Integrated recognizable intelligent sewage well debris removal device

Abstract

This invention provides an integrated, identifiable, intelligent sewage well cleaning device, comprising an inlet pipe, a retaining wall, a debris basket, a submersible pump, an outlet pipe, a lifting device installed at the sewage well opening, an underwater camera installed inside the sewage well, a debris storage device, and a controller. The controller is electrically connected to the underwater camera and the lifting device. The controller is used to receive image sequences of the sewage well interior collected by the underwater camera and preprocess the image sequences to obtain images of debris targets within the monitoring area. This invention solves the problems of existing sewage well cleaning methods that cannot judge the real-time status of debris inside the well, resulting in the debris not being intercepted and removed in a timely and targeted manner, easily causing blockage and entanglement of the submersible pump inlet, and reduced drainage efficiency. At the same time, manual cleaning is labor-intensive, inefficient, and poses safety hazards.

Description

Technical Field

[0001] This invention relates to the field of wastewater treatment, and in particular to an integrated, identifiable, intelligent wastewater well cleaning device. Background Technology

[0002] As urban drainage systems continue to expand, sewage wells, as crucial nodes for sewage collection, storage, and lifting, directly impact the overall efficiency of the drainage system through their operational stability. In actual operation, sewage often contains plastic bags, rags, leaves, branches, and other floating or suspended debris. This debris, once inside the sewage well, easily accumulates at the submersible pump inlet, in narrow flow channels within the well, or at the interception points, leading to reduced flow capacity, pump entanglement, equipment blockage, and even shutdown failures.

[0003] In existing technologies, fixed screens, debris barriers, or manual retrieval are commonly used to handle debris. However, fixed debris barriers have poor adaptability and are difficult to adjust in a timely manner according to the debris accumulation under different working conditions. Manual cleaning is not only labor-intensive and inefficient, but also poses significant safety hazards due to the complex working environment of sewage wells. While some automatic debris removal devices can achieve mechanical lifting and debris collection, they generally lack the ability to identify and judge the state of debris in the well in real time, making it difficult to implement targeted debris removal based on the quantity of debris, its residence time, and the risk level of proximity to the submersible pump.

[0004] Therefore, it is necessary to provide a new integrated, identifiable, intelligent sewage well cleaning device to solve the above-mentioned technical problems. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an integrated, identifiable, intelligent sewage well cleaning device. This solves the problem that existing sewage well cleaning methods cannot determine the real-time status of debris inside the well, resulting in the debris not being intercepted and removed in a timely and targeted manner. This can easily cause blockage and entanglement at the submersible pump inlet and reduced drainage efficiency. At the same time, manual cleaning is labor-intensive, inefficient, and poses safety hazards.

[0006] The integrated, identifiable, intelligent sewage well cleaning device provided by this invention includes an inlet pipe, a retaining wall, a debris basket, a submersible pump, an outlet pipe, a lifting device installed at the sewage well opening, an underwater camera installed inside the sewage well, a debris storage device, and a controller. Its features are as follows: The lifting device is connected to the debris basket and is used to lift the debris basket up and down and unload it into the debris storage device at the wellhead position; The controller is electrically connected to the underwater camera and the lifting device, respectively. The controller is used for: The system receives the image sequence of the sewage well interior captured by the underwater camera and preprocesses the image sequence to obtain images of debris targets within the monitoring area. The area ratio and continuous residence time of the debris in the monitoring area are calculated based on the image of the debris target, and the interception conditions are determined based on the area ratio and continuous residence time. When the interception condition is met, the debris basket is controlled to switch from the flow-allowing state to the interception state so that the debris can enter the debris basket; After one or more interceptions are completed, it is determined whether the conditions for lifting are met based on the proportion of debris in the debris basket and the cumulative number of interceptions. When the lifting conditions are met, the lifting device is controlled to lift the debris basket to the unloading position at the wellhead, so that the debris in the debris basket is unloaded into the debris storage device, and the debris basket is reset after unloading is completed.

[0007] In a preferred embodiment, the preprocessing of the image sequence by the controller includes at least grayscale normalization, filtering and noise reduction, background subtraction, and connected component extraction to separate the sewage fluid background from floating debris, ribbon-like debris, and blocky debris.

