Transfer system for multi-layer underground space

Abstract

The invention discloses a transfer system for a multi-layer underground space, and the system comprises a central control system which is located on a ground layer and is used for formulating an operation program of a transfer robot; the transfer robot is used for transferring the garbage cans in the multi-layer underground space, the transfer robot carries Wi-Fi positioning equipment, and the Wi-Fi positioning equipment is connected with the central control system through a Wi-Fi positioning system located in the multi-layer underground space; the lifting platform is located in the lifting channel of the multi-layer underground space and used for transferring the transfer robot to all the underground layers and the ground layer of the multi-layer underground space. The trackless transfer robot positioned by Wi-Fi is used for carrying out transfer operation, and inspection or transportation operation can be completed according to requirements, so that the problems that a transfer system in a multi-layer underground space is large in occupied area, low in conveying efficiency, low in automation degree and single in operation function are solved.

Description

Technical Field

[0001] The invention relates to the field of operation and maintenance of underground sewage treatment plants, and in particular to a transfer system for multi-layer underground spaces. Background Art

[0002] In underground sewage treatment plants, sludge transfer is one of the important links in sewage treatment. However, sludge concentration and dehydration equipment is generally installed in the underground layer, and large transport vehicles are required to enter the underground floor to load sludge. Accordingly, the underground space needs to be designed with a turning channel that meets the turning radius of the transport vehicle, and the load and column network design of the underground space also need to meet the needs of the transport vehicle. In addition, the transport vehicle driver is easily exposed to the dangerous environment of the underground space, which greatly increases the civil engineering investment and operation and management difficulty of the underground sewage treatment plant.

[0003] In the related art, a single-stage / multi-stage conveying mechanism is usually used to transport the sludge to the ground floor or underground floor of the sewage treatment plant in advance to solve the above-mentioned problems. However, the power of the single-stage conveying mechanism is not enough to lift the sludge to the target floor, and the multi-stage conveying mechanism faces technical problems such as large footprint, frequent failures, and poor stability. On this basis, the invention patent with publication number CN110641937A provides a sludge transfer system and method for underground sewage treatment plants. By setting a conveying track on the underground floor of the sewage treatment plant and connecting a transfer unit and a mobile flat car, the sludge box is loaded onto the mobile flat car and transported to a transport vehicle located on the underground floor or the ground floor via the transfer unit. However, this improved technical solution still has many problems:

[0004] (1) It occupies a large area, which affects the underground working space. Since multiple tracks need to be laid on each underground floor, the area occupied by the transfer system is still very large, which hinders the operation routes of underground transportation, inspection and other operations;

[0005] (2) The system's transfer efficiency is low. Although the transfer system is equipped with multiple material receiving units, there is only one track that can dock with the transport vehicle, and the transportation efficiency is very low. When the mobile flat car needs to turn, it needs to align its position on the track turntable and wait for the turntable to rotate to the appropriate angle and successfully dock with the main track before it can continue to move, further reducing the transportation efficiency. In addition, when it comes to cross-floor transfer, only a lifting platform is set at the loading and unloading position track, and the transfer units at each unloading position on each floor can only perform the transfer of one sludge box at the same time;

[0006] (3) The system is not sufficiently automated. The track steering wheel of the above technical solution needs to be operated manually, which increases the risk of personnel working in underground spaces;

[0007] (4) The system has a single operating function. In the above technical solution, the track setting and the route of the material receiving flat car are relatively fixed, which limits the coverage of the system. At the same time, the mobile flat car is bound to the sludge box and the sludge conveying mechanism, making it difficult to complete underground inspection, transportation and other operations, resulting in a waste of resources.

[0008] Therefore, there is an urgent need to provide an improved transfer system that can solve the problems of large footprint, low transportation efficiency, low degree of automation, and single operating function of the transfer system in multi-story underground spaces. Summary of the invention

[0009] The present invention aims to provide a transfer system for a multi-layer underground space, which can solve the above-mentioned technical problems.

[0010] According to one aspect of the present invention, there is provided a transfer system for a multi-story underground space, comprising: a central control system, located on the ground floor, for formulating an operating procedure for a transfer robot; the transfer robot, for transferring garbage bins in the multi-story underground space, wherein the transfer robot carries a Wi-Fi positioning device, and the Wi-Fi positioning device is connected to the central control system via the Wi-Fi positioning system located in the multi-story underground space; and a lifting platform, located in the lifting passage of the multi-story underground space, for transferring the transfer robot to each underground floor and the ground floor of the multi-story underground space.

