Thickness distribution system for detecting biogas residue layer

Abstract

The utility model belongs to the technical field of biogas residue layer detection, particularly relates to a thickness distribution system for detecting a biogas residue layer, and provides the following scheme aiming at the problems that a feeding pump head of an existing thickness distribution device for detecting the biogas residue layer is sharp, an anti-osmosis membrane at the bottom of a pool is easy to crack, biogas slurry infiltrates downwards, and underground water is polluted. Comprising a detection platform, and a biogas slurry pump lifting assembly is matched with a longitudinal laser range finder, a first anti-collision switch and a second anti-collision switch to perform double obstacle avoidance control, so that blades of a biogas slurry pump body can be prevented from reaching the edge of a biogas pool body; a first bevel gear, a second bevel gear and a lead screw body structure are adopted to drive a biogas slurry pump body to vertically ascend and descend, and a path planning algorithm is combined to generate a rotating speed for driving a second motor through a model prediction control algorithm; the motion control of the controller comprehensively considers constraint conditions such as boundary collision prevention, permeation membrane stirring breakage and leakage prevention, efficient biogas residue extraction, abnormal manual control and the like to carry out accurate motion control.

Description

Technical Field

[0001] The utility model relates to a thickness distribution device, in particular to a thickness distribution system for detecting a biogas slag layer, belonging to the technical field of detecting biogas slag layers. Background Art

[0002] In recent years, my country's large-scale animal husbandry has developed rapidly to meet the living needs of the general public. Jiangsu Province's large-scale animal husbandry has developed rapidly and has a high proportion. As of 2019, there were 16,987 large-scale livestock and poultry farms, including 664 in southern Jiangsu, 4,472 in central Jiangsu, and 11,851 in northern Jiangsu. While the animal husbandry industry is developing vigorously, the generation of a large amount of manure and sewage has brought great difficulties to the normal production of enterprises.

[0003] At present, anaerobic fermentation to produce biogas is an effective way to treat a large amount of livestock (mainly pigs and dairy cows) manure and sewage, which has both ecological and economic benefits such as the healthy development of animal husbandry, resource utilization of manure and sewage, and increased income of farmers and herdsmen. Large-scale farms produce a large amount of manure and sewage, and produce a lot of slurry and sludge, but the slurry and sludge cannot be returned to the fields directly without subsequent treatment, and the slurry and sludge often cannot be returned to the fields immediately for consumption, so large-scale slurry pools or black film biogas pools must be equipped for temporary storage. During the temporary storage of slurry and sludge, the sludge will gradually settle at the bottom of the pool. After a long period of continuous operation, a large amount of sludge is deposited, and the capacity of the slurry pool gradually decreases and even affects the subsequent operation, so the slurry pool or black film biogas pool needs to be cleaned. Breeding companies spend a lot of manpower, material resources and financial resources every year to clean up the sludge deposited in the slurry pool.

[0004] The solid-liquid separation device is a key equipment for livestock manure treatment. Its types mainly include screw extrusion solid-liquid separator, inclined screen solid-liquid separator, centrifugal solid-liquid separator, stacked screw dewatering machine and plate and frame filter press. The solid-liquid separation device is of great significance for the classification of manure and sewage and the reduction of sewage. For example, in the treatment of manure in large-scale pig farms and dairy farms, the use of solid-liquid separators and mechanical and physical methods such as grids and screens to separate solids and liquids can greatly reduce the pressure of sewage treatment. In recent years, with the continuous improvement of modern agriculture and breeding industries' demand for the performance, degree of automation and intensive level of agricultural machinery, the design and manufacture of solid-liquid separation devices have also been continuously improved, such as adding stirring and crushing devices to solid-liquid separation devices and improving compression and drying efficiency.

[0005] However, these traditional solid-liquid separation devices still have many shortcomings when performing solid-liquid separation on biogas slurry and residue in large biogas slurry pools or black film biogas pools: (1) The feeding method of the existing solid-liquid separation devices is static extraction, and the extraction process requires manual intervention. It is impossible to perform continuous operation and cannot meet the needs of biogas slurry extraction in large biogas slurry and residue temporary storage pools; (2) The extraction feeding position points during the feeding process are relatively random, and it is impossible to grasp the accumulation of biogas residue at the bottom of the dark biogas slurry, resulting in low feeding solid-liquid separation efficiency; (3) The feed pump head is relatively sharp, which can easily cause the anti-permeability membrane at the bottom of the pool to rupture, causing the biogas slurry to seep into the ground and then pollute the groundwater. Utility Model Content

[0006] The utility model is to solve a series of problems caused by the accumulation of sludge in the above-mentioned large-scale sludge storage pools or black film biogas pools, and aims to form a new solid-liquid separation system that couples sludge extraction with an efficient solid-liquid separation system at the intelligent and automated level. It is committed to achieving harmless treatment and resource utilization of manure and sewage, and establishing an ecologically circular breeding model. It can not only promote the high-quality development of breeding enterprises, but also meet the requirements of sustainable development of animal husbandry, and provide a system for detecting the thickness distribution of sludge layers with good economic, social and environmental benefits.

