MOBILE ROBOTIC SLUDGE DRYING, MIXING AND HOMOGENEOUS VENTILATION SYSTEM

Abstract

The invention relates to a mobile robotic sludge drying, mixing and homogenization system comprising a mobile carrier chassis (1) moving on a sludge drying bed (14), a drive and steering mechanism (2), a mixing and aeration mechanism (3) carrying mixing blades (3.2), an angle, position and motion sensing architecture (4), a LiDAR sensing unit (5), a PLC-based control unit (6) and an HMI operator interface (7). The control unit (6) creates a cell-divided area coverage map (10.1) of the sludge drying bed (14), updates the processed / unprocessed status of each cell in real time and plans the route so that mixing is not repeated in the same cell until all cells have been processed at least once.In addition, the feed rate, spindle speed, working depth and passage distance are adapted in real time according to the data of a mud condition sensing unit (12) which measures the mechanical load on the mixing group; uninterrupted operation is ensured by the rotational cable connection system (11). Thus, homogeneous aeration, low energy consumption and repeatable autonomous operation are achieved.