[0011] Preferably, the transfer robot is provided with an inspection module, and the inspection module transmits the inspection data of the multi-layer underground space to the central control system in real time via the Wi-Fi positioning system.

[0012] Preferably, the transfer system also includes: a plurality of sensing identification devices, located at the partition walls of the multi-story underground space and at the entrances and exits of the empty barrel storage room, the full barrel storage room, the unloading room and the lifting passage, for identifying the transfer robot and controlling the corresponding opening and closing of the electric door.

[0013] Preferably, the transfer system also includes: a unloading unit and a loading unit, wherein: the unloading unit is located in the unloading room, and is used to unload the sludge, grating, scum and grit into the trash can and determine the full state of the trash can; the unloading unit also controls the opening and closing of the unloading port accordingly according to the full state and the bucket changing action of the transfer robot; the loading unit is located on one side of the transport vehicle, and is used to transfer the sludge, grating, scum and grit in the transferred trash can to the transport vehicle and determine the full load state of the transport vehicle; the loading unit also controls the start and stop of the loading equipment accordingly according to the full load state.

[0014] Preferably, the electric door, the unloading unit, the loading unit, and the staff and working equipment of the multi-story underground space are all equipped with the Wi-Fi positioning device, and the Wi-Fi positioning device is connected to the central control system through the Wi-Fi positioning system; the Wi-Fi positioning system covers the Wi-Fi signal to the multi-story underground space via n Wi-Fi access points; the number n of the Wi-Fi access points is: Wherein, V is the volume of the multi-layer underground space, r0 is the signal propagation radius when the signal strength of the Wi-Fi access point is equal to the edge field strength, and π is the pi.

[0015] Preferably, the central control system can perform support vector machine operation to determine the position information of the transfer robot, wherein the feature vector collected by the support vector machine operation is: i =[RSSI1,RSSI2,...,RSSI n ,d1,d2,...,d n ,M1,M2,...,M n ], where x i For this feature vector, RSSI n ,d n 、M n are the signal strength, estimated distance and multipath effect parameters of the nth Wi-Fi access point in the Wi-Fi positioning system respectively; the regression function of the support vector machine operation is: f(x)=<ω,φ(x i )>+b, where ω and b are the bias vector and weight vector of the regression function, respectively, φ(x i ) is a function that maps the feature vector to feature space; the objective function of the support vector machine operation is: Among them, C is the penalty parameter of the operation, ξ i and are slack variables for positive and negative deviations exceeding the error tolerance parameter ε; the inequality constraints derived from this objective function are:

[0016]

[0017] Among them, y i is the position coordinate of the transfer robot output by the support vector machine operation, and ε is the error tolerance parameter.

[0018] Preferably, the support vector machine operation uses a radial basis kernel function to implicitly process the inequality constraint, and the formula of the kernel function is: Among them, e is a natural number, γ is the kernel function parameter, and xi and x j are two arbitrary eigenvectors.

[0019] Preferably, the initial value of the penalty parameter C is 1, and the initial value of the kernel function parameter γ is

[0020] The present invention provides a transfer system for multi-layer underground space, including: a central control system, located on the ground floor, used to formulate the operation program of the transfer robot; the transfer robot, used to transfer the garbage cans in the multi-layer underground space, wherein the transfer robot carries a Wi-Fi positioning device, and the Wi-Fi positioning device is connected to the central control system via the Wi-Fi positioning system located in the multi-layer underground space; a lifting platform, located in the lifting channel of the multi-layer underground space, used to transfer the transfer robot to each underground layer and the ground layer of the multi-layer underground space. The trackless transfer robot with Wi-Fi positioning is used for transfer operations, and inspection or transportation operations can also be completed according to demand, thereby solving the problems of large footprint, low transportation efficiency, low degree of automation, and single operation function of the transfer system in the multi-layer underground space. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 is a schematic diagram of a discharging system for a multi-layer underground space transfer system according to an embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of a transfer working condition system of a transfer system for a multi-layer underground space according to an embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of a transport and inspection system for a multi-layer underground space transfer system according to an embodiment of the present invention; and

