A device and method for in-situ dynamic remediation of soil by modular layered wedge-shaped filling body

Abstract

This invention discloses a modular, layered wedge-shaped filler soil in-situ dynamic remediation device and method, belonging to the technical field of in-situ soil remediation. The device includes a main body; a soil excavation drilling module located in the front chamber of the main body, used to excavate vertical trenches of a preset depth; several wedge-shaped fillers installed in a storage chamber within a walking chassis module; and a filler delivery module located above the storage chamber, which picks up the wedge-shaped fillers and delivers them into the vertical trenches. This invention is an intelligent in-situ technology equipment for precise layered remediation of soil profiles, with dynamically updated and long-term managed remediation units. It achieves heavy metal fixation / passivation / deactivation through multiple mechanisms such as mineral precipitation, complexation, reduction, and ion exchange, thus breaking through the key bottlenecks in the current soil remediation industry.

Description

Technical Field

[0001] This invention belongs to the technical field of in-situ soil remediation, specifically relating to a modular layered wedge-shaped filler soil in-situ dynamic remediation device and method. Background Technology

[0002] Currently, the remediation of heavy metal pollution in soil is a major challenge facing the global environmental field. Although existing technologies, such as topsoil replacement, leaching, solidification and stabilization, and permeable reactive barriers (PRB), have been applied to some extent, they all have significant limitations and cannot meet the urgent need for efficient, precise, and sustainable remediation of contaminated soil. Specifically, ex-situ remediation technologies (such as topsoil replacement and leaching) usually require the excavation and transportation of large amounts of soil, which is not only costly and energy-intensive but also severely damages soil structure and ecosystem integrity. The leaching process may also generate wastewater enriched with pollutants, posing a risk of secondary pollution. Extensively studied in-situ remediation technologies, such as solidification and stabilization and PRB, while avoiding large-scale excavation, have core drawbacks: firstly, they generally treat soil as a homogeneous body, using a single chemical agent or reactive material for overall treatment, ignoring the significant differences in physicochemical properties, pollutant types, and enrichment levels among the parent material layer, sedimentary layer, leaching layer, and organic matter layer in the soil profile. This leads to blind spots or over-remediation, resulting in low efficiency. Secondly, remediation bodies are typically permanent structures, and the active materials within them (such as adsorbents and passivators) cannot be renewed once they reach adsorption saturation or become ineffective. The remediation effect diminishes or even fails over time, making long-term monitoring and sustainable remediation of contaminated sites impossible. Thirdly, the entire remediation process is highly dependent on manual labor, lacking automated and intelligent equipment support from material injection to effect assessment, resulting in low efficiency and high personnel exposure risks.

[0003] The four major technical bottlenecks in the current field of soil remediation are as follows:

[0004] 1. The lack of stratified pollution control

[0005] Existing technologies (such as solidification and stabilization, PRB) cannot match different adsorption materials to the pollution differences in the organic matter layer, leaching layer, sedimentary layer and parent material layer in the soil profile, resulting in low remediation efficiency.

[0006] 2. Issue with non-renewable repair tissues

[0007] Traditional in-situ restorations are permanent structures that cannot be replaced once saturated with adsorption, causing the restoration effect to deteriorate over time (e.g., chromium re-precipitates after iron filings in PRB become ineffective).

[0008] 3. Low level of automation

[0009] Currently, everything from trenching and application to replacement relies on manual labor, which is inefficient and exposes personnel to polluted environments (such as the health risks of manually excavating cadmium-containing soil).

[0010] 4. Fix - Monitoring disconnect issue

[0011] Existing technologies lack a real-time monitoring mechanism for prosthesis performance, making it difficult to trigger maintenance actions in a timely manner (e.g., the absence of an integrated resistivity sensor to predict adsorption saturation). Summary of the Invention

[0012] The purpose of this invention is to address the aforementioned shortcomings in the prior art by providing a modular, layered wedge-shaped filler soil in-situ dynamic remediation device and method to solve the problems.

[0013] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0014] In a first aspect, a modular, layered wedge-shaped filler soil in-situ dynamic remediation device includes a device body; the device body is provided with a walking chassis module, a filler delivery module, a soil excavation drilling rig module, and a plurality of wedge-shaped fillers;

[0015] The soil excavation drilling module is located in the front compartment of the device body and is used to excavate vertical trenches of a preset depth. Several wedge-shaped fillers are installed in the storage compartment of the walking chassis module. The filler delivery module is located above the storage compartment and grabs the wedge-shaped fillers and delivers them into the vertical trenches.

