A transfer system for multi-layer underground space

Abstract

The present invention discloses a transfer system for multi-layer underground space, comprising: a central control system located on the ground floor for formulating the operation procedures of transfer robots; the transfer robots for transferring trash cans in the multi-layer underground space, wherein the transfer robots are equipped with Wi-Fi positioning devices, and the Wi-Fi positioning devices are connected to the central control system via a Wi-Fi positioning system located in the multi-layer underground space; a lifting platform located in the lifting passage of the multi-layer underground space for transferring the transfer robots to each underground floor and the ground floor of the multi-layer underground space. The trackless transfer robots using Wi-Fi positioning are used for transfer operations, and can also complete inspection or transportation operations according to requirements, thus solving the problems of large floor area, low conveying efficiency, low automation degree and single operation function of the transfer system in multi-layer underground space.

Description

Technical Field

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

[0002] In an underground sewage treatment plant, sludge transfer is one of the important links in sewage treatment. However, sludge thickening and dewatering equipment is generally installed on the underground floor, and large transport vehicles are required to enter the underground floor to load sludge. Correspondingly, the underground space needs to be designed with a turning channel that meets the turning radius of the transport vehicle, and the design of the load and column grid of the underground space also needs to meet the requirements of the transport vehicle. In addition, the transport vehicle driver is easily exposed to the dangerous environment of the underground space, greatly increasing the civil engineering investment and operation management difficulty of the underground sewage treatment plant.

[0003] In related technologies, a single-stage / multi-stage conveying mechanism is usually adopted to pre-convey sludge to the ground floor or the first underground floor of the sewage treatment plant to solve the above problems. However, the power of the single-stage conveying mechanism is not sufficient to lift the sludge to the target floor, and the multi-stage conveying mechanism faces technical problems such as large floor area, frequent failures, and poor stability. On this basis, the invention patent with the publication number of CN110641937A provides a sludge transfer system and method for an underground sewage treatment plant. By setting a conveying track, a transfer unit, and a mobile flat car on the underground floor of the sewage treatment plant, the sludge tank is loaded onto the mobile flat car and transported to the transport vehicle located on the first underground floor or the ground floor via the transfer unit. However, there are still many problems in this improved technical solution:

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

[0005] (2) The transfer efficiency of the system is relatively low. Although multiple receiving units are provided in this transfer system, there is only one track that can dock with the transport vehicle, and the conveying 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 forward, further reducing the conveying 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 execute the transfer of one sludge tank at the same time;

[0006] (3) The degree of automation of the system is insufficient. The track steering wheel of the above technical solution needs to be manually operated, increasing the risk of personnel operation in the underground space;

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

[0008] Therefore, there is an urgent need to provide an improved transfer system that can solve the problems of large floor area, low conveying efficiency, low automation level, and single operation function of the transfer system in multi-layer underground spaces. Summary of the Invention

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

[0010] According to one aspect of the present invention, there is provided a transfer system for multi-layer underground spaces, including: a central control system located on the ground floor for formulating the operation program of the transfer robot; the transfer robot for transferring trash cans in the multi-layer underground spaces, wherein the transfer robot is equipped with 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-layer underground spaces; a lifting platform located in the lifting passage of the multi-layer underground spaces for transferring the transfer robot to each underground floor and the ground floor of the multi-layer underground spaces.

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

[0012] Preferably, the transfer system further includes: a plurality of induction and identification devices located at the partition walls of the multi-layer underground spaces, as well as at the entrances and exits of the empty trash can storage room, full trash can storage room, unloading room, and the lifting passage, for identifying the transfer robot and controlling the corresponding opening and closing of the electric doors.

[0013] Preferably, the transfer system further includes: a unloading unit and a loading unit, wherein: the unloading unit is located in the unloading room for unloading sludge, screenings, scum, and grit into the trash can and judging the full trash can state; the unloading unit also controls the corresponding opening and closing of the unloading port according to the full trash can state and the bucket changing action of the transfer robot; the loading unit is located on one side of the transport vehicle for transferring the sludge, screenings, scum, and grit in the transferred trash can to the transport vehicle and judging 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.