[0025] Figure 4 It is a schematic diagram of the operation flow of a transfer system for a multi-layer underground space according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] Figure 1 and Figure 2The schematic diagrams of the unloading working condition system and the transfer working condition system of a transfer system for a multi-story underground space according to an embodiment of the present invention are respectively shown. As shown in the figure, the transfer system includes: a central control system, located on the ground floor, for formulating the operation program of the transfer robot; the transfer robot, for transferring the garbage cans in the multi-story underground space, wherein the transfer robot carries a Wi-Fi positioning device, and the Wi-Fi positioning device is connected to the central control system via the Wi-Fi positioning system located in the multi-story underground space; a lifting platform, located in the lifting channel of the multi-story underground space, for transferring the transfer robot to each underground floor and the ground floor of the multi-story underground space.

[0028] In the related art, a track robot is used to connect the sludge conveying mechanism for transfer operations, but the track robot transfer system needs to lay multiple tracks, so the area occupied is very large, which hinders the operation routes of underground transportation, inspection and other operations. At the same time, due to the limitations of the track layout, the system's transfer efficiency is not high, the degree of automation is insufficient, and other types of underground operations cannot be completed. The embodiment of the present invention provides a transfer system for multi-layer underground space, which uses a trackless transfer robot with Wi-Fi positioning to perform transfer operations, and can also complete inspection or transportation operations according to needs, thereby solving the problems of large area occupation, low transportation efficiency, low degree of automation, and single operation function of the transfer system in multi-layer underground space.

[0029] According to an embodiment of the present invention, the transfer system also includes: a plurality of sensing identification devices, located at the partition walls of the multi-story underground space and at the entrances and exits of the empty barrel storage room, the full barrel storage room, the unloading room and the lifting passage, for identifying the transfer robot and controlling the corresponding opening and closing of the electric door.

[0030] In underground sewage treatment plants, sewage treatment will produce odors with complex components, which will affect the living environment and quality of life of the surrounding residents. Therefore, the sewage treatment plant area needs to be kept in a relatively closed state. The embodiment of the present invention provides a transfer system for multi-layer underground spaces, in which an inductive electric door is set at each entrance and exit through which a transfer robot passes, ensuring that the electric door is opened only when the transfer robot passes, effectively preventing the odor from escaping.

[0031] According to an embodiment of the present invention, the transfer system also includes: a unloading unit and a loading unit, wherein: the unloading unit is located in the unloading room, and is used to unload the sludge, grating, scum and grit into the trash can and determine the full state of the trash can; the unloading unit also controls the corresponding opening and closing of the unloading port according to the full state and the bucket changing action of the transfer robot; the loading unit is located on one side of the transport vehicle, and is used to transfer the sludge, grating, scum and grit in the transferred trash can to the transport vehicle and determine the full load state of the transport vehicle; the loading unit also controls the corresponding start and stop of the loading equipment according to the full load state.

[0032] During the transfer process, the transfer robot needs to dock with the unloading system in the unloading room and the loading system at the transport vehicle. If the unloading and loading units suitable for docking are not designed, sludge and garbage will be spilled, seriously polluting the environment. The embodiment of the present invention provides a transfer system for multi-story underground spaces. By designing a controllable unloading unit and loading unit, the unloading and loading operations can be braked according to the full and full states of the garbage bin and the transport vehicle and the operating state of the transfer robot, thereby preventing the spillage of sludge and garbage.

[0033] According to an embodiment of the present invention, the electric door, the unloading unit, the loading unit, and the staff and working equipment of the multi-story underground space are all equipped with the Wi-Fi positioning device, and the Wi-Fi positioning device is connected to the central control system through the Wi-Fi positioning system; the Wi-Fi positioning system covers the Wi-Fi signal to the multi-story underground space via n Wi-Fi access points; the number n of the Wi-Fi access points is: Wherein, V is the volume of the multi-layer underground space, r0 is the signal propagation radius when the signal strength of the Wi-Fi access point is equal to the edge field strength, and π is the pi.