[0007] The utility model achieves the above-mentioned purpose through the following technical solutions: a system for detecting the thickness distribution of a biogas residue layer, comprising a detection platform, a biogas liquid pump lifting component located at the bottom of the detection platform, and a biogas residue distribution curve drawing component located inside the detection platform;

[0008] The sludge distribution curve drawing component includes a transverse laser rangefinder, a right depth sounder is fixedly installed on one side of the transverse laser rangefinder, a wireless receiver is fixedly installed on one side of the right depth sounder, a left depth sounder is fixedly installed on one side of the wireless receiver, a longitudinal laser rangefinder is fixedly installed on the other side of the left depth sounder, and a left transducer and a right transducer are fixedly installed on both sides of the bottom of the detection platform.

[0009] As a further solution of the utility model: the biogas slurry pump lifting assembly includes a first motor, the first motor is fixedly installed inside the detection platform, a second bevel gear is fixedly installed on the output end of the first motor, and the first bevel gear is meshed with one side of the second bevel gear.

[0010] As a further solution of the utility model: a screw body is fixedly mounted on the bottom of the first bevel gear, a guide assembly seat is threadedly mounted on the surface of the screw body, and a biogas slurry pump body is fixedly mounted on one side of the guide assembly seat.

[0011] As a further solution of the utility model: a swamp pond body is arranged outside the detection platform, a liquid level meter is fixedly installed inside the swamp pond body, and a wireless transmitter is fixedly installed on the top of the liquid level meter.

[0012] As a further solution of the utility model: a Bluetooth remote control receiving module, a controller and a lithium battery are respectively fixedly installed inside the detection platform.

[0013] As a further solution of the utility model: second motors are fixedly installed on both left and right sides of the inner wall at the bottom of the detection platform, and propellers are fixedly installed on the output ends of the two groups of second motors.

[0014] As a further solution of the utility model: a first anti-collision switch is fixedly installed on one side of the outer wall of the detection platform, and a second anti-collision switch is fixedly installed on the other side of the outer wall of the detection platform.

[0015] The beneficial effects of the utility model are:

[0016] By setting up a sludge distribution curve drawing component, the dynamic detection of sludge distribution and the model optimization prediction algorithm are combined to improve the accuracy of sludge distribution detection and the efficiency of sludge extraction; the echo parameter model of the depth sounder is established according to the acoustic characteristics of the sludge, and the detection data of the depth sounder, liquid level meter, rangefinder, odometer, and inertial navigation unit are integrated to obtain a sludge distribution model; using deep learning theory, a theory of the influence of extraction speed, stirring speed and distribution model is established, and the model structure parameters are optimized and the sludge distribution is predicted and corrected. This process will greatly improve the detection accuracy and reliability; the establishment of a precise control algorithm for the detection platform under multiple constraints has broken through the technical limitations of existing sludge liquid extraction; traditional sludge liquid extraction is mostly concentrated on static extraction, and complex mobile stirring extraction is less involved. Therefore, the present invention will combine the characteristics of dynamic path planning, establish multiple constraint rules, realize precise motion control of the detection platform based on predictive control, establish a full path planning model, and perform numerical simulation to expand existing research;

[0017] The dual obstacle avoidance control is performed by setting up a biogas slurry pump lifting component in cooperation with a longitudinal laser rangefinder and a first anti-collision switch and a second anti-collision switch, so as to prevent the blades of the biogas slurry pump body from reaching the edge of the biogas pool body. The first bevel gear, the second bevel gear and the screw body structure are used to drive the biogas slurry pump body to rise and fall in the vertical position. The position control of the detection platform is realized based on the principle of two-wheel differential motion. The feedback of the odometer is obtained through theoretical calculation. The orientation information of the IMU inertial navigation unit and the laser ranging information are integrated to obtain an accurate position estimate. The speed of the second motor is generated by the model predictive control algorithm in combination with the path planning algorithm. The motion control of the controller comprehensively considers constraints such as boundary collision avoidance, permeable membrane stirring and leakage prevention, efficient extraction of biogas slag, and abnormal manual control to perform precise motion control. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the detection platform of the utility model;

[0020] Figure 3 For this utility model Figure 2 A schematic diagram of the structure with a partial enlargement at the center;

[0021] Figure 4 It is a structural schematic diagram of the biogas slurry pump lifting assembly of the utility model.

