JPH084685B2 - Slow sand filter robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device for scraping and removing dirty sand generated on the surface of a filter sand layer of a slow filtration basin used for waterworks, etc. Underwater condition, the robot automatically runs on the filtered sand layer according to the programmed travel route to remove dirt and immediately carry it out of the pond. Of equipment.

(Prior Art) In waterworks and the like, slow filtration basins have been used for a long time as a part of water treatment systems for turbidity removal treatment. The slow filtration tank is easier to maintain and manage than the rapid filtration tank.
In addition to filtering and removing suspended solids in raw water, it has the function of removing various dissolved and odorous components in water by the biochemical action of biofilm of pollutants deposited on the surface of the filter sand layer as the filtration continues. It has the advantage that high quality filtered water can be obtained.

However, if filtration water gradually becomes difficult due to the progress of deposition on the surface of the filtration sand layer as the filtration continues, unlike the rapid filtration pond, it does not have a filtration sand washing mechanism, so the surface of the filtration sand layer is not regularly polluted. Sand needs to be scraped off and removed.

The slow filtration basin generally has a vast area, and is usually divided into a plurality of unit basins and used alternately. In the unit filtration basin where surface deposition has progressed, water is stopped and water is drained to enter the basin and the surface sand of about 1 cm in thickness is scraped by human labor to be carried out of the basin. This work requires a lot of labor, time, cost and experience, and is usually repeated in a cycle of 1 to 2 months per pond, but due to pollution of water sources and eutrophication in recent years, clogging of the filter sand layer hastened and scraping The cycle of removal work tends to be significantly shorter.

In order to eliminate the work of scraping and carrying out the sand by human power, move the underwater sand scraper at the bottom of the slow filtration pond that does not drain water, and remove the scraped sand outside the pond. Various taking devices have been proposed. Since most of these are driven type in which the dirt scraping machine is moved by a drive device outside the pond, auxiliary equipment such as rails and frames must be installed for each unit filtration pond, In a slow filtration pond that requires a vast area for multiple ponds, a large amount of cost is required for the outside pond drive facility including the moving equipment that moves it to each pond rather than the sludge scraper itself.

Japanese Patent Application No. 56-118060 (Japanese Patent Application Laid-Open No. 58-17804) is one of the most advanced prior arts of a device for scraping dirt on the surface of an underwater filtration sand layer without draining water from a slow filtration basin. Since the float is used as a relay and a dirt scraping machine is installed below it to lift it up and down, the dirt collected by pulling with a wire rope from the outside of the pond is discharged from the float pump to the outside of the pond. There is an advantage that the cost of equipment can be relatively low.

(Problems to be Solved by the Invention) The above-mentioned prior application, the automatic soil sand scraping device, requires the least amount of underwater equipment for scraping work, but if the number of unit filtration basins is large, the traction device and traverse equipment are also There was a problem that it was necessary to add more units according to the number, and it was difficult to apply to a non-linear filtration tank or a large-scale filtration tank such as a fan-shaped unit filter of a circular filtration tank.

(Means for Solving Problems) The present invention has been made for the purpose of providing a solution to the above-mentioned problems of the prior art, in which a filter sand layer of a slow filtration pond in a water-filled state is preset. According to the running program, it is a self-running vehicle that scrapes dirt on the surface of the filter sand layer and automatically discharges it to the outside of the pond. A watertight control box with and is installed on the underwater traveling vehicle and connected to the power supply control panel on land with a flexible electric cable. It is possible to install a scrape type dirt sand scraping device for scraping work on the front and rear of the running vehicle, and an underwater sand pump device with a switching valve for scraping dirt discharge work on the vehicle. Flexible sand discharge hose It is guided to the outside of the pond via the pond, and in order to regulate the self-driving according to the traveling program by self-judgment, the traveling road change sensor and the traveling road correction sensor are arranged at appropriate places on the traveling vehicle, and the signals of these sensors are sent to the computer. It is configured such that self-determination is made by the feed calculation and integrated control is performed.

It is also possible to use a portable operating box that wirelessly communicates with the power supply control panel during manual operation or in an emergency, and remotely control the robot via a wired communication signal path connected to the flexible electric cable from the power supply control panel.