[0016] Furthermore, the walking chassis module includes a mechanical top cover, an electric drive unit, a walking chassis, and wheels;

[0017] The mechanical top cover is located above the walking chassis; four wheels are respectively located on both sides of the walking chassis, and the two wheels on the same side are linked by the moving track; the wheels are connected to the electric drive motor through the rotating shaft, and shock absorbers are installed at the connection between the wheels and the walking chassis.

[0018] Furthermore, the filler delivery module includes a robotic arm fixing rod, a telescopic robotic arm, a mechanical clamp fixing device, and a mechanical gripper.

[0019] The robotic arm has two fixed rods. One end of each fixed rod is fixed to the main body of the device, and the other end is connected to one end of a hydraulic robotic arm. The other end of the hydraulic robotic arm is connected to the robotic arm's rotating shaft. The robotic arm's rotating shaft is connected to one end of a mechanical link. Both mechanical links are connected to a rotating mechanical rod. The rotating end of the rotating mechanical rod is connected to one end of a telescopic robotic arm, and the fixed end of the rotating mechanical rod is connected to one end of a telescopic hydraulic robotic arm. The other end of the telescopic robotic arm is connected to the rotating end of the mechanical rotating shaft, and the other end of the telescopic hydraulic robotic arm is connected to the fixed end of the mechanical rotating shaft. A mechanical clamp fixing device is connected to this end of the telescopic hydraulic robotic arm. The lower end of the mechanical clamp fixing device is connected to multiple mechanical clamp arms, and the free ends of the multiple mechanical clamp arms are all connected to mechanical grippers.

[0020] Furthermore, the central axis of the hydraulic robotic arm is coplanar with and perpendicular to the central axis of the mechanical link.

[0021] Furthermore, the telescopic robotic arm has a groove along its length, and the telescopic hydraulic robotic arm is located in the groove.

[0022] Furthermore, the soil excavation drilling rig module includes a threaded rotating rod, a drilling rig fixing device, and a track platform fixing device;

[0023] The threaded rotating rod is arranged vertically, with its top connected to the drive motor, and its bottom passing through the rotating component, the drilling rig fixing device, and the track platform fixing device in sequence. Its bottom is connected to the drill bit or other threaded rotating rods. The drilling rig fixing device is located above the track platform fixing device and is connected to the rotating component.

[0024] The two ends of the track platform fixing device are fixed to the inner wall of the front compartment of the device body, and the track platform fixing device is equipped with a drilling rig horizontal moving platform; the drilling rig horizontal moving platform is equipped with a drilling rig moving track.

[0025] Furthermore, the rotating component has a cylindrical structure with a hollow interior. Threaded bearings are fixed at the upper and lower openings, respectively. The inner ring of the threaded bearing is designed with internal threads. The threaded rotating rod is threadedly connected to the threaded bearing.

[0026] The drilling rig fixing device includes two drilling rig connecting rods, two drilling rig telescopic robotic arms, and one drilling rig hydraulic telescopic arm. The two drilling rig connecting rods are spaced apart on both sides and connected to the two drilling rig telescopic robotic arms. The drilling rig hydraulic telescopic arm is located between the two drilling rig telescopic robotic arms, and its two ends are connected to the two drilling rig connecting rods respectively. One of the drilling rig connecting rods is connected to the outer shell of the rotating component, and the other drilling rig connecting rod is fixed to the inner wall of the front chamber of the device body.

[0027] Furthermore, the wedge-shaped filler is wedge-shaped in shape, and its interior comprises, from top to bottom, chambers A, B, C, and D, which are sequentially separated by partitions. The four chambers correspond sequentially to the organic matter layer, leaching layer, deposition layer, and parent material layer of the soil. The sides and top surfaces of each chamber are grids, and the pore size of the top grids of chambers A, B, C, and D decreases sequentially. Chamber A is filled with an organic matter-zeolite composite material, chamber B is filled with a zero-valent iron-bentonite composite material, chamber C is filled with an apatite-zeolite composite material, and chamber D is filled with a sodium sulfide slow-release bentonite composite material.

[0028] Furthermore, it also includes a resistivity detection device; the resistivity detection device is inserted vertically into the wedge-shaped filler body.

[0029] Secondly, a method for in-situ dynamic remediation of soil using replaceable modular layered wedge-shaped fillers includes the following steps:

[0030] S1. Move the in-situ dynamic soil remediation device to the designated work site;

[0031] S2. Control the soil excavation drilling rig module to drive the drill bit downward and excavate a vertical trench of a predetermined depth;

[0032] S3. After excavation is completed, control the drill bit to be raised to the ground;

[0033] S4. Control the filler delivery module. The robotic arm grabs a wedge-shaped filler with a preset filling formula from the storage bin, aligns the wedge-shaped filler with the vertical groove, and then presses the wedge-shaped filler vertically into the vertical groove to complete the installation.