[0022] In the figure: 1. sludge tank body; 2. detection platform; 3. Bluetooth remote control receiving module; 4. sludge pump lifting assembly; 401. guide assembly seat; 402. sludge pump body; 403. screw body; 404. first bevel gear; 405. first motor; 406. second bevel gear; 5. sludge distribution curve drawing assembly; 501. wireless receiver; 502. longitudinal laser rangefinder; 503. right depth sounder; 504. transverse laser rangefinder; 505. left depth sounder; 506. right transducer; 507. left transducer; 6. first anti-collision switch; 7. wireless transmitter; 8. lithium battery; 9. level meter; 10. controller; 11. second anti-collision switch; 12. propeller; 13. second motor. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Example

[0024] like Figures 1 to 4 As shown, a system for detecting the thickness distribution of a biogas residue layer comprises a detection platform 2, a biogas liquid pump lifting component 4 located at the bottom of the detection platform 2, and a biogas residue distribution curve drawing component 5 located inside the detection platform 2;

[0025] The biogas residue distribution curve drawing component 5 includes a transverse laser rangefinder 504, a right depth sounder 503 is fixedly installed on one side of the transverse laser rangefinder 504, a wireless receiver 501 is fixedly installed on one side of the right depth sounder 503, a left depth sounder 505 is fixedly installed on one side of the wireless receiver 501, a longitudinal laser rangefinder 502 is fixedly installed on the other side of the left depth sounder 505, and a left transducer 507 and a right transducer 506 are fixedly installed on both sides of the bottom of the detection platform 2; the right depth sounder 503 and the left depth sounder are fixedly installed on the left side of the detection platform 2. The depth gauges 505 are distributed on both sides of the detection platform 2 with a fixed spacing of d. The distances from the right transducer 506 and the left transducer 507 to the water surface are fixed at a height of h2, and the distance h4 to the surface of the sludge is measured in real time. The magnetic flap level gauge 9 is used to measure the distance h1 from the water surface to the bottom of the sludge pool, which is sent to the controller 10 of the detection platform 2 through the wireless receiver 501 for calculation. The thicknesses of the sludge on the left and right sides are h1-h2-h3 and h1-h2-h4 respectively. The coordinates of the detection point are obtained by the longitudinal laser rangefinder. 502 and the transverse laser rangefinder 504 are acquired in real time and processed by the controller 10. When the detection platform 2 moves along the swamp body 1, the right depth sounder 503 and the left depth sounder 505, the level meter 9 and the longitudinal laser rangefinder 502 and the transverse laser rangefinder 504 continuously detect the sludge thickness information and position information of the continuous detection points, and the distribution curve of the sludge layer thickness can be drawn; for the convenience of control and positioning, the coordinate system of the swamp body 1 itself is defined, and the The sides of the biogas pond body 1 are the horizontal axis x and the vertical axis y, and a strip of water parallel to the horizontal axis x or the vertical axis y is used as the waterway, and the width of the waterway is equal to the width of the detection platform, wherein the waterway is a plurality of waterways parallel to the y-axis and of the same width as the detection platform, and the coordinate information, odometer information, and heading angle detected by the inertial navigation unit obtained by the longitudinal laser rangefinder 502 and the transverse laser rangefinder 504 installed on the detection platform 2 are converted into coordinate information [n, (x1, y1)] in the biogas pond coordinate system through data fusion of the controller 10, where n is the current waterway number, x1 is the coordinate value of the horizontal axis x, and y1 is the coordinate value of the vertical axis y. The distance d between the right depth sounder 503 and the left depth sounder 505 can be measured manually, and the coordinate information of the right depth sounder 503 is [n, (x1+d, y1)]. Example

[0026] In addition to all the technical features of the first embodiment, this embodiment also includes:

[0027] The biogas slurry pump lifting assembly 4 includes a first motor 405, which is fixedly installed inside the detection platform 2. A second bevel gear 406 is fixedly installed at the output end of the first motor 405, and one side of the second bevel gear 406 is meshed with the first bevel gear 404. Starting the first motor 405 can drive the second bevel gear 406 to rotate, thereby driving the first bevel gear 404 and the screw body 403 to rotate.