That is, the sludge removal robot of the slow filtration basin of the present invention,
The overall structure is that the slow sand filtration tank is flooded and the dirt on the surface of the filter sand is scraped and automatically carried out to the outside of the pond. Allows straight and curved self-driving on the water bottom and the filter sand layer surface, and at the front and rear ends of the traveling vehicle, a screwil type sand scraping device that can move up and down on the filter sand layer surface is installed, and the suction side is selected for the sand collecting part. A submersible sand pump device that is electrically connected to the traveling vehicle and guides its discharge side to the outside of the pond through a flexible sand discharge hose, and selects the traveling route and various on-board equipment on the traveling vehicle. A watertight control box with a built-in program controller for the operation of the vehicle is installed on the traveling vehicle, and the power supply control panel outside the pond and the program controller are connected by a flexible electric cable. A travel route change sensor and A travel route correction sensor arranged calculated by inputting the signals of these sensors to the program controller, self determination, characterized in that so as to perform the integrated control.

(Operation) According to the traveling program preset by the automatic program controller in the watertight control box, the dirt-scraping robot of the present invention self-travels from one end to the other end of the filtration basin on one traveling path, When the traveling route change sensor detects that the robot has reached the other end, the robot stops by the signal and the robot moves backward to the next traveling route by the curved traveling function according to the preset traveling route changing pattern. . In the next traveling route, even if there is an irregular shape such as a step on the surface of the filtering sand layer, the traveling route correction sensor reads and distinguishes the scraped end portion and the unscraped portion of the surface of the filtering sand layer and makes a self-judgment based on the signal. Carry out scraping while maintaining the correct travel route. The above operation is repeated according to the program, and the entire surface of the pond is scraped.

(Embodiment) Hereinafter, the dirt-scraping robot of the slow filtration basin of the present invention will be specifically described based on a representative embodiment with reference to the accompanying drawings.
FIG. 1 is a vertical side view showing the overall equipment, FIG. 2 is a plan view showing the structure of a dirt scraping robot of a typical embodiment, FIG. 3 is its side view, and FIG. 4 is a fan-shaped division. FIG. 5 is a plan view showing an example of a traveling program in a 1-unit filtration tank of the slow filtration tank, and FIG. 5 is an enlarged plan view of a local portion showing the movement for changing the traveling route.

In FIG. 1, the dirt-scraping robot (1) of the present invention, which is indicated by the comprehensive reference numeral (1), is a sluice filter basin (2) in a water-filled state.
It is dropped onto the surface of the sand filter layer (3) and self-runs on the surface of the sand layer to scrape off the sand layer surface, and the scraped soil sand is immediately floated with a flexible sand discharge hose (4) Transfer to the sand washing machine (5) outside the pond via the. The dirt sand scraping robot (1) is also connected to a power supply control board (6) installed on the land by a flexible composite electric cable (7), and scraped from the power supply control board (6). It receives electric power for driving the operation part, etc. and receives a wired signal for operation control, and runs along the entire surface of the slow filtration basin according to a preset running program pattern. Take automatically. The electric cable (7) can be combined with the hose (4). In addition to this, a manual control operation can be added to the operation of the dirt scraping robot in a timely manner by a radio signal from the portable operation box (8) to the power supply control panel (6) by an operator.

As shown in FIG. 2 and FIG. 3 in detail, one example of the dirt-scraping robot (1) is that the traveling vehicle (9) is of the crawler type and has the carriages (10) (10) on both sides. It is possible to run in a straight line, and it is also possible to run in a curved line due to the difference in drive speed between the two sides.

In order to scrape away and scrape dirt on the surface of the filter sand layer (3) as it travels, sukuriyu type sand scraping devices (11A) (11B) are provided at the front and rear ends of the traveling vehicle (9) so that they can be moved up and down. When the traveling vehicle (9) travels forward with the scraping device (11A), it lowers the scraping device (11A) so that about 10mm between the sand layers can be scraped off, and the dirty sand scraping travel can be performed. Do. These sukuryu type dirt sand scraping device (11A) or (11
In B), the screw (12) of the left and right screws horizontally provided so as to be orthogonal to the traveling direction is driven to rotate in the central scraping direction, and this is covered with the cover (13) and the cover (13). A sliding plate (14) and a rake (15) located in front of and behind the screw (12) are provided at the bottom of the slide. By adjusting the height of the sliding plate (14) and the screw (12), The depth of dirt removal is determined, and the rake (15) is used to even out the sand surface after dirt removal. The drive motor for the screw (12) and the lift motor for the scraping devices (11A, 11B) are mounted on the cover (13) in this example, but these drive motors are used for the traveling vehicle (9). It can also be stored inside.