[0014] Preferably, the electric door, the unloading unit, the loading unit, and the staff and working equipment in the multi-layer underground space are all equipped with the Wi-Fi positioning device, and the Wi-Fi positioning device is communicatively 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 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 operations to determine the position information of the transfer robot. Among them, the feature vectors collected by the support vector machine operations are: x i =[RSSI1, RSSI2,..., RSSI n , d1, d2,..., d n , M1, M2,..., M n , where 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, where ω and b are respectively the bias vector and weight vector of the regression function, and φ(x i ) is a function that maps the feature vector to the feature space; the objective function of the support vector machine operation is:

[0016] Wherein, C is the penalty parameter of the operation, ξ i and are respectively the slack variables whose positive deviation and negative deviation exceed the error tolerance parameter ε; the inequality constraint obtained according to the objective function is:

[0017]

[0018]

[0019] Wherein, y i is the position coordinate of the transfer robot output by the support vector machine operation, and ε is the error tolerance parameter.

[0020] 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: where e is a natural number, γ is the kernel function parameter, and x i and x j are two arbitrary feature vectors of this kind.

[0021] Preferably, the initial value of the penalty parameter C is 1, and the initial value of the kernel function parameter γ is

[0022] The present invention provides a transfer system for multi-layer underground spaces, including: a central control system located on the ground floor for formulating the operation procedures of transfer robots; the transfer robots for transferring the trash cans in the multi-layer underground spaces, wherein the transfer robots are equipped with Wi-Fi positioning devices, and the Wi-Fi positioning devices are connected to the central control system via a Wi-Fi positioning system located in the multi-layer underground spaces; a lifting platform located in the lifting channels of the multi-layer underground spaces for transferring the transfer robots to each underground floor and the ground floor of the multi-layer underground spaces. Using a trackless transfer robot with Wi-Fi positioning for transfer operations, it can also complete inspection or transportation operations according to requirements, thus solving the problems of large floor area, low conveying efficiency, low automation level, and single operation function in the transfer system of multi-layer underground spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0024] Figure 1 is a schematic diagram of the unloading working condition system of a transfer system for multi-layer underground spaces according to an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of the transfer working condition system of a transfer system for multi-layer underground spaces according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of the transportation and inspection working condition systems of a transfer system for multi-layer underground spaces according to an embodiment of the present invention; and

[0027] Figure 4 is a schematic diagram of the operation flow of a transfer system for multi-layer underground spaces according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0029] Figure 1 andFigure 2 The 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.

[0030] 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.

[0031] According to an embodiment of the present invention, the transfer system also includes: a plurality of sensing and 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.

[0032] 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.

[0033] 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.

[0034] 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 successively. If unloading and loading units suitable for docking are not designed, sludge and garbage will be scattered, seriously polluting the environment. An embodiment of the present invention provides a transfer system for a multi-layer underground space. By designing a controllable unloading unit and loading unit, the unloading and loading operations can be braked according to the full barrel and full load states of the trash can and the transport vehicle and the operation state of the transfer robot, and the scattering of sludge and garbage can be prevented.

[0035] According to an embodiment of the present invention, the electric door, the unloading unit, the loading unit, and the staff and working equipment in the multi-layer underground space are all equipped with the Wi-Fi positioning device. The Wi-Fi positioning device is communicatively 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 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.

[0036] In the related art, the control platform of the transfer system can usually only control the movement of the transfer robot singly, and cannot automatically judge the positions of other personnel and equipment in the underground space and complete obstacle avoidance actions, which is likely to cause safety accidents or damage to valuable instruments and equipment. An embodiment of the present invention provides a transfer system for a multi-layer underground space. By equipping all personnel and working equipment inside the multi-layer underground space with Wi-Fi positioning devices and covering the Wi-Fi signal to the underground space, the central control system can uniformly manage the real-time positioning information of personnel and equipment, and automatically plan obstacle avoidance actions and routes during the operation through the positioning information, solving the technical problem of high risks of safety accidents and equipment damage in the traditional transfer system.