[0008] In a preferred embodiment, the interception condition is met if any of the following conditions are met: The area of ​​debris in the monitoring area is greater than or equal to the first threshold, and the duration is greater than or equal to the first time threshold; The number of times that the debris target continuously crosses the preset judgment line along the sewage flow direction is greater than or equal to the threshold of the first count; The debris target is located within the protection area on the inlet side of the submersible pump, and its residence time within the protection area is greater than or equal to the second time threshold.

[0009] In a preferred embodiment, the monitoring area includes at least an inlet monitoring area located downstream of the inlet pipe and a pump front protection area located in front of the submersible pump inlet. The controller sets different interception thresholds for the inlet monitoring area and the pump front protection area, wherein the interception threshold of the pump front protection area is lower than the interception threshold of the inlet monitoring area.

[0010] In a preferred embodiment, the lifting condition is that any of the following is met: The proportion of debris in the image is greater than or equal to the second threshold. The cumulative number of interceptions is greater than or equal to the threshold for the second interception. The preset running time has been reached since the last unloading was completed.

[0011] In a preferred embodiment, the controller is further configured to receive a grid action feedback signal after the debris basket moves, receive a lifting action feedback signal after the lifting device moves, and determine whether the grid has reached the interception position, whether the debris basket has reached the unloading position, and whether the debris basket has completed reset based on the action feedback signals. When any of the determination results is negative, the controller outputs a fault alarm signal.

[0012] In a preferred embodiment, after the controller switches the debris basket to the interception state, it keeps the debris basket in the interception state for a preset duration, and then controls it to return to the flow-allowing state; and it prohibits triggering a new interception action within a preset lockout duration after the end of an interception action, so as to avoid frequent start-stop.

[0013] In a preferred embodiment, the controller further includes an operation record and mode switching function, used to record the occurrence time and execution result of each interception action, lifting action, unloading action and fault alarm, and to switch between automatic mode and manual mode. In manual mode, the actions of the debris basket and lifting device are directly controlled by an external control terminal.

[0014] The beneficial effects of this invention are: 1. This invention uses an underwater camera to collect image sequences inside a sewage well, and the controller analyzes and judges the area ratio, continuous residence time and movement status of debris in the monitoring area. This enables timely interception when debris accumulates, lingers or approaches the inlet side of the submersible pump, avoiding the lag caused by relying on fixed-cycle cleaning.

[0015] 2. In this invention, when the preset interception conditions are met, the controller controls the debris basket to switch from the flow-giving state to the interception state. When the lifting conditions are met, the controller controls the lifting device to lift the debris basket to the unloading position at the wellhead. After unloading, the basket is reset, thus forming a complete automatic debris removal process and reducing manual intervention.

[0016] 3. This invention monitors the inlet monitoring zone and the pump front protection zone separately, and sets a lower interception threshold for the pump front protection zone, so that debris approaching the submersible pump inlet can be preferentially treated, thereby reducing the possibility of debris accumulating, clogging or entanglement at the submersible pump and ensuring the stable operation of the drainage system.

[0017] 4. This invention can provide feedback on whether the debris basket has reached the interception position, the unloading position, and the reset. When the action is abnormal or not completed within the predetermined time, a fault alarm signal is output, which helps maintenance personnel to detect and deal with the fault in a timely manner. Attached Figure Description

[0018] Figure 1 This is a schematic diagram illustrating the process by which the controller performs image preprocessing, interception judgment, and lifting judgment in this invention.

[0019] Figure 2 Main structural plan view of the integrated identifiable intelligent sewage well cleaning device provided by the present invention Figure 1 ; Figure 3 Main structural plan view of the integrated identifiable intelligent sewage well cleaning device provided by the present invention Figure 2 .

[0020] The following are labeled in the diagram: 1. Inlet pipe; 2. Lifting device; 3. Underwater camera; 4. Retaining wall; 5. Scrap basket; 6. Submersible pump; 7. Outlet pipe. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Please refer to the following: Figure 1 , Figure 2 as well as Figure 3 ,in Figure 1 This is a schematic diagram illustrating the process by which the controller performs image preprocessing, interception judgment, and lifting judgment in this invention. Figure 2 Main structural plan view of the integrated identifiable intelligent sewage well cleaning device provided by the present invention Figure 1 ; Figure 3 Main structural plan view of the integrated identifiable intelligent sewage well cleaning device provided by the present invention Figure 2 .