A submersible sand pump device (16) is mounted on a traveling vehicle (9), and a suction valve has a switching valve (17) and a suction pipe (18) for switching between a scraping side and a non-scraping side. Through the scraper (11A) (11B) central sand collecting section cover (1
3) is connected to the upper surface, and its discharge side is connected to the sand discharge hose (4) by the rotary joint part (19),
The scraped dirt is selectively sucked and discharged to the sand washing machine (5) outside the pond. The scraped dirty sand is sucked by the sand pump (16) in the solid-liquid state and carried out in the carry-out hose (4) in the solid-liquid state, so that the dirt is removed from the sand by stirring during this time. ) Work can be simplified.

The traveling vehicle (9) is equipped with a program controller (20) having a microcomputer for controlling the above-mentioned traveling section of the tailer, the dirt exchanging section, and the driving section for operating the submersible sand pump, which is built in the watertight control box. ing. As described above, the program controller (20) receives power from the power supply control panel (6) on land via the composite electric cable (7) and receives a wired control signal.

Furthermore, each dirt removal device (11A) (11B) of the traveling vehicle (9)
Is equipped with a travel route change sensor (21) and a travel route correction sensor (22) for the purpose described below. The signals of these sensors are input to a program controller (20) to perform computer calculation, integrated judgment, self-control. It is designed to be carried out by the self-judgment of the dirt scraping robot (1).

A program for the scraping operation of the dirt scraping robot (1) of the present invention is set in accordance with the shape of the slow filtration basin (2). Figures 4 and 5 show a circular slow filtration tank divided into fan-shaped unit filtration tanks (A) (B) (C) (D). Explain the behavior. Now, it is assumed that the fan-shaped unit filtration basin (B) is scraped off, and for convenience of explanation, the clockwise direction centering on the center point (O) of the unit filtration basin group is the front direction, and the counterclockwise direction is the rear direction. , A direction approaching the center point (O) is expressed as near, and a direction moving away from the center point (O) is expressed as distant.

The first row (I) of the travel route of the dirt scraping robot (1)
Is an arc road that faces the farthest in the pond from the rear to the front, the second row (II) is an arc road that faces the far from the front to the rear, and so on.

The power supply control panel (6) and the sand washing machine (5) are installed at the point (E) on the land near the center (O), and the operator has the portable operation box (8) near the scraping start point. Wait at point (F). Most of the debris scraping robot (1) is made of stainless steel and its total weight is, for example, 450 kg,
The underwater weight is about 200 kg, and it is transported to a point (F) by a trat crane (not shown), hung at the starting point in the filter basin (B), and landed on the sand layer (3). At this time, the dirt scraping device (11A) (11B) is kept raised. If the operator has not landed correctly at the start point, the operator operates the portable operation box (8) to move the dirt scraping robot (1) to perform the correct positioning at the start point.

After that, the operator sends a signal for starting the automatic operation toward the power supply control panel (6) by the box (8). The dirt scraping robot (1) descends the front dirt sand scraping device (11A) onto the filter sand layer to start the forward movement, and scrapes dirt on the first row (I) of the traveling route. In this case, the motor for driving the far side of the traveling vehicle (9) drives the near side of the near side to ensure that the debris scraping robot (1) can correctly travel along the arc path centered on the center point (O). It is pre-programmed in the microcomputer mounted on the traveling vehicle (9) so that it rotates faster than the motor that drives it. Even so, in case the dirt scraping robot (1) deviates from the traveling route due to the condition of the traveling surface, etc., the operator holds the box (8) and monitors it so that the course can be corrected. Instead of these, if a wall sensor that detects the distant pond wall is provided on the side of the dirt scraping device (11A) or the traveling vehicle, the dirt scraping robot (1) will be located along the distant pond wall. It is possible to properly travel on the first row (I) of the traveling route. At the starting point,
It seems that there is a left part of the dirt scraping robot for the length of the dirt scraping robot (1), but before moving to automatic operation, the operator uses the operation box to operate the dirt scraping device (11B) at the rear. The rearward scraping up to the rear of the pond wall should be done and the scraping should be done.