[0034] S5. Use a resistivity detection device to collect soil resistivity data in real time;

[0035] S6. When it is detected that the adsorption of the four layers of filling formula in the layered wedge filler is saturated or the element content in a certain layer needs to be improved, the prefabricated wedge filler is replaced by the soil in-situ dynamic remediation device.

[0036] The modular layered wedge-shaped filler soil in-situ dynamic remediation device and method provided by the present invention have the following beneficial effects:

[0037] 1. This invention introduces the concept of "replaceable vertical passivation wall" to in-situ soil remediation for the first time, transforming passivation materials from "disposable consumables" to "recyclable consumables", breaking through the industry problem that PRB technology cannot be renewed after adsorption saturation.

[0038] 2. This invention develops an intelligent in-situ technology equipment capable of precise layered remediation of soil profiles, with remediation units that can be dynamically updated and managed long-term. It achieves the fixation / passivation / deactivation of heavy metals through multiple mechanisms such as mineral precipitation, complexation, reduction, and ion exchange, thereby breaking through the key direction of the current development bottleneck in the soil remediation industry.

[0039] 3. Achieve precise soil profile remediation: Existing technologies mostly involve homogeneous injection, failing to consider the differences in the vertical distribution of pollutants in the soil profile. This invention designs a four-layered wedge-shaped filling body (organic layer / leaching layer / deposition layer / parent material layer), with each layer filled with non-metallic mineral composite materials targeting specific pollutants. This solves the problem of remediation blind spots caused by treating soil as a homogeneous body in traditional technologies. At the same time, the four-layered wedge-shaped module can be disassembled and replaced, which can reduce the available form of heavy metals in the soil by ≥70% and the exchangeable form by ≥80%, and replenish beneficial elements in the soil.

[0040] 4. Breakthrough in the bottleneck of long-term in-situ repair: The innovative replaceable layered wedge-shaped filler design enables the automatic removal of the failed module and the implantation of the new module through a mechanical device. This overcomes the defect of existing PRB technology that cannot be renewed after adsorption saturation, and solves the problem of traditional passivation / stabilization technology where the material cannot be replaced once it fails, resulting in a decrease in repair effect.

[0041] 5. Construct an intelligent remediation closed loop; integrate the entire process of soil excavation, module deployment, effect monitoring, and dynamic replacement into automation, reducing manual intervention and lowering operational risks.

[0042] 6. This invention, by layering different functional materials, achieves targeted treatment for heavy metal pollution at different levels of the soil profile, resulting in remediation efficiency and thoroughness far exceeding homogeneous remediation methods. Utilizing a soil profile sampling resistivity monitoring device in the center of the wedge-shaped module, it monitors the resistivity changes in the four soil layers in real time, inverting the pH, EC, and heavy metal content in the soil. This facilitates monitoring and replacement of soil quality. The modular design of the mineral components in the wedge-shaped module allows for easy replacement of the filler, solving the industry problem of short effective periods and difficulty in updating after failure in traditional in-situ remediation technologies, thus achieving "long-term management" of soil remediation.

[0043] 7. This invention integrates excavation and placement, achieving a high degree of automation, reducing manual labor, and improving construction efficiency and quality consistency. Furthermore, it uses natural non-metallic minerals as the main materials, avoiding secondary pollution, while some materials (such as organic matter) can also replenish soil fertility. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the structure of the modular layered wedge-shaped filler soil in-situ dynamic remediation device in the embodiment.

[0045] Figure 2This is a schematic diagram of the filler delivery module in the embodiment.

[0046] Figure 3 This is a schematic diagram of the soil excavation drilling module in the embodiment.

[0047] Figure 4 This is a schematic diagram of the wedge-shaped filler in the embodiment.

[0048] Figure 5 This is a schematic diagram of the soil four-layer profile remediation work in the example.

[0049] Figure 6 This is a schematic diagram of the resistivity detection device in the embodiment.

[0050] The components include: 1. Mechanical top cover; 2. Electric drive unit; 3. Chassis; 4. Shock absorber; 5. Wheels; 6. Tracks; 7. Rotary shaft.