[0023] In the specific implementation process, such as Figures 1-3 As shown, an integrated, identifiable, intelligent sewage well cleaning device includes an inlet pipe 1, a retaining wall 4 installed inside the sewage well, a debris basket 5, a submersible pump 6, an outlet pipe 7, a lifting device 2 installed at the wellhead of the sewage well, an underwater camera 3 installed inside the sewage well, a debris storage device, and a controller.

[0024] The debris basket 5 is located between the downstream of the inlet pipe 1 and the upstream of the submersible pump 6, where sewage flows. Under normal operating conditions, it is in a flow-allowing state to allow sewage to pass through; during the cleaning operation, it switches to an interception state to intercept floating debris, ribbon-like debris, and blocky debris in the sewage. In this embodiment, the debris basket 5 has both interception and load-bearing functions; that is, it is used as an interceptor during underground work and as a lifting container to carry the intercepted debris during lifting. Therefore, a separate independent grid component is not required.

[0025] The lifting device 2 is installed above the sewage well opening and connected to the debris basket 5. The connection method can be wire rope connection, chain connection, tie rod connection, or other mechanical connection methods that can achieve lifting drive. The lifting device 2 is used to drive the debris basket 5 to rise along the predetermined lifting path to the unloading position at the well opening when the controller issues a lifting command, and to drive the debris basket 5 back to the original working position after unloading is completed.

[0026] The underwater camera 3 is fixedly installed inside the sewage well near the inlet pipe 1, preferably near the retaining wall 4 and facing the main sewage flow direction, so as to continuously acquire image sequences in the inlet monitoring area and the pump front protection area. The controller is electrically connected to the underwater camera 3 and the lifting device 2, and is connected to the drive actuator or position feedback unit of the debris basket 5, and is used to complete image acquisition, image preprocessing, interception condition judgment, lifting condition judgment, motion control, status feedback and fault alarm.

[0027] In this embodiment, the controller divides the continuous images of the inside of the sewage well captured by the underwater camera 3 into at least two monitoring areas, namely: The inlet monitoring area, located downstream of inlet pipe 1, is used to monitor the quantity, area changes, and movement of debris entering the sewage well. The pump inlet protection zone is located in front of the inlet of submersible pump 6 and is used to monitor the status of debris near submersible pump 6.

[0028] The controller preprocesses the image sequence, including at least grayscale normalization, filtering and noise reduction, background subtraction, and connected component extraction.

[0029] Among them, grayscale normalization is used to reduce the impact of different illumination conditions in the sewage well on the recognition results; filtering and noise reduction are used to weaken the interference caused by sewage fluctuations, suspended particles and local reflections; background difference is used to extract relatively stable debris target areas from dynamic sewage background; connected component extraction is used to identify the contour range, area and location distribution of debris.

[0030] After preprocessing, the controller obtains an image of the debris target and further calculates the area ratio and continuous residence time of the debris in the monitoring area.

[0031] The area ratio is the ratio of the area of ​​the debris target area to the total area of ​​the corresponding monitoring area; Continuous dwell time is the length of time that the same clutter target or consecutive clutter targets remain in the same area.

[0032] In this embodiment, the controller determines whether the interception condition has been met based on at least one of the following conditions: 1. The area of ​​debris in the monitoring area is greater than or equal to the first threshold, and the duration is greater than or equal to the first time threshold; 2. The number of times the debris target continuously crosses the preset judgment line along the sewage flow direction is greater than or equal to the threshold of the first count; 3. The debris target is located within the protection area of ​​the submersible pump 6 inlet side, and its residence time within the protection area is greater than or equal to the second time threshold.

[0033] Different thresholds are used for the inlet monitoring zone and the pump front protection zone. Since the pump front protection zone is closer to the submersible pump 6 and its risk level is higher than that of the inlet monitoring zone, the interception threshold set by the controller for the pump front protection zone is lower than that for the inlet monitoring zone, so that debris approaching the submersible pump 6 can be intercepted earlier.

[0034] When the controller determines that the interception conditions have been met, it controls the debris basket 5 to switch from the flow-allowing state to the interception state.

