Robot Shunting Control With Just-In-Time Path Planning
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Solution Overview
Problem
Existing robot shunting algorithms fail to efficiently remove elemental mercury (Hg0) from flue gas and oxidized mercury (Hg2+ from waste liquid, with activated carbon injection technology being costly and its mercury removal efficiency is affected by NOx and SO2.
Innovation Solution
Utilization of metal sulfides (e.g., FeS2, CuS, CuFeS2) as mercury removal adsorbents, which contact with flue gas and waste liquid, adsorbing and converting Hg0 from flue gas and Hg2+ from waste liquid into stable mercury sulfide compounds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If activated carbon injection technology is used for mercury removal, then mercury removal capability is provided, but operational costs increase and mercury removal efficiency is affected by NOx and SO2
Solution Approach 1:
The patent uses廉价的金属硫化物（如FeS2、CuS、CuFeS2）作为汞吸附剂替代昂贵的活性炭。这些金属硫化物成本低廉，虽然单次使用效果有限，但通过连续投加和更新，实现了持续高效的汞去除，解决了活性炭成本高的问题
Solution Approach 2:
专利通过改变吸附剂的化学性质参数，从活性炭的物理吸附转变为金属硫化物的化学吸附。金属硫化物与汞离子发生化学反应生成HgS沉淀，这种化学作用机制使汞去除效率不再受NOx和SO2等气体成分的干扰，提高了去除效率的稳定性
2Object-affected harmful factors
If activated carbon injection technology is used, then mercury removal is achieved, but operational costs increase
Solution Approach 1:
采用廉价的金属硫化物替代昂贵的活性炭作为汞吸附剂。这些金属硫化物材料成本低，通过连续投加和更新的方式，实现了持续的低成本汞去除，显著降低了运行成本
3Ease of manufacture
If metal sulfides are used as adsorbents, then cost-effectiveness is improved, but mercury removal efficiency must be maintained in presence of NOx and SO2
Solution Approach 1:
改变吸附机制从物理吸附到化学吸附，金属硫化物通过化学作用与汞反应，这种化学吸附机制选择性强，不受NOx和SO2等气体成分的干扰，在保持低成本的同时确保了汞去除效率的稳定性和可靠性
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Achieves efficient, cost-effective, and environmentally friendly simultaneous removal of Hg0 from flue gas and Hg2+ from waste liquid, avoiding secondary pollution and reducing operational costs.
Implementation Method 1
metal sulfides (e.g., FeS2, CuS, CuFeS2) as mercury removal adsorbents, which contact with flue gas and waste liquid, adsorbing and converting Hg0 from flue gas
Implementation Method 2
converting Hg2+ from waste liquid into stable mercury sulfide compounds
Data Source
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AI summary
A controller is provided to control movement of a plurality of transporting devices. In particular, the controller provides improved robot shunting. More specifically, the controller delays the planning of a shunt path for an idle robot until closer to the time the idle robot needs to move out of the way. Advantageously this avoids the computing burden of planning shunts in advance that are never performed because the idle robot is subsequently tasked before the shunt were due to start. In particular, by planning shunt paths very close to the time at which they need to be executed thereby providing a more efficient solution to robot shunting because very close to the execution time there is a very small probability that the plan will change in a way that the shunt needs to be recalculated. The controller comprises a route determination unit arranged to determine a plurality of routes from one location on a grid-like structure to another location on the grid-like structure for a first transporting device and a waypoint generation unit arrange to generate at least one leg for each of the plurality of routes determined by the route determination unit. The controller further comprises a shunt calculation unit arranged to calculate a shunt path for a second transporting device so as to shunt the second transporting device, wherein the shunt path is calculated at a predetermined time before which the second transporting device must commence movement to permit the uninterrupted passage of the first transporting device and a clearance unit arranged to provide clearance for the first transporting device to traverse a leg of a determined route.