The dirt scraping robot (1) is in the first row (I) of the travel route.
When the vehicle travels above and reaches the point (G), the front travel route changing sensor (21) detects the front pond wall, the dirt removing robot (1) is stopped, and the first travel route row ( The dirt removal in I) is completed.

After that, the dirt-scraping robot (1) moves to the second row (II) of the traveling route according to the traveling pattern pre-programmed in the microcomputer.

FIG. 5 shows this transient course. That is, in FIG. 5, the dirt scraping robot (1) stopped at the point (G) is
First, the travel route change sensor (21) moves backward to a point away from the front pond wall and pulls up the front dirt sand scraping device (11A). Then turn to the near side and turn to the second row (II)
, And temporarily stops at the transfer completion point (a). Therefore, the front of the dirt scraping device (11A) was lowered again and the second row (I
I) Move up and scrape dirt up to the front of the pond wall.
In this way, when the travel route change sensor (21) detects the arrival at the front pond wall, the dirt scraping robot (1) stops,
In the second detection, the traveling route is not changed, the dirt removing robot (1) moves backward on the second row (II) of the traveling route, and the traveling route change sensor (21) detects the front pond wall. At the time of leaving, pull up the front dirt sand scraping device (11A), drop the rear dirt sand scraping device (11B) on the sand layer before passing point (a), and aim at the rear point (H). While traveling backwards, the second row (II) of the traveling route is used to perform dirt scraping traveling.

In the second row (II) and the subsequent steps for removing dirt, the travel path correction sensor (22) provided on the far side of the dirt scraping devices (11A) (11B) allows the dirt on the sand layer to be removed. While discriminating between the scraped end portion (x) and the unsanded portion (Y) (fifth
(See the figure), it is possible to travel correctly on a predetermined travel route.

In the slow filtration basin, there is a difference in the color of the sand layer surface between the dirty sand scraping end portion (X) and the unsandy sand scraping portion (Y), so two types of sensors that optically detect these are used. By arranging the sand scraping robot (1) in a direction perpendicular to the traveling direction, the traveling route to be traveled can be determined by itself. The travel route correction sensor (22) shown in the figure is used for each dirt sand scraping device (11A) (1
1B) has a distant side sensor (22x) that detects the dirt scraping end part (X) and a near side sensor (22y) that detects the unsanded part (Y) on the far side end They are arranged side by side at a small interval in the direction perpendicular to the direction of travel of the vehicle (9), by which the distant side sensor (22x) detects an unscraped portion (Y) during dirt-scraping traveling. Then, the traveling direction of the traveling vehicle (9) is corrected to the far side, and when the near side sensor (22y) detects the scraping end portion (X), the traveling direction of the traveling vehicle (9) is corrected to the near side. Since the dirt picking robot (1) can make a dirt picking run while making its own judgment, the dirt picking robot can be left between the first row (I) and the second row (II) of the running route. Almost no part or overlapping scraping part occurs.

The dirt scraping robot (1) is in the second row (II) of the travel route.
While making a self-judgment on the upper side, the vehicle moves backward and reaches the point (H), and the travel route change sensor (21) of the rear dirt sand scraping device (11B)
When the rear pond wall is detected, the travel route change sensor (21)
And the dirt-scraping robot (1) behaves in the same manner as described above and moves to the third row (III) of the traveling route to carry out the dirt-scraping traveling of the third row.

In this way, the dirt-scraping robot (1) travels back and forth on an arc-shaped travel path centered on the center O in the unit filtration basin (B), and sequentially removes dirt from the distant area. When the dirt-scraping robot (1) reaches the last row of the traveling route, the dirt-scraping robot (1) can be scraped along the nearby pond wall (point E). An operator holds a portable operation box (8) in the vicinity for monitoring.

In this case, a wall for detecting the pond wall on the near side to the near side of each of the sand scraping devices (11A) (11B) or the traveling vehicle (9) as in the case of the first row of the sand scraping traveling. If a sensor is provided, the dirt-scraping robot (1) will correctly run itself on the last row of the travel route along the pond wall on the near side, and at the end of scraping of the last row The robot (1) can be stopped automatically.

After finishing the last row of dirt cleaning operation, lift the dirt cleaning robot (1) from the unit filtration tank (B) with a truck crane and transport it to the start point of the adjacent unit filtration tank (C) to carry out the unit filtration. Scrap sand scraping is performed in the same manner as in the pond (B).