[0035] In this embodiment, the so-called flow-yielding state means that the debris basket 5 is in a working position that does not significantly obstruct the main flow of sewage, and the sewage can pass through basically smoothly; The so-called interception state refers to the debris basket 5 switching to a working position that can block or receive debris, so that the debris enters the debris basket 5 under the action of water flow.

[0036] After switching to the interception state, the debris basket 5 maintains its position for a preset duration. This preset duration can be set based on the sewage flow rate, changes in the liquid level inside the well, and common debris types. For example, under normal municipal sewage well operating conditions, it can be set to several seconds to tens of seconds to ensure that debris has sufficient time to enter the debris basket 5. After the preset duration is reached, the controller controls the debris basket 5 to return to the flow-allowing state, restoring normal flow.

[0037] To prevent excessive actuator movement caused by frequent starts and stops of the debris basket 5, the controller enters a preset lockout period after each interception action, during which no new interception action is triggered. The lockout period can be set according to the debris flow rate in the well and the equipment's operating cycle to improve system operational stability.

[0038] After completing one or more interceptions, the controller further determines whether the lifting conditions have been met.

[0039] In this embodiment, the lifting condition is that any of the following conditions are met: (1) The proportion of clutter in the clutter basket 5 in the image is greater than or equal to the second threshold; (2) The cumulative number of interceptions is greater than or equal to the threshold for the second interception; (3) The preset running time is reached after the last unloading is completed.

[0040] The proportion of debris in the image is extracted by the controller based on the image of the corresponding area of ​​the debris basket 5, which is used to determine the loading level inside the debris basket 5; the cumulative number of interceptions is used as an auxiliary judgment basis when the debris image is not easy to estimate accurately; the preset running time is used to avoid debris remaining in the debris basket 5 for a long time and affecting the subsequent interception effect.

[0041] When the lifting conditions are met, the controller sends a lifting command to the lifting device 2, which then drives the debris basket 5 to move along the lifting path toward the wellhead. Once the debris basket 5 reaches the unloading position at the wellhead, it unloads the debris into the debris storage device by flipping, tilting, or docking. After unloading is complete, the controller sends a reset command to the lifting device 2, causing the debris basket 5 to descend and return to its initial working position underground.

[0042] To ensure reliable operation, the controller also receives action feedback signals.

[0043] In this embodiment, the action feedback signal includes, but is not limited to: Feedback signal indicating whether the miscellaneous basket 5 has switched to interception mode; The lifting feedback signal indicates whether the miscellaneous basket 5 has reached the unloading position at the wellhead; The reset feedback signal indicates whether the miscellaneous basket 5 has completed the reset process.

[0044] The controller determines whether the miscellaneous basket 5 has completed the corresponding action based on the aforementioned action feedback signal. If the controller does not receive the corresponding action completion signal within a predetermined time, or if the determination result is negative, it outputs a fault alarm signal. The fault alarm signal can be output through an audible and visual alarm, a local display module, or a remote monitoring terminal to remind maintenance personnel to perform an inspection.

[0045] The working process of the device in this embodiment is as follows: First, the underwater camera 3 continuously collects images inside the sewage well and sends the image sequence to the controller; Subsequently, the controller performs grayscale normalization, filtering and noise reduction, background subtraction and connected component extraction on the image sequence to obtain the image of the clutter target; Next, the controller calculates the area ratio, continuous residence time, and number of times the debris crosses the line in the inlet monitoring area and the pump front protection area based on the debris target image; When any monitoring area meets the preset interception conditions, the controller controls the debris basket 5 to switch to the interception state, so that the debris is blocked into the debris basket 5 during the sewage flow. After the preset holding time for interception is completed, the controller controls the debris basket 5 to return to the flow-allowing state; When the loading state of the miscellaneous basket 5 reaches the lifting condition, the controller controls the lifting device 2 to lift the miscellaneous basket 5 to the unloading position at the wellhead and unload the miscellaneous items into the miscellaneous storage device. After unloading is completed, the controller resets the debris basket 5. If any action is not completed or timed out, a fault alarm signal will be output and the corresponding operation record will be saved.

[0046] The circuits and controls involved in this invention are all existing technologies and will not be described in detail here.

