Smart crane-bucket system with integrated sensors

Abstract

A mobile picking system for picking waste bulk material, comprising a measurement system to perform a chemical characterization of the material, wherein said measurement system is based on the Neutron Activation Analysis (NAA) technique, and in that said mobile picking system comprises a mobile crane with a clamshell bucket able to open the shells and pick the selected bulk material. Said mobile picking system is configured to instantly analyze, classify and then move the waste to an appropriate storage location / area.

Description

[0001] SMART CRANE-BUCKET SYSTEM WITH INTEGRATED SENSORS,

[0002] *****

[0003] The present invention relates to the field of waste material treatment and specifically refers to a smart system that can be used in modern waste treatment plants. This system can serve as an auxiliary tool for operators, collecting information on treated waste through sensors, and it functions as a fully autonomous and automated system.

[0004] The waste material in question can be Municipal Solid waste (MSW) , Residual solid waste (RSW) , or generic mixed waste material.

[0005] Currently, the waste used in the plants for the production of energy is subjected to minimal analyses, thus obtaining a minimum amount of information from the analysed sample; the mechatronic development in these energy plants is minimal, some waste classification systems characterized by conveyor belt and NIR technology are taken into consideration in order to identify the commodity fractions of the analysed material.

[0006] A main object of the present invention is to provide a smart crane-bucket system for analyse and classify waste matter according to the level of specific chemical elements, typically carbon, oxygen, hydrogen, nitrogen, sulphur and chlorine.

[0007] Another object of the invention is to detect further useful information concerning the analysed waste such as weight, percentages of humidity, ash and metal in the sampled material. The innovative smart system, therefore, gives the possibility to obtain a large number of information on the analysed waste material.

[0008] The invention can contribute not only to the creation of a smart mechatronic system capable of preparing the charge to the waste to energy plants according to assigned requirements, but also contribute to a reduction in the cost of the plant and to an increase of the efficiency of the entire management system.

[0009] The innovative solution substantially provides the integration of at least a volumetric sensor with a neutron activation device to examine the chemical analysis of the waste taken with a classic pit crane. The waste is instantly analysed, classified and then moved to the appropriate storage location.

[0010] The invention substantially comprises a system for picking bulk material, integrated by a measurement system to perform a chemical characterization of the material, based on the Neutron Activation Analysis (NAA) technique, wherein said picking system is composed of a mobile crane with a clamshell bucket able to open the shells and pick the selected bulk material.

[0011] *****

[0012] According to the present invention the smart crane-bucket system comprises a picking system and an apparatus for analysing and classifying waste material according to its main characteristics.

[0013] In particular, the present innovation is able to provide a large number of data useful in the management of storage areas of waste and in the optimization process of the management of a feeding system of a generic waste-to-energy or waste-to- chemical plant. The information that can be obtained from the analysis of the material represents the output of a large number of measuring devices, among which the main one is based on Neutron Activation Analysis (NAA) technology; other analysis technique used are laser, Laser Imaging Detection and Ranging (LIDAR) technique, Laser induced Breakdown Spectroscopy (LIBS), imaging technique based on visible, Near Infrared (NIR) or Mid infrared (MIR) spectrum.

[0014] The Neutron Activation Analysis (NAA) is a known non-destructi ve technique to analyse the chemical atomic composition of a generic sample material; it is based on the interaction between a generated neutron flux and the nuclei of the sample material: it depends on the species of the target nuclide and on the energy content of the coming particle, a specific reaction will occur with the accompanying emission of gamma rays. These gamma rays, acquired by a receiver and managed and read by dedicated software, report information about the object hit by the neutron flux: radioactivity, chemical composition and sometimes even the exact isotope of the element. So, NAA is a highly accurate and reliable technique for determining elemental composition. It is used in a wide range of fields, including environmental sciences, archaeology, nuclear medicine, and materials science. The current state-of-art about nuclear physics methodologies and instrumentation makes it possible to use this peculiar technology for routine measurements in various fields, for example as an inspection technique for narcotic and explosive substances.

[0015] According to the present invention, such picking system comprises:

[0016] • A picking system for lifting, carrying, loading, and unloading bulk materials.

[0017] • A picking system for moving both the bucket and the measuring system.

[0018] • A bucket for loading and unloading bulk material s .