[0034] In the related art, the control platform of the transfer system can usually only control the movement of the transfer robot in a single way, and cannot automatically determine the location of other personnel and equipment in the underground space and complete obstacle avoidance actions, which can easily cause safety accidents or damage to valuable instruments and equipment. The embodiment of the present invention provides a transfer system for multi-layer underground space. By equipping all personnel and work equipment inside the multi-layer underground space with Wi-Fi positioning devices and covering the underground space with Wi-Fi signals, the central control system can uniformly manage the real-time positioning information of the personnel equipment, and automatically plan the obstacle avoidance actions and routes during the operation through the positioning information, solving the technical problems of high risks of safety accidents and equipment damage in traditional transfer systems.

[0035] According to an embodiment of the present invention, the central control system can perform support vector machine operation to determine the position information of the transfer robot, wherein the feature vector collected by the support vector machine operation is: i =[RSSI1,RSSI2,...,RSSI n ,d1,d2,...,d n ,M1,M2,...,M n ], where x i For this feature vector, RSSI n ,d n 、M nare the signal strength, estimated distance and multipath effect parameters of the nth Wi-Fi access point in the Wi-Fi positioning system respectively; the regression function of the support vector machine operation is: f(x)=<ω,φ(x i )>+b, where ω and b are the bias vector and weight vector of the regression function, respectively, φ(x i ) is a function that maps the feature vector to feature space; the objective function of the support vector machine operation is: Among them, C is the penalty parameter of the operation, ξ i and are slack variables for positive and negative deviations exceeding the error tolerance parameter ε; the inequality constraints derived from this objective function are:

[0036]

[0037] Among them, y i is the position coordinate of the transfer robot output by the support vector machine operation, and ε is the error tolerance parameter.

[0038] According to an embodiment of the present invention, the support vector machine operation uses a radial basis kernel function to implicitly process the inequality constraint, and the formula of the kernel function is: Among them, e is a natural number, γ is the kernel function parameter, and x i and x j are two arbitrary eigenvectors.

[0039] According to an embodiment of the present invention, the initial value of the penalty parameter C is 1, and the initial value of the kernel function parameter γ is

[0040] In the related art, when a Wi-Fi positioning system is used to position a transfer robot, due to the complex underground space environment, Wi-Fi will be affected by multiple adverse effects such as multipath reflection, noise interference, and signal attenuation, which ultimately results in a large positioning error and a positioning accuracy that is difficult to meet operational requirements. An embodiment of the present invention provides a transfer system for a multi-layer underground space, which is applied to underground spaces where Wi-Fi signals are unstable. In order to enable the Wi-Fi signal to cover the entire underground space, an embodiment of the present invention provides the required number of Wi-Fi access points under the assumption that Wi-Fi access points are evenly distributed. At the same time, the central control system limits the range of positioning errors based on the support vector machine algorithm, improves the accuracy of Wi-Fi positioning, and ultimately reduces the negative impact of the complex underground environment on the Wi-Fi positioning of the transfer robot.

[0041] Figure 3A schematic diagram of a transport and inspection system for a transfer system for a multi-layer underground space according to an embodiment of the present invention is shown. As shown in the figure, the transfer robot is provided with an inspection module, and the inspection module transmits the inspection data of the multi-layer underground space to the central control system in real time via the Wi-Fi positioning system.

[0042] In the related art, the transfer robot is limited by the structure and track layout, and it is difficult to reach other workshops or other floors in the multi-story underground space. Therefore, inspection, transportation and other operations still need to configure a new work system. The embodiment of the present invention provides a transfer system for multi-story underground space. The transfer robot itself has the function of transporting other items, and can transport items to the designated location of the underground space according to the instructions of the central control system. After the inspection module is integrated, since it is not restricted by the track, the transfer robot can move to any workshop or floor for inspection operations, which solves the technical problems of the traditional transfer system with single function and serious waste of resources.

[0043] Figure 4 A schematic diagram of the operation flow of a transfer system for a multi-story underground space according to another embodiment of the present invention is shown. As shown in the figure, the transfer method includes the following steps: the transfer robot enters the full bucket storage room according to the operation program formulated by the central control system; after the garbage can in the full bucket storage room is transferred to the transfer robot, the transfer robot leaves the full bucket storage room; the transfer robot rises to the ground floor via the lifting platform and moves to the loading unit on one side of the transport vehicle; after the sludge, grating, floating slag and sediment in the garbage can are transferred to the transport vehicle by the loading unit, the transfer robot returns to standby.