[0047] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An integrated, identifiable, intelligent sewage well cleaning device, comprising an inlet pipe (1), a retaining wall (4), a debris basket (5), a submersible pump (6), an outlet pipe (7), a lifting device (2) installed at the sewage well opening, an underwater camera (3) installed inside the sewage well, a debris storage device, and a controller, characterized in that: The lifting device (2) is connected to the miscellaneous basket (5) and is used to drive the miscellaneous basket (5) to rise and fall and unload the material into the miscellaneous storage device at the wellhead position; The controller is electrically connected to the underwater camera (3) and the lifting device (2) respectively; The controller is used for: Receive the image sequence inside the sewage well collected by the underwater camera (3), and preprocess the image sequence to obtain the image of the debris target in the monitoring area; The area ratio and continuous residence time of the debris in the monitoring area are calculated based on the image of the debris target, and the interception conditions are determined based on the area ratio and continuous residence time. When the interception condition is met, the debris basket (5) is controlled to switch from the flow-allowing state to the interception state so that the debris enters the debris basket (5). After one or more interceptions are completed, the lifting conditions are determined based on the proportion of debris in the debris basket (5) and the cumulative number of interceptions. When the lifting conditions are met, the lifting device (2) is controlled to lift the debris basket (5) to the unloading position at the wellhead, so that the debris in the debris basket (5) is unloaded into the debris storage device, and the debris basket (5) is reset after the unloading is completed.

2. The integrated identifiable intelligent sewage well cleaning device according to claim 1, characterized in that, The controller performs preprocessing on the image sequence including at least grayscale normalization, filtering and noise reduction, background subtraction, and connected component extraction to separate the sewage fluid background from floating debris, ribbon-like debris, and blocky debris.

3. The integrated, identifiable, intelligent sewage well cleaning device according to claim 1, characterized in that, The interception condition is met if any of the following conditions are met: The area of ​​debris in the monitoring area is greater than or equal to the first threshold, and the duration is greater than or equal to the first time threshold; The number of times that the debris target continuously crosses the preset judgment line along the sewage flow direction is greater than or equal to the threshold of the first count; The debris target is located in the water inlet protection area of ​​the submersible pump (6) and the residence time in the protection area is greater than or equal to the second time threshold.

4. The integrated, identifiable, intelligent sewage well cleaning device according to claim 1, characterized in that, The monitoring area includes at least the water inlet monitoring area located downstream of the water inlet pipe (1) and the pump front protection area located in front of the water inlet of the submersible pump (6). The controller sets different interception thresholds for the water inlet monitoring area and the pump front protection area, wherein the interception threshold of the pump front protection area is lower than the interception threshold of the water inlet monitoring area.

5. The integrated identifiable intelligent sewage well cleaning device according to claim 1, characterized in that, The lifting condition is met if any of the following conditions are met: The proportion of debris in the debris basket (5) in the image is greater than or equal to the second threshold; The cumulative number of interceptions is greater than or equal to the threshold for the second interception. The preset running time has been reached since the last unloading was completed.

6. The integrated, identifiable, intelligent sewage well cleaning device according to claim 1, characterized in that, The controller is also used to receive the grid action feedback signal after the debris basket (5) moves, receive the lifting action feedback signal after the lifting device (2) moves, and determine whether the grid has reached the interception position, whether the debris basket (5) has reached the unloading position and whether the debris basket (5) has completed the reset according to the action feedback signal. When any judgment result is negative, the controller outputs a fault alarm signal.

7. The integrated, identifiable, intelligent sewage well cleaning device according to claim 1, characterized in that, After the controller switches the debris basket (5) to the interception state, it keeps the debris basket (5) in the interception state for a preset duration, and then controls it to return to the flow-allowing state. Furthermore, a new interception action is prohibited from being triggered again within a preset lockout period after an interception action ends, in order to avoid frequent start-stop cycles.

8. The integrated identifiable intelligent sewage well cleaning device according to claim 1, characterized in that, The controller also includes an operation record and mode switching function, which is used to record the occurrence time and execution result of each interception action, lifting action, unloading action and fault alarm, and switch between automatic mode and manual mode. In manual mode, the action of the debris basket (5) and lifting device (2) is directly controlled by the external control terminal.

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