[0051] 8. Robotic arm fixing rod; 9. Hydraulic robotic arm; 10. Robotic arm rotating shaft; 11. Rotating mechanical rod; 12. Mechanical linkage; 13. Telescopic robotic arm; 14. Telescopic hydraulic robotic arm; 15. Mechanical rotating shaft; 16. Mechanical clamp fixing device; 17. Mechanical clamp arm; 18. Mechanical gripper;

[0052] 19. Threaded rotating rod; 20. Threaded bearing; 21. Drilling rig fixing device; 22. Drilling rig connecting rod; 23. Drilling rig telescopic robotic arm; 24. Drilling rig hydraulic telescopic arm; 25. Drilling rig fixing device; 26. Drilling rig horizontal moving platform; 27. Drill bit; 28. Drilling rig moving track; 29. ​​Circular pulley; 30. Track platform fixing device; 31. Hole; 32. Wedge-shaped filler; 33. Front safety cover. Detailed Implementation

[0053] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0054] This embodiment of the modular layered wedge-shaped filler 32 soil in-situ dynamic remediation device and method involves injecting wedge-shaped fillers 32, matched to the type of pollution, into a trench, periodically monitoring the pollutant concentration, and if the concentration rebounds, issuing a replacement command to extract the old module and inject a new module, achieving cyclical remediation; it also features an automated system for trench excavation, placement, and replacement; simultaneously employing a layered, precise, and progressively functional approach, it targets specific issues from top to bottom, progressing from ecological improvement to migration control, core fixation, and finally to the ultimate barrier, forming a complete, efficient, and multi-layered defense and remediation system. (Refer to...) Figure 1 Specifically, it includes:

[0055] The device body contains a walking chassis module 3, a filling material delivery module, a soil excavation drilling rig module, and several wedge-shaped filling materials 32.

[0056] In some embodiments, the soil excavation drilling module is located in the front compartment of the device body and is used to excavate a vertical trench of a preset depth; a plurality of wedge-shaped fillers 32 are installed in the storage compartment of the walking chassis 3 module; the filler delivery module is located above the storage compartment and grabs the wedge-shaped fillers 32 and delivers them into the vertical trench.

[0057] The device body has a bottom door (not shown in the figure) at the bottom of the front compartment. The bottom door can be opened when digging and placing the wedge-shaped filler 32. A front safety cover 33 is provided at the top of the front compartment.

[0058] In one specific embodiment, reference is made to Figure 1 The three-module chassis includes a mechanical top cover 1, an electric drive motor 2, a chassis 3, shock absorbers 4, wheels 5, tracks 6, and a rotating shaft 7.

[0059] The mechanical top cover 1 is located above the walking chassis 3. Four wheels 5 are respectively located on both sides of the walking chassis 3. The two wheels 5 on the same side are linked by the moving track 6. The wheels 5 are connected to the electric drive motor 2 through the rotating shaft 7. Shock absorbers 4 are installed at the connection between the wheels 5 and the walking chassis 3.

[0060] In one specific embodiment, reference is made to Figure 2 The filler delivery module includes a robotic arm fixing rod 8, a hydraulic robotic arm 9, a robotic arm rotating shaft 10, a rotating mechanical rod 11, a mechanical connecting rod 12, a telescopic robotic arm 13, a telescopic hydraulic robotic arm 14, a mechanical rotating shaft 15, a mechanical clamp fixing device 16, a mechanical clamp arm rod 17, and a mechanical gripper 18.

[0061] The device comprises two fixed rods 8 for the robotic arm. One end of each fixed rod 8 is fixed to the main body of the device, and the other end is connected to one end of a hydraulic robotic arm 9. The other end of the hydraulic robotic arm 9 is connected to a rotating shaft 10. The rotating shaft 10 is connected to one end of a mechanical link 12. Both mechanical links 12 are connected to rotating mechanical rods 11. The rotating end of the rotating mechanical rod 11 is connected to one end of a telescopic robotic arm 13, and the fixed end of the rotating mechanical rod 11 is connected to one end of a telescopic hydraulic robotic arm 14. The other end of the telescopic robotic arm 13 is connected to the rotating end of a mechanical rotating shaft 15, and the other end of the telescopic hydraulic robotic arm 14 is connected to the fixed end of the mechanical rotating shaft 15. A mechanical clamp fixing device 16 is connected to this end of the telescopic hydraulic robotic arm 14. The lower end of the mechanical clamp fixing device 16 is connected to multiple mechanical clamp arm rods 17, and the free ends of the multiple mechanical clamp arm rods 17 are all connected to mechanical grippers 18. The central axis of the hydraulic robotic arm 9 is coplanar with and perpendicular to the central axis of the mechanical link 12. A groove is provided on the telescopic robotic arm 13 along its length, and the telescopic hydraulic robotic arm 14 is located in the groove.

[0062] In actual operation, the two hydraulic robotic arms 9 work simultaneously, which can drive the entire filler delivery module to move back and forth, so as to move the mechanical gripper 18 to directly above the wedge-shaped filler 32. Then, the mechanical gripper 18 is hung in the handle on the wedge-shaped filler 32 by manual operation to realize the gripping of the wedge-shaped filler 32.

[0063] More specifically, the entire filling material delivery module can be steered by controlling the hydraulic robotic arm 9 individually or at different times.