[0019] • A bucket or clamshell bucket or grab bucket or two elementary buckets associated with a hinged structure forming a claws-like appendage with an internal volume in which bulk material is accepted.

[0020] Said NAA measurement system includes a neutron emitter and a gamma- ray meter, and comprises:

[0021] • at least one processor unit able to manage and control the neutron emitter.

[0022] • at least one scintillation detector module to measure the number and value of gamma rays.

[0023] • at least one digital -analog converter connected to the detector.

[0024] • at least one data acquisition system to collect gamma rays data.

[0025] Furthermore, said measurement system is preferably equipped with:

[0026] • at least one moisture sensor.

[0027] • at least one weight sensor. • at least one x-rays detector,

[0028] • at least one spectroscopy sensor

[0029] • at least one scanner sensor for the spatial distribution of waste in the storage area.

[0030] The measurement system has a closed structure wherein the waste material is collected, suitably isolated from the outside environment using shielding materials, in which there are at least a neutron generator, at least one gamma ray receiver, at least a microwave moisture sensor, and other electronic systems and software capable of managing this information.

[0031] It is preferable, managing mixed material of often unknown origin material, to consider the presence inside or outside the closed structure of an X-rays detector to identify the presence of any radioactive material.

[0032] According to a peculiar feature of the invention, gamma ray sensors are isolated from the neutron generator, to avoid excessive energy overloads on the sensors and therefore to reduce their useful life and the quality of the acquired signal .

[0033] In a preferred embodiment of the invention, two shielding materials with different physical and chemical characteristics are provided: one material to isolate the external environment from the internal one and vice versa, and another material to cover gamma rays detectors and improve the background noise in the created signal.

[0034] Focusing on the management process of the acquired data, starting from the data detected by sensors, it is provided a Neutron Activation Analysis (NAA) system configured to output the ultimate analysis of a bulk material; this analysis comprehends all crucial elements that characterize Municipal solid waste (MSW) such as c, H, 0, N, s, Cl. it should be noted that neither the sensors nor the NAA system can separate hydrogen and oxygen contained in the water from the MSW; that’s why a Microwave volumetric Moisture sensor must be provided as well.

[0035] Combining the two data measurements coming from said sensors, it is possible to extract the elemental composition of the dry base material, the water or humidity content, and so exactly the amount of combustible material and the remaining inert or ash .

[0036] According to the present invention, in addition to the analysis technique mentioned above, the use of one or more devices for scanning the storage area is envisaged, such as video cameras, radar sensors or ultrasonic sensor or laser systems. The technologies for said laser systems can be, for example, Laser imaging Detection and Ranging (LIDAR) technique, focused on a superficial analysis. The main objective is to define the position of the crane in the 3D space and to reconstruct the spatial arrangement of the waste within the storage area. These laser systems can be fixed onto the mobile bucket or fixedly positioned with respect to the storage area.

[0037] Other material analysis devices (moving together with the bucket or fixed in one position of the storage area), may be devices such as cameras that work on a visible spectrum, near infrared or mid infrared. Such devices often require the aid of lighting elements which, through the radiation phenomenon, radiate the target material.

[0038] All the information that can be obtained from the above-mentioned multiple measurement systems, flow directly to one or more central processing units (CPU): the data processing, aimed at definitively identifying the waste classification and sorting process, can take place in a main monitoring station; here, decisions are made in a full -automati c, semi-automatic or manual way depending on the degree of automation of the system.

[0039] A preferred embodiment of the innovative material analyser according to the present invention, is a sophisticated analysis system that utilizes Neutron Activation Analysis technology to generate and interpret a huge number of information- rich signals concerning the analysed waste material.

[0040] Only by way of non-1 imitative example, an embodiment of the invention is shown in Figure 1, which substantially includes the main components: as it is possible to see, there is a chain (01) on the top which supports the entire structure through a metal hook (02); the structure is composed by a main body (03) that internally contains the neutron generator (06) and the detector modules (09), which are closed by a protection system (010); these detector modules are composed by scintillation detectors, a moisture sensor and an X-ray sensor, while the neutron generator (06) is surrounded by a shielding material (07); moreover, pistons (04) are attached to the main body (03) and are connected with two clamshells (05) covered by a shielding material (08), which close and open in order to collect the waste material (011) according to the system substantially shown in Figure 3, This figure wants to underline the use of Neutron Activation Analysis technology which, despite not being a recent topic, is innovative in its application field and integration with this closed and mobile structure. Another fundamental component of the system is the weighting unit (033): it has the task of estimating the load supported by the bucket and, therefore, providing further information to the CPU. The remaining part of the measurement system (031) is properly exposed in Figure 4.