In the above-mentioned embodiment, the one in which the dirt scraping devices (11A) and (11B) are provided alternately at the front and rear ends of the traveling vehicle (9) and the scraping operation is performed alternately has been described. Above 18
The front and rear positions can be interchanged by rotating it by 0 °, and such modifications are included in the similar scope of the present invention.

In the above embodiment, the case of the fan-shaped unit filter is not described in detail, but the program setting of the traveling route can be selected so as to be optimum according to the shape of the unit filter.

(Effects of the Invention) As described above, according to the dirty sand scraping robot of the present invention, the following various effects can be collectively obtained.

1) Since it is a self-propelled self-propelled submersible system in water, there is no need for ancillary equipment on land for driving or moving the sand scraping device in the slow filtration basin.

2) Even in a slow filtration tank composed of a large number of unit filtration tanks, one dirty sand scraping robot of the present invention can be used in common, so a large amount of equipment cost is not required.

3) It can be applied to slow filtration basins of different sizes and shapes simply by exchanging the traveling pattern data input to the microcomputer of the program controller.

4) Since the robot runs on the filter sand layer while making its own judgment, there is almost no need for operator monitoring and operation intervention, and automation of scraping work can be greatly promoted.

5) As a result, labor for scraping sand from the slow filtration basin is significantly reduced, and operating and maintenance costs are reduced.

[Brief description of drawings]

FIG. 1 is a vertical sectional side view of an entire apparatus including a sludge scraping robot of a slow filtration basin according to an embodiment of the present invention, and FIG. 2 is a plan view showing a structure of a dirty sand scraping robot of a representative embodiment. Fig. 3 and Fig. 3 are side views thereof, and Fig. 4 is a plan view showing an example of the shape of the slow filtration basin and a program of the traveling route of the robot in it.
FIG. 5 is a partially enlarged plan view showing the movement of changing the traveling route. (1) …… Robot for removing dirt, (2) …… Slow filtration tank,
(3) ... filter sand layer, (4) ... dirty sand carrying hose,
(5) …… Sand wash machine, (6) …… Power supply control panel, (7) ……
Electric cable, (8) …… Portable operating box,
(9) …… Traveling vehicle for scraping dirt, (10) …… Kirapira,
(11A) (11B) …… Screwil type dirt sand scraping device, (12)…
… Screw, (13) …… Cover, (14) …… Sliding plate,
(15) …… rake, (16) …… submersible sand pump device,
(17) -Switching valve, (18) -Suction tube, (19) -Rotating joint section, (20) -Program controller, (21)-
… Travel route change sensor, (22) …… Travel route correction sensor, (22x) (22y)… Sensor, (I) (II) (III)
…… Riding route order, (O) …… Pond group center, (A) (B)
(C) (D) ... Unit filtration basin, (E) (F) (G)
(H) (a) ... point, (X) ... end part of dirt scraping,
(Y) ... The part where the dirty sand has not been scraped.

Claims (3)

[Claims] 1. A slow-moving pond is kept in a water-filled state, and the sludge on the surface of the filtration sand layer is scraped off and automatically carried out to the outside of the pond. A straight line and a curved line can be run on the bottom of the water and the surface of the sand filter layer, and at the front and rear ends of the vehicle, there is a screwil type soil sand scraping device that can move up and down on the surface of the sand filter layer. The submersible sand pump device connected to the vehicle is mounted on the traveling vehicle, and its discharge side is guided to the outside of the pond via the sand hose that is abradable, and the traveling route is selected and various equipment mounted on the traveling vehicle is installed. A watertight control box with a built-in program controller with a program for driving is installed on the traveling vehicle, and the power supply control panel outside the pond and the program controller are connected by a frictional electric cable. The travel route change sensor and Provided correction sensor inputs signals of these sensors to the program controller operation, self-determination, dirty sand scraping robot of slow filtration reservoir being characterized in that so as to perform the integrated control 2. The sludge in the slow filtration pond according to claim 1, wherein said power supply control panel is adapted to receive and transmit a wireless communication control signal from a human-operated portable operation box. Scraping robot. 3. A traveling route correction sensor is arranged in parallel at right angles to the traveling direction of the traveling vehicle at a small interval, and is composed of sensors for respectively detecting a dirt sand scraping end portion and a dirt sand non-scraping portion on the surface of the filter sand layer. The slow sand filter robot according to claim 1, which is used.