[0064] More specifically, the height of the entire filler delivery module can be adjusted by controlling the telescopic hydraulic robotic arm 14, so as to realize the raising and lowering of the filler delivery module, thereby realizing the gripping and delivery process of the wedge-shaped filler 32; that is, in this embodiment, the gripping, transporting and delivery operation of the wedge-shaped filler 32 can be realized by controlling the two hydraulic robotic arms 9 and the telescopic hydraulic robotic arm 14.

[0065] In one specific embodiment, reference is made to Figure 3 ,refer to Figure 3 The soil excavation drilling rig module includes a threaded rotating rod 19, a threaded rotating cylinder 20, a drilling rig fixing device 21, a drilling rig fixed bearing 22, a drilling rig telescopic mechanical arm 23, a drilling rig hydraulic telescopic arm 24, a drilling rig fixer 25, a drilling rig horizontal moving platform 26, a drill bit 27, a drilling rig moving track 28, a circular pulley 29, and a track platform fixing device 30.

[0066] The threaded rotating rod 19 is arranged vertically, and its top is connected to the drive motor to drive it to rotate. When the entire device is moving (before reaching the target position), the drive motor is not connected to the threaded rotating rod 19. On-site installation is only carried out when digging is required.

[0067] The bottom of the threaded rotating rod 19 passes sequentially through the rotating component, the drill rig holder 25, and the track platform fixing device 30, with its free end connected to another threaded rotating rod 19 or directly to the drill bit 27. The drill rig holder 21 is located above the track platform fixing device 30 and is connected to the rotating component.

[0068] The rotating component itself does not rotate. It is connected to the drilling rig fixing device 21. The rotating component has a cylindrical structure with an internal opening 31. Threaded bearings 20 are fixed at the upper and lower openings, respectively. The inner ring of the threaded bearing 20 is designed with internal threads. The threaded rotating rod 19 is threadedly connected to the threaded bearing 20. With this design, when the threaded rotating rod 19 rotates, the threaded bearing 20 will not drive the rotating component to move, and thus will not affect the displacement of the drilling rig fixing device 21.

[0069] It should be noted that, in order not to affect the horizontal movement of the threaded rotating rod 19, during actual operation, the hydraulic telescopic arm 24 of the drilling rig controls the extension length of the telescopic mechanical arm 23 of the drilling rig, thereby controlling the threaded rotating rod 19 to move along the drilling rig moving track 28, and finally moving the threaded rotating rod 19 to the designated position. At this time, according to the required digging depth, the second threaded rotating rod 19 (the length of the second threaded rotating rod can be determined according to the requirements) is connected to the current first threaded rotating rod 19 through a coupling. Then, the drill bit 27 is connected to the free end of the second threaded rotating rod 19. At the same time, the drive motor is connected to the top of the first threaded rotating rod 19. The drive motor can be temporarily fixed on the mechanical top cover 1 for operation. The entire operation process requires manual assistance.

[0070] The two ends of the track platform fixing device 30 are fixed to the inner wall of the front compartment of the device body. The track platform fixing device 30 is equipped with a drilling rig horizontal moving platform 26; the drilling rig horizontal moving platform 26 is equipped with a drilling rig moving track 28.

[0071] The drilling rig fixing device 21 includes two drilling rig connecting rods 22, two drilling rig telescopic mechanical arms 23, and one drilling rig hydraulic telescopic arm 24. The two drilling rig connecting rods 22 are spaced apart on both sides and connected to the two drilling rig telescopic mechanical arms 23. The drilling rig hydraulic telescopic arm 24 is located between the two drilling rig telescopic mechanical arms 23, and its two ends are connected to the two drilling rig connecting rods 22 respectively. One of the drilling rig connecting rods 22 is connected to the outer shell of the rotating part, and the connection method can be bolt fixing. The other drilling rig connecting rod 22 is fixed to the inner wall of the front chamber of the device body, and the connection method can be bolt or hinge. The drilling rig telescopic mechanical arm 23 extends and retracts with the extension and retraction of the drilling rig hydraulic telescopic arm 24.

[0072] In actual operation, the extension length of the retractable mechanical arm 23 of the drilling rig can be controlled by the hydraulic telescopic arm 24 of the drilling rig, thereby controlling the threaded rotating rod 19 to move along the moving track 28 of the drilling rig, and finally moving the drill bit 27 to the designated position.

[0073] It should be noted that the wedge-shaped filler 32 can be grasped, transported, and placed, as well as the vertical trench digging operation, and the movement of the walking chassis 3 module can be used for auxiliary positioning.