[0041] Figure 2 schematically illustrates the movement of the crane-bucket system, which can be controlled by a CPU (012) that determines the grip and release points and optimal trajectory. The structure is moving in three dimensions, facilitated by an actuator managed by a control driver (013) and motors (022 and 023) for horizontal and vertical translation. Upon reaching the target position, the control system, via the control power device (014), reads encoder sensors (024) and commands the clamshells actuators (04) to close, collecting a portion of the waste material (Oil) for analysis. Once the clamshells are in a position that forms a closed volume, preventing the material from escaping, the CPU (012) signals the measuring instrument protection system (010) to move, avoiding any collisions and protecting the material and instrumentation from damage.

[0042] Figure 3 illustrates, among others, the typical NAA measurement process. The Neutron Activation Analysis (NAA) technique identifies the elemental composition of a waste material (Oil) by injecting neutrons (018) into it. The resulting interaction (019) between the neutrons and the waste material's atoms produces gamma rays (020) which are unique for each element and proportional to the amount present. The gamma rays spectra (021) are detected by scintillation detectors (09A) and managed by electronic devices and software of the acquisition system (016). The CPU controls the emission of neutrons from the neutron generator (06) through the electrical circuit of the neutron activator driver (015) connected to the neutron generator (06). Typically, a pulsed emission at a suitable energy level is used to ensure the measurement of both Inelastic Neutron Scattering (INS) and Thermal Neutron Capture (TNC) reactions.

[0043] Additionally, alongside the measurement of the gamma rays emitted by the material, there is also a humidity sensor (08A) and its electrical circuit driver (017) that assesses the water content of the analyzed waste material (Oil). This humidity sensor (08A) operates by emitting microwave waves ; the timing of this measurement can occur before , after, or even concurrently with the emission of neutrons and the generation of gamma rays .

[0044] All measurement processes on the fluff material (Oil) are controlled by a control unit (025) .

[0045] Figure 4 is, instead, focused on the presence and the action of a further measurement system (031) shown in Figure 1.

[0046] The followi ng elements are part of thi s further measurement system:

[0047] - a set of scanni ng devices for scanning the surface;

[0048] - a set of detection device for detecting some potential ly crucial information of the material stored in the area.

[0049] The scanning devices i nclude radar, whi ch uti lizes radio waves; Laser imaging Detection and Rangi ng (LIDAR) , whi ch employs laser beams; Microwave Amplification by Stimulated Emission of Radiation (MASER) , utilizing microwaves ; and ultrasonic, which relies on sound waves . These devices are focused on providing precise measurements for both point-specific and superficial analyses . The detection devices , i nstead, are mainly composed by imaging device on visible spectra, NIR or MIR and thermal radiation system to detect i nformation from the analysed matter.

[0050] The presence of such further measurement system (031) i s aimed at collecting further information regarding the envi ronment in which the smart crane is movi ng: subdivision of the material into product fractions , punctual level of the fluff material and, among others , spatial layout of the material i n the space in which it i s stored. The measurement process CPU (025) turns on the devices included i n said further measurement system (031) via a digital driver (028) and interprets the data thanks to the acqui sition system (029) ; the action of the measurement devices (026) , li ke laser or light emission or radio emission or sound emi ssion, creates reaction in the fluff material (027) that can be received by the detectors included in the further measurement system (031) .

[0051] Figure 5 schematically shows the possible presence of a main monitoring station (030) : both the CPU for the management of the crane-bucket system (012) dedicated to handl ing actions and the CPU (025) for the measurement process communicate with the mai n station (030) where all the i nformation coming from the herein disclosed innovative measurement and analysis system are sent.