[0028] A screw body 403 is fixedly installed at the bottom of the first bevel gear 404, a guide assembly seat 401 is threadedly installed on the surface of the screw body 403, and a biogas slurry pump body 402 is fixedly installed on one side of the guide assembly seat 401; the first bevel gear 404, the second bevel gear 406 and the screw body 403 are used to drive the biogas slurry pump body 402 to rise and fall in vertical position. Example

[0029] In addition to all the technical features of the first embodiment, this embodiment also includes:

[0030] A biogas pond body 1 is arranged outside the detection platform 2, a liquid level meter 9 is fixedly installed inside the biogas pond body 1, and a wireless transmitter 7 is fixedly installed on the top of the liquid level meter 9; by using the right depth sounder 503, the left depth sounder 505, the liquid level meter 9, the longitudinal laser rangefinder 502 and the transverse laser rangefinder 504, the thickness of the biogas residue in the biogas pond body 1 can be automatically measured and the position coordinates of the detection point can be located, and then the distribution curve of the biogas residue in the biogas pond can be drawn and presented in a three-dimensional form.

[0031] The interior of the detection platform 2 is fixedly installed with a Bluetooth remote control receiving module 3, a controller 10 and a lithium battery 8, wherein the lithium battery 8 is responsible for supplying power to all electronic equipment and mechanical devices in the detection platform 2, such as motors, sensors, laser rangefinders, depth sounders, etc., to ensure that the detection platform 2 can operate normally and perform the task of detecting the thickness distribution of the sludge layer.

[0032] The second motors 13 are fixedly installed on the left and right sides of the bottom inner wall of the detection platform 2, and the output ends of the two sets of second motors 13 are fixedly installed with propellers 12. The second motors 13 are started to drive the propellers 12 to rotate, and the position control of the detection platform 2 is realized according to the principle of two-wheel differential motion.

[0033] A first anti-collision switch 6 is fixedly installed on one side of the outer wall of the detection platform 2, and a second anti-collision switch 11 is fixedly installed on the other side of the outer wall of the detection platform 2; the longitudinal laser rangefinder 502 and the first anti-collision switch 6 and the second anti-collision switch 11 perform dual obstacle avoidance control to prevent the blades of the sludge pump body 402 from reaching the edge of the sludge tank body 1.

[0034] Working principle: When using the system for detecting the thickness distribution of the biogas residue layer, the biogas residue distribution curve drawing component 5 is set, wherein the right depth sounder 503, the left depth sounder 505, the right transducer 506, the left transducer 507, and the liquid level meter 9 are the core parts. The right depth sounder 503, the left depth sounder 505, the liquid level meter 9 cooperate with the longitudinal laser rangefinder 502 and the transverse laser rangefinder 504 to automatically measure the biogas residue thickness in the biogas tank body 1 and locate the position coordinates of the detection point, and then draw the distribution curve of the biogas residue in the biogas tank. , presented in three-dimensional form; the right depth sounder 503 and the left depth sounder 505 are distributed on both sides of the detection platform 2, with a fixed spacing of d, the distance from the right transducer 506 and the left transducer 507 to the water surface is a fixed height h2, and the distance h4 to the surface of the biogas residue is measured in real time; the magnetic flap level meter 9 is used to measure the distance h1 from the water surface to the bottom of the biogas slurry pool, which is sent to the controller 10 of the detection platform 2 through the wireless receiver 501 for calculation. The thickness of the biogas residue on the left and right sides are h1-h2-h3 and h1-h2-h4 respectively, and the detection point The position coordinates are obtained in real time by the longitudinal laser rangefinder 502 and the transverse laser rangefinder 504 and are obtained by the calculation and processing of the controller 10. When the detection platform 2 moves along the swamp body 1, the right depth sounder 503 and the left depth sounder 505, the level meter 9 and the longitudinal laser rangefinder 502 and the transverse laser rangefinder 504 continuously detect at a regular rate of unit time, and the sludge thickness information and position information of the continuous detection points are obtained, so as to draw the distribution curve of the sludge layer thickness; in order to facilitate control and positioning, the swamp body 1 is defined to be The coordinate system of the body is defined, and the sides of the swamp body 1 are defined as the horizontal axis x and the vertical axis y. The strip waterway parallel to the horizontal axis x or the vertical axis y is used as the channel, and the width of the channel is equal to the width of the detection platform, wherein the channel is a plurality of channels parallel to the y axis and the same width as the detection platform. The coordinate information, odometer information, and heading angle detected by the inertial navigation unit obtained by the longitudinal laser rangefinder 502 and the transverse laser rangefinder 504 installed on the detection platform 2 are converted into the coordinate information [n, (x1, y1)] in the swamp coordinate system through the data fusion of the controller 10, where n is the current channel number, x1 is the coordinate value of the horizontal axis x, and y1 is the coordinate value of the vertical axis y. The distance d between the right depth sounder 503 and the left depth sounder 505 can be measured manually, and the coordinate information of the right depth sounder 503 is [n, (x1+d, y1)];The biogas slurry pump lifting assembly 4 is provided to cooperate with the longitudinal laser rangefinder 502 and the first anti-collision switch 6 and the second anti-collision switch 11 to perform dual obstacle avoidance control, which can prevent the blades of the biogas slurry pump body 402 from reaching the edge of the biogas pool body 1. The first bevel gear 404, the second bevel gear 406 and the screw body 403 structure are used to drive the biogas slurry pump body 402 to rise and fall vertically. The position control of the detection platform 2 is realized according to the two-wheel differential motion principle. The feedback of the odometer is obtained through theoretical calculation. The azimuth information of the IMU inertial navigation unit and the laser ranging information are integrated to obtain an accurate position estimate. The speed of the second motor 13 is generated by the model predictive control algorithm in combination with the path planning algorithm. The motion control of the controller 10 comprehensively considers the constraints such as boundary anti-collision, anti-stirring and leakage of the permeable membrane, efficient extraction of biogas residue, and abnormal manual control to perform accurate motion control. ;