[0074] In one specific embodiment, reference is made to Figure 4 The wedge-shaped filler 32 is wedge-shaped in shape and includes, from top to bottom, four chambers A, B, C, and D, which are sequentially separated by partitions. These four chambers correspond to the organic matter layer, leaching layer, sedimentary layer, and parent material layer of the soil, respectively. The sides and top of each chamber are grids, and the pore size of the top grids of chambers A, B, C, and D decreases sequentially. Chamber A is filled with an organic matter-zeolite composite material, chamber B is filled with a zero-valent iron-bentonite composite material, chamber C is filled with an apatite-zeolite composite material, and chamber D is filled with a sodium sulfide slow-release bentonite composite material.

[0075] refer to Figure 5 More specifically:

[0076] Chamber A (upper part, corresponding to the organic matter layer): can be filled with organic matter-zeolite composite material rich in humic acid, which is used to adsorb heavy metals and improve soil fertility;

[0077] Chamber B (corresponding to the leaching layer): can be filled with zero-valent iron-bentonite composite material, mainly used to reduce and adsorb highly mobile Cr(VI), As, etc.

[0078] Chamber C (corresponding to the deposition layer): can be filled with apatite-zeolite composite material for strong fixation of enriched heavy metals such as Pb and Cd;

[0079] Chamber D (lower part, corresponding to the parent material layer): can be filled with sodium sulfide slow-release bentonite composite material as the final barrier to form metal sulfide precipitates and prevent pollutants from seeping down.

[0080] A four-layer wedge-shaped filler 32 scheme simulation. This embodiment is designed for a typical soil scenario suffering from multiple heavy metal complex pollution. The wedge-shaped filler 32 is inserted into the soil from top to bottom, with each layer corresponding to a different soil layer and undertaking specific remediation and improvement functions. For example, the layered wedge-shaped filler 32 injection system consists of four wedge modules (A / B / C / D), each layer composed of different non-metallic mineral composite materials: for example: Chamber A (organic surface layer): biochar + zeolite, adsorbing PAHs and pesticides in the organic matter layer; Chamber B (leaching layer): apatite + bentonite, fixing Cd, Pb, and Zn; Chamber C (deposition layer): hydroxyapatite + ferrite, fixing As, Cr, and Cu; Chamber D (parent material layer): calcium carbonate + montmorillonite, buffering pH and fixing Ni and Co; the outer shell of the layered wedge-shaped filler 32 is made of biodegradable PLA + basalt fiber, which degrades naturally in 6-12 months, releasing / absorbing beneficial / harmful metal ions in the soil.

[0081] The specific design method is as follows:

[0082] ① Organic Layer (Upper part of the wedge-shaped module, Layer A): Primarily designed to intercept surface pollutants, replenish organic matter, and improve soil ecology. Heavily affected by organic pollution and acid rain, it serves as a gateway to the soil ecosystem. Main non-metallic mineral material composition: High-quality biochar, with additives 1: Humic acid particles; 2: Small amount of limestone particles; 3: Limestone. Biochar possesses a large specific surface area and abundant pores, enabling broad-spectrum adsorption of various heavy metals (Cd, Pb, Cu, Zn, Ni). It is also an excellent soil conditioner, retaining water and fertilizer and promoting microbial growth. Humic acid has a strong complexing ability, fixing heavy metals and, more importantly, directly replenishing surface soil fertility as organic matter. Limestone slowly neutralizes the acidity generated by acid rain or organic matter decomposition, preventing the activation and leaching of heavy metals in acidic environments.

[0083] ② Leaching Layer (Second Layer at the Top of the Wedge-Shaped Module, Layer B): Primarily for controlling the vertical migration of pollutants and targeting soluble heavy metals. Pollutants migrate downwards with the water flow, with Cr(VI) and As exhibiting the strongest migration at this layer. Main Non-Metallic Mineral Material Combination: Additive 1: Modified Bentonite, Additive; 2: Zero-Valence Iron (ZVI) Powder, Additive; 3: Quartz Sand. Zero-Valence Iron (ZVI): A key material for treating Cr(VI) and As. It reduces Cr(VI) to Cr(III) through a redox reaction, adsorbs and co-precipitates As, efficiently fixing these two most difficult-to-treat heavy metals. Modified Bentonite: Excellent swelling properties and high cation exchange capacity (CEC). As a matrix, it assists in the adsorption of other cationic heavy metals (Cd, Pb, etc.) and ensures uniform ZVI dispersion. Quartz Sand: Adjusts the permeability of the packing material, preventing over-expansion of the bentonite and clogging, ensuring smooth water flow and reaction.

