis module when the pressure difference value reaches or exceeds a second pressure difference threshold.

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