[0037] According to an embodiment of the present invention, the central control system can perform support vector machine operations to judge the position information of the transfer robot, wherein the feature vector collected by the support vector machine operation is: x i =[RSSI1,RSSI2,...,RSSI n ,d1,d2,...,d n ,M1,M2,...,M n , wherein, x i is the feature vector, RSSI n ,d n ,M nThey 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 for the support vector machine operation is: f(x) = <ω, φ(x i )> + b, where ω and b are respectively the bias vector and weight vector of the regression function, and φ(x i ) is a function that maps the feature vector to the feature space; the objective function for the support vector machine operation is:

[0038] where C is the penalty parameter for the operation, and ξ i and are slack variables for positive and negative deviations exceeding the error tolerance parameter ε respectively; the inequality constraints obtained from the objective function are:

[0039]

[0040]

[0041] where y i is the position coordinate of the transfer robot output by the support vector machine operation, and ε is the error tolerance parameter.

[0042] According to an embodiment of the present invention, the support vector machine operation uses a radial basis kernel function to implicitly process the inequality constraints, and the formula of the kernel function is:

[0043] where e is the natural number, γ is the kernel function parameter, x i and x j are two arbitrary feature vectors.

[0044] 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

[0045] In the related art, when using a Wi-Fi positioning system to position a transfer robot, due to the complex underground space environment, Wi-Fi is subject to various adverse effects such as multipath reflection, noise interference, and signal attenuation, ultimately resulting in extremely large positioning errors and the positioning accuracy being difficult to meet the operation requirements. An embodiment of the present invention provides a transfer system for multi-layer underground spaces, which is applied to underground spaces with unstable Wi-Fi signals. In order to enable Wi-Fi signals to cover the entire underground space, an embodiment of the present invention gives the required number of Wi-Fi access points under the assumption of uniform distribution of Wi-Fi access points. 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.

[0046] Figure 3 Shows a schematic diagram of a transportation and inspection system for a transfer system for multi - layer underground space according to an embodiment of the present invention. As shown in the figure, an inspection module is provided on the transfer robot, 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.

[0047] In the related art, due to the limitations of the structure and track layout, transfer robots are difficult to reach other workrooms or other floors in multi - layer underground space. Therefore, new work systems still need to be configured for operations such as inspection and transportation. Embodiments of the present invention provide a transfer system for multi - layer underground space. The transfer robot itself has the function of transporting other items and can transport items to designated positions in the underground space according to the instructions of the central control system. After integrating the inspection module, since it is not restricted by the track, the transfer robot can move to any workroom or floor for inspection operations, solving the technical problems of the traditional transfer system with single function and serious waste of resources.

[0048] Figure 4 Shows a schematic diagram of the operation process of a transfer system for multi - layer underground space according to another embodiment of the present invention. As shown in the figure, the transfer method includes the following steps: The transfer robot enters the full - bin storage room according to the operation program formulated by the central control system; after the trash can in the full - bin storage room is transferred to the transfer robot, the transfer robot leaves the full - bin storage room; the transfer robot rises to the ground floor via the lifting platform and moves to the feeding unit on one side of the transport vehicle; after the sludge, grid residues, floating scum, and grit in the trash can are transferred to the transport vehicle by the feeding unit, the transfer robot returns to standby.

[0049] According to an embodiment of the present invention, before the transfer robot enters the full - bin storage room, the following steps are further included: The transfer robot enters the empty - bin storage room according to the operation program formulated by the central control system; the transfer robot transports the trash can in the empty - bin storage room to below the discharge port of the unloading room; the transfer robot loads the trash can determined to be in a full - bin state by the unloading unit in the unloading room; the transfer robot transports the trash can in the full - bin state to the full - bin storage room.

[0050] The present invention has the following effects:

[0051] (1) It has a wide range of applications and can be used in multi - layer underground places such as underground water treatment plants, underground tunnels, and underground confined spaces.

[0052] (2) It can achieve unmanned operation and remote automatic unloading and transfer.

[0053] (3) It can operate in various places where it is not suitable for personnel to enter or stay for a long time.

[0054] (4) It can facilitate the transportation of various equipment and reduce the labor intensity of personnel.

[0055] (5) Through the function of unmanned inspection, the operation load of ventilation and deodorization in the underground space can be reduced, and the operation cost can be lowered.

[0056] (6) It can reduce the turning channels, civil engineering loads, etc. required for large vehicles in the underground space, and save project investment.

[0057] (7) All grid residues, sludge, and garbage transfers adopt sealed equipment and enclosed spaces, which is beneficial to the odor control of the system.

[0058] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within 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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