[0035] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0036] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A system for detecting the thickness distribution of a biogas residue layer, characterized in that: It comprises a detection platform (2), a biogas slurry pump lifting component (4) located at the bottom of the detection platform (2), and a biogas residue distribution curve drawing component (5) located inside the detection platform (2); The biogas residue distribution curve drawing component (5) comprises a transverse laser rangefinder (504), a right depth sounder (503) is fixedly mounted on one side of the transverse laser rangefinder (504), a wireless receiver (501) is fixedly mounted on one side of the right depth sounder (503), a left depth sounder (505) is fixedly mounted on one side of the wireless receiver (501), a longitudinal laser rangefinder (502) is fixedly mounted on the other side of the left depth sounder (505), and a left transducer (507) and a right transducer (506) are fixedly mounted on both sides of the bottom of the detection platform (2), respectively.

2. A system for detecting the thickness distribution of a biogas slag layer according to claim 1, characterized in that: The biogas slurry pump lifting assembly (4) comprises a first motor (405), the first motor (405) being fixedly mounted inside the detection platform (2), a second bevel gear (406) being fixedly mounted on an output end of the first motor (405), and the first bevel gear (404) being meshed with one side of the second bevel gear (406).

3. A system for detecting the thickness distribution of a biogas slag layer according to claim 2, characterized in that: A screw body (403) is fixedly mounted on the bottom of the first bevel gear (404), a guide assembly seat (401) is threadedly mounted on the surface of the screw body (403), and a biogas slurry pump body (402) is fixedly mounted on one side of the guide assembly seat (401).

4. A system for detecting the thickness distribution of a biogas slag layer according to claim 1, characterized in that: A swamp pond body (1) is arranged outside the detection platform (2), a liquid level meter (9) is fixedly installed inside the swamp pond body (1), and a wireless transmitter (7) is fixedly installed on the top of the liquid level meter (9).

5. A system for detecting the thickness distribution of a biogas slag layer according to claim 1, characterized in that: A Bluetooth remote control receiving module (3), a controller (10) and a lithium battery (8) are respectively fixedly installed inside the detection platform (2).

6. A system for detecting the thickness distribution of a biogas slag layer according to claim 1, characterized in that: Second motors (13) are fixedly mounted on both left and right sides of the inner wall at the bottom of the detection platform (2), and propellers (12) are fixedly mounted on the output ends of the two sets of the second motors (13).

7. A system for detecting the thickness distribution of a biogas slag layer according to claim 1, characterized in that: A first anti-collision switch (6) is fixedly mounted on one side of the outer wall of the detection platform (2), and a second anti-collision switch (11) is fixedly mounted on the other side of the outer wall of the detection platform (2).

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