[0052] Figure 6 is , instead, focused on the movement of the protection system (010) ; once the material to be analysed has been correctly collected i n the closed volume of the clamshel ls, the protection device can move , opening, to avoid obstructing even only partially the diffusion of neutrons and gamma rays. The openi ng i s controlled, as well as the movement of the clamshells , by the CPU. if the protective system (010) doesn't impede neutron emission or gamma- ray reception, such as i n the case of a grid-based protection system, it's possible to envisage a cleaning system (032). For instance, this system could consist of brushes or other devices capable of periodically acting on the cleanliness status of the mobile protection device, regardless of whether it's dirty or clean.

[0053] Figure 7 is a summarizing scheme of main functions and activities of the invention, it reacts to data from both external environments, such as the status and variable targets of the downstream waste- to-chemical plant, and the smart crane-bucket. A logical drive uses this information to define and schedule the main activities of the system, including:

[0054] • Movement and Picking

[0055] • Release

[0056] • Mixing

[0057] • scanner / Detection activities

[0058] Each of these activities is explained in more detail in the said image. The various measurement systems, both attached to the mobile crane and in fixed positions, provide a stream of information to the logical drive, which enables it to make informed decisions and manage the overall system effectively.

[0059] As an alternative to the crane-bucket system disclosed above, according to the invention it is possible to provide a bucket or clamshell bucket or grab bucket or two elementary buckets associated with a hinged structure forming a claws-like appendage with an internal volume in which bulk material is accepted Said the weight sensor can be constituted by a load cell, which is an electronic component used to measure a force applied on an object through the measurement of an electrical signal that varies due to the deformation that this force produces on the component. The said load cell can be either pneumatic or hydraulic or strain gauges.

[0060] Finally, the neutron emitter is preferably a neutron generator based on the use of isotopes of the hydrogen atom, such as deuterium and tritium; the said neutron emitter or emitters considered could be of the D-T type but, despite this, the possibility of considering neutron sources other than the mentioned D-T type is not excluded provided that the energy level of the emitted neutrons is suitable for the analysis.

[0061] LEGEND

[0062] 01. Chain

[0063] 02 . Hook

[0064] 03. Main body of the bucket

[0065] 04. Piston / clamshell actuators

[0066] 05. Clamshell

[0067] 06. Neutron Generator

[0068] 07. Shielding Material for neutron generator

[0069] 08. Shielding Material for external environment

[0070] 08A. Humidity sensor

[0071] 09. Detector Module

[0072] 09A. Scintillation detector

[0073] 010. Protection System

[0074] Oil. Fluff Material / waste material

[0075] 012. CPU for the management of the crane-bucket system.

[0076] 013. Control driver for crane actuators

[0077] 014. Control hardware for power drive management of bucket actuators

[0078] 015. Neutron activator driver

[0079] 016. Acqui siti on system of sci ntillation detectors

[0080] 017. Electrical ci rcuit of humidity sensor

[0081] 018. Neutron flux

[0082] 019. phenomena of i nteraction between neutron and nucl ei of matter

[0083] 020. Emi ssion of gamma rays

[0084] 021. Detection of gamma rays spectra

[0085] 022. Hori zontal translation motor

[0086] 023. Vertical translation motor

[0087] 024. Encoder sensors of clamshell driver actuators

[0088] 025. CPU for the measurement process .

[0089] 026. Action of measurement device

[0090] 027. Reaction from the analysed material

[0091] 028. Digi tal driver

[0092] 029. Acqui sition system

[0093] 030. Main moni toring station

[0094] 031. Further measurement system

[0095] 032. cleaning device

[0096] 033. Weighting unit

Claims

CLAIMS :

1. A mobile picking system for picking waste bulk material, comprising a measurement system to perform a chemical characterization of the material, characterized in that said measurement system is based on the Neutron Activation Analysis (NAA) technique, and in that said mobile picking system comprises a mobile crane with a clamshell bucket able to open the shells and pick the selected bulk material; wherein the mobile picking system is configured to instantly analyze, classify and then move the waste to an appropriate storage location / area.

2. The mobile picking system according to claim 1, characterized in that said picking system comprises:• A picking system for lifting, carrying, loading, and unloading bulk materials;• A picking system for moving both the bucket and the measuring system;• A bucket for loading and unloading bulk materials ;• A bucket or clamshell bucket or grab bucket or two elementary buckets associated with a hinged structure forming a claws-like appendage with an internal volume in which bulk material is accepted.