[0084] ③ Deposition Layer (Third Layer of Wedge Module, C Layer, Core Repair Layer): Primarily for balancing and fixing highly concentrated heavy metals. This layer is the most important enrichment layer for heavy metals, with the highest concentration, mainly Pb, Cd, Zn, and Cu. Main Non-metallic Mineral Material Combination: Additive 1: Apatite; Additive 2: Zeolite powder; Additive 3: Small amount of sepiolite. Apatite: A highly effective agent for fixing Pb and Cd. It can form phosphate minerals with extremely low solubility (such as phosphazene), achieving permanent stabilization, with effects far exceeding simple adsorption. Zeolite: Possesses highly efficient ion exchange capacity, acting as a broad-spectrum adsorbent to synergistically treat various cationic heavy metals such as Cu, Zn, and Ni. Sepiolite: Excellent adsorption and catalytic properties, supplementing and enhancing the overall adsorption capacity.

[0085] ④ Parent Material Layer (Wedge-shaped Module Layer 4, Layer D, Safety Barrier Layer): This is the ultimate barrier in the soil layer, blocking deep infiltration and ensuring groundwater safety. Therefore, it requires extremely low permeability and the strongest anchoring capacity. Main Non-metallic Mineral Material Combination: Additive 1: The main matrix is ​​a bentonite-sand mixed matrix core; Additive 2: Slow-release sulfiding agent (such as calcium sulfide). Bentonite-Sand Matrix: Forms a low-permeability physical barrier, significantly slowing down water flow. Slow-release sulfiding agent: Its slowly released S² - These ions can react with most heavy metal ions, such as Hg, Cd, Pb, and Cu, to form extremely insoluble metal sulfide precipitates. This is currently the most stable and thorough fixation method known, providing the ultimate protection for groundwater.

[0086] In one specific embodiment, the corresponding adsorbent minerals can be customized to fill the soil according to the specific heavy metals exceeding the standard in different layers of the soil profile (see Table 21).

[0087]

[0088] refer to Figure 6 In one specific embodiment, it further includes a resistivity detection device; the resistivity detection device is inserted vertically into the wedge-shaped filler 32.

[0089] The resistivity data from the four soil profiles (chambers A, B, C, and D) are monitored in real time to invert the geochemical conditions in the soil. The resistivity detection device, using existing technology, can achieve linked analysis of pH, EC (electrical conductivity), and heavy metal exceedance warnings.

[0090] In some embodiments, a method for in-situ dynamic remediation of soil using a replaceable modular layered wedge filler 32 is provided, comprising the following steps:

[0091] S1. Move the in-situ dynamic soil remediation device to the designated work site;

[0092] S2. Control the soil excavation drilling rig module to drive the drill bit 27 downward to excavate a vertical trench of a predetermined depth.

[0093] S3. After excavation is completed, control drill bit 27 to be raised to the ground.

[0094] S4. Control the filler delivery module. The robotic arm grabs a wedge-shaped filler 32 with a preset filling formula from the storage bin, aligns the wedge-shaped filler 32 with the vertical groove, and then presses the wedge-shaped filler 32 vertically into the vertical groove to complete the installation.

[0095] S5. Use a resistivity detection device to collect soil resistivity data in real time;

[0096] S6. When the adsorption of the four-layer filling formula in the layered wedge filler 32 is saturated or the element content in a certain layer needs to be improved, the prefabricated wedge filler 32 is replaced by the soil in-situ dynamic remediation device.

[0097] Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this patent. Various modifications and variations that can be made by a person skilled in the art without inventive effort within the scope described in the claims still fall within the scope of protection of this patent.