[0044] According to an embodiment of the present invention, before the transfer robot enters the full barrel storage room, the following steps are also included: the transfer robot enters the empty barrel storage room according to the operating procedure formulated by the central control system; the transfer robot transfers the garbage can in the empty barrel storage room to below the unloading port of the unloading room; the transfer robot loads the garbage can in the unloading room that is judged to be in a full barrel state by the unloading unit; the transfer robot transfers the garbage can in the full barrel state to the full barrel storage room.

[0045] The present invention has the following effects:

[0046] (1) It has a wide range of uses and can be used in underground water plants, underground tunnels, underground confined spaces and other multi-layer underground places.

[0047] (2) It can realize unmanned operation and remote automatic unloading and transfer.

[0048] (3) It can operate in various places where it is not suitable for people to enter or stay for a long time.

[0049] (4) It can facilitate the transportation of various equipment and reduce the labor intensity of personnel.

[0050] (5) The unmanned inspection function can reduce the ventilation and deodorization load of the underground space and reduce operating costs.

[0051] (6) It can reduce the turning passages and civil engineering loads required for large vehicles in underground spaces, thus saving project investment.

[0052] (7) All screen residue, sludge and garbage are transported using sealed equipment and closed spaces, which is conducive to system odor control.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A transfer system for multi-layer underground space, characterized in that: include: The central control system, located on the ground floor, is used to formulate the operation procedures of the transfer robot; The transfer robot is used to transfer the garbage cans in the multi-story underground space, wherein the transfer robot carries a Wi-Fi positioning device, and the Wi-Fi positioning device is connected to the central control system via a Wi-Fi positioning system located in the multi-story underground space. The transfer system uses the trackless transfer robot positioned by WiFi to perform transfer operations, thereby realizing unmanned operation and remote automatic unloading and transfer; A lifting platform, located in the lifting passage of the multi-story underground space, and used to transfer the transfer robot to each underground floor and the ground floor of the multi-story underground space; A plurality of sensing and identifying devices are located at the partition walls of the multi-story underground space and at the entrances and exits of the empty barrel storage room, the full barrel storage room, the unloading room and the lifting passage, and are used to identify the transfer robot and control the corresponding opening and closing of the electric door; A discharge unit is located in the discharge room, and is used to discharge the sludge, screen residue, floating slag and sediment into the trash can and judge the fullness of the trash can; the discharge unit also controls the opening and closing of the discharge port according to the fullness and the bucket changing action of the transfer robot; The loading unit is located on one side of the transport vehicle and is used to transfer the sludge, the grating, the floating slag and the sediment in the transported garbage bin to the transport vehicle and determine the full load status of the transport vehicle. The loading unit also controls the start and stop of the loading equipment according to the full load status; wherein, The electric door, the unloading unit, the loading unit, and the staff and working equipment in the multi-story underground space are all equipped with the Wi-Fi positioning device, and the Wi-Fi positioning device is connected to the central control system through the Wi-Fi positioning system; The Wi-Fi positioning system covers the Wi-Fi signal to the multi-layer underground space via n Wi-Fi access points; The number n of Wi-Fi access points is: Wherein, V is the volume of the multi-layer underground space, r0 is the signal propagation radius when the signal strength of the Wi-Fi access point is equal to the edge field strength, and π is pi; The central control system can perform support vector machine operations to determine the position information of the transfer robot, wherein: The feature vector collected by the support vector machine operation is: <h2 style=";text-align:left;direction:ltr">x<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> ([RSSI1,RSSI2,...,RSSI<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> d1,d2,...,d<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> ,M1,M2,...,M<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> ] Among them, x i is the feature vector, RSSI n ,d n 、M n are respectively the signal strength, estimated distance and multipath effect parameter of the nth Wi-Fi access point in the Wi-Fi positioning system; The regression function of the support vector machine operation is: f(x)=<ω,φ(x i )>+b Among them, ω and b are the bias vector and weight vector of the regression function respectively, φ(x i ) is a function that maps the feature vector to a feature space; The objective function of the support vector machine operation is: Where C is the penalty parameter of the operation, ξ i and are the slack variables for positive and negative deviations exceeding the error tolerance parameter ε, respectively; The inequality constraints derived from the objective function are: y i -<ω,φ(x i )>-b≤ε+ξ i , Among them, y i is the position coordinate of the transfer robot output by the support vector machine operation, and ε is the error tolerance parameter.

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