3. The mobile picking system according to claim 1 or 2, characterized in that said NAA measurement system includes at least one neutron emi tter / generator and at least one gamma- raymeter / sensor , and comprises:• at least one processor unit able to manage and control the neutron emitter;• at least one scintillation detector module to measure the number and value of gamma rays;• at least one digital -analog converter connected to the detector;• at least one data acquisition system to collect gamma rays data.

4. The mobile picking system according to one or more of the preceding claims, characterized in that said measurement system is further equipped with one or more of the following devices:• at least one moisture sensor;• at least one weight sensor;• at least one x-rays detector;• at least one spectroscopy sensor;• at least one scanner sensor for the spatial distribution of waste in the storage area.

5. The mobile picking system according to one or more of the preceding claims, characterized in that said measurement system has a closed structure wherein the waste material is collected and isolated from the outside environment using shielding materials, in which there are at least a neutron generator, at least one gamma ray receiver, at least a microwave moisture sensor, and other electronic systems and software capable of managing this i nformation .

6. The mobile picking system according to the preceding claim, characterized in that an X-raysdetector to identify the presence of any radioactive material is provided inside or outside the closed structure .

7. The mobile picking system according to claim 3, characterized in that said one or more gamma ray sensors are isolated from the neutron generator, to avoid excessive energy overloads on the sensors and therefore to reduce their useful life and the quality of the acquired signal.

8. The mobile picking system according to one or more of the preceding claims, characterized in that two shielding materials with different physical and chemical characteristics are provided: one shielding material to isolate the external environment from the internal one and vice versa, and another shielding material to cover gamma rays detectors and improve the background noise in the created signal.

9. The mobile picking system according to one or more of the preceding claims, characterized in that it is provided a Neutron Activation Analysis (NAA) system configured to process the acquired data, starting from the data detected by sensors, in order to output the ultimate analysis of a bulk material; wherein this analysis comprehends all crucial elements that characterize Municipal solid Waste (MSW) such as at least one of the following elements: c, H, 0, N, s, Cl.

10. The mobile picking system according to claim 4 or 5, characterized in that it is configured to combine the two data measurements coming fromsaid sensors, in order to extract the elemental composition of the dry base material, the water or humidity content, thereby determining the exact amount of combustible material and the remaining inert or ash.

11. The mobile picking system according to one or more of the preceding claims, characterized in that, in order to define the position of the crane in the 3D space and to reconstruct the spatial arrangement of the waste within the storage area, one or more devices for scanning the storage area, such as video cameras, radar waves, ultrasonic waves or laser systems, are further provided; such video cameras, radar, ultrasonic or laser systems being fixed onto the mobile bucket or fixedly positioned with respect to the storage area.

12. The mobile picking system according to one or more of the preceding claims, characterized in that further material analysis devices, moving together with the bucket or fixed in one position of the storage area, such as cameras that work on a visible spectrum, near infrared or mid infrared are provided.

13. The mobile picking system according to one or more of the preceding claims, characterized in that it is provided with means for send all the information obtained from said measurement systems, directly to one or more central processing units (CPU) of a main monitoring station wherein the data processing, aimed at definitively identifying the waste classification and sorting process, takeplace; said main monitoring station being configured in order to make decisions in a full -automatic, semi-automatic or manual way according to the degree of automation of the system.

14. The mobile picking system according to claim 3, characterized in that said neutron generator is based on the use of isotopes of the hydrogen atom, such as deuterium and tritium.

15. The mobile picking system according to claim 4, characterized in that said weight sensor is a load cell, which is an electronic component used to measure a force applied on an object through the measurement of an electrical signal that varies due to the deformation that this force produces on the component; said load cell being either pneumatic or hydraulic or strain gauges.

16. The mobile picking system according to claim 4, characterized in that said at least one spectroscopy sensor is configured to detect and analyse the chemical properties of various substances and molecules.

17. The mobile picking system according to claim 4, characterized in that said at least one scanner sensor has the function to scan and convert the information into digital data and it is based on laser or radar or ultrasonic technology.

18. The mobile picking system according to claim 5, characterized in that said shielding material is present both around the neutron generator and on the picking system.

19. The mobile picking system according toclaim 18, characterized in that said shielding material on the neutron generator has different properties and functionalities with respect to the one present on the picking system: the first one is configured to protect the at least one detector module, while the second one is configured to separate the external environment from the internal one .

Images