Claims

1. A device for in-situ dynamic remediation of soil by modular layered wedge-shaped filling bodies, characterized in that, The device includes a main body; the main body is equipped with a walking chassis module, a filler delivery module, a soil excavation drilling rig module, and several wedge-shaped fillers. The soil excavation drilling module is located in the front compartment of the device body and is used to excavate vertical trenches of a preset depth. Several wedge-shaped fillers are installed in the storage compartment of the walking chassis module. The filler delivery module is located above the storage compartment and grabs the wedge-shaped fillers and delivers them into the vertical trenches. The filler delivery module includes a robotic arm fixing rod, a telescopic robotic arm, a mechanical clamp fixing device, and a mechanical gripper. The robotic arm has two fixed rods. One end of each fixed rod is fixed to the main body of the device, and the other end is connected to one end of a hydraulic robotic arm. The other end of the hydraulic robotic arm is connected to the rotating shaft of the robotic arm. The rotating shaft is connected to one end of a mechanical link. Both mechanical links are connected to a rotating mechanical rod. The rotating end of the rotating mechanical rod is connected to one end of a telescopic robotic arm, and the fixed end of the rotating mechanical rod is connected to one end of a telescopic hydraulic robotic arm. The other end of the telescopic robotic arm is connected to the rotating end of the mechanical rotating shaft, and the other end of the telescopic hydraulic robotic arm is connected to the fixed end of the mechanical rotating shaft. A mechanical clamp fixing device is connected to this end of the telescopic hydraulic robotic arm. The lower end of the mechanical clamp fixing device is connected to multiple mechanical clamp arms, and the free ends of the multiple mechanical clamp arms are all connected to mechanical grippers. The soil excavation drilling rig module includes a threaded rotating rod, a drilling rig fixing device, and a track platform fixing device; The threaded rotating rod is arranged vertically, with its top connected to the drive motor, and its bottom passing through the rotating component, the drilling rig fixing device, and the track platform fixing device in sequence. Its bottom is connected to the drill bit or other threaded rotating rods. The drilling rig fixing device is located above the track platform fixing device and is connected to the rotating component. Both ends of the track platform fixing device are fixed to the inner wall of the front compartment of the device body. The track platform fixing device is equipped with a drilling rig horizontal moving platform. The drilling rig horizontal moving platform is equipped with a drilling rig moving track. The rotating part has a cylindrical structure with a hollow interior. Threaded bearings are fixed at the upper and lower openings, and the inner ring of the threaded bearings is designed with internal threads. The threaded rotating rod is threadedly connected to the threaded bearings. The drilling rig fixing device includes two drilling rig connecting rods, two drilling rig telescopic mechanical arms, and one drilling rig hydraulic telescopic arm; the two drilling rig connecting rods are spaced apart on both sides, and the two drilling rig connecting rods are connected to the two drilling rig telescopic mechanical arms. The drilling rig hydraulic telescopic arm is located between the two drilling rig telescopic mechanical arms, and both ends of the drilling rig hydraulic telescopic arm are connected to the two drilling rig connecting rods respectively. One of the drilling rig connecting rods is connected to the outer shell of the rotating part, and the other drilling rig connecting rod is fixed to the inner wall of the front chamber of the device body; The wedge-shaped filler is wedge-shaped and includes, from top to bottom, four chambers: A, B, C, and D, which are sequentially separated by partitions. These four chambers correspond to the organic matter layer, leaching layer, sedimentary layer, and parent material layer of the soil, respectively. The sides and top of each chamber are grids, and the pore size of the top grids in chambers A, B, C, and D decreases sequentially. Chamber A is filled with an organic matter-zeolite composite material, chamber B is filled with a zero-valent iron-bentonite composite material, chamber C is filled with an apatite-zeolite composite material, and chamber D is filled with a sodium sulfide slow-release bentonite composite material.

2. The modular layered wedge-shaped filler soil in-situ dynamic remediation device according to claim 1, characterized in that, The walking chassis module includes a mechanical top cover, an electric drive unit, a walking chassis, and wheels; The mechanical top cover is located above the walking chassis; four wheels are respectively located on both sides of the walking chassis, and the two wheels on the same side are linked by the moving track; the wheels are connected to the electric drive motor through the rotating shaft, and shock absorbers are installed at the connection between the wheels and the walking chassis.

3. The modular layered wedge-shaped filler soil in-situ dynamic remediation device according to claim 1, characterized in that, The central axis of the hydraulic robotic arm is coplanar with and perpendicular to the central axis of the mechanical link.

4. The apparatus for in-situ dynamic remediation of soil of modular layered wedge-shaped packing bodies according to claim 1, characterized in that, The telescopic robotic arm has a groove along its length, and the telescopic hydraulic robotic arm is located in the groove.

5. The apparatus for in-situ dynamic remediation of soil of modular layered wedge-shaped packing bodies according to claim 1, characterized in that, It also includes a resistivity detection device; the resistivity detection device is inserted vertically into the wedge-shaped filler body.

6. A method for in-situ dynamic remediation of soil using modular layered wedge-shaped fillers according to any one of claims 1 to 5, characterized in that, Includes the following steps: S1. Move the in-situ dynamic soil remediation device to the designated work site; S2. Control the soil excavation drilling rig module to drive the drill bit downward and excavate a vertical trench of a predetermined depth; S3. After excavation is completed, control the drill bit to be raised to the ground; S4. Control the filler delivery module. The robotic arm grabs a wedge-shaped filler with a preset filling formula from the storage bin, aligns the wedge-shaped filler with the vertical groove, and then presses the wedge-shaped filler vertically into the vertical groove to complete the installation. S5. Use a resistivity detection device to collect soil resistivity data in real time; S6. When it is detected that the adsorption of the four layers of filling formula in the layered wedge filler is saturated or the element content in a certain layer needs to be improved, the prefabricated wedge filler is replaced by the soil in-situ dynamic remediation device.

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