A data acquisition and detection device and method for underground sewage pipes connected to rainwater pipes

Abstract

This invention provides a data acquisition and detection device and method for underground sewage pipes connected to rainwater pipes. First, after the detection device enters the pipe, under the support of the power system and the action of sewage flow, the image system acquires pipe images, while the sensing system collects water quality chemical parameter data. Second, the GPS in the transmission system records the path and transmits the collected information to the ground terminal. Finally, the system automatically plots the path-water quality chemical parameter variation curve and the derivative variation curve of water quality chemical parameters with path s. Based on the abrupt changes in the water quality chemical parameter derivative variation curve with path s, combined with the image information, a comprehensive analysis is performed to determine whether there is a mixed or incorrect connection in the pipe. This acquisition and detection device has the advantages of comprehensiveness, high efficiency, ease of operation, low cost, and mass production capability, and has broad application prospects.

Description

Technical Field

[0001] This invention belongs to the field of underground drainage pipe network engineering technology, specifically relating to a data acquisition and detection device and method for underground sewage pipes and rainwater pipes that are connected together. Background Technology

[0002] Urban underground drainage networks are often concealed, and the "emphasis on plants, neglect of networks" construction philosophy has led to frequent problems, such as misconnections, leaks, blockages, pipe bursts, and structural and functional defects like reverse slopes. The problem lies in the water, but the root cause is on land, with the core issue being the drainage network itself. Generally, urban sewage networks do not exhibit functional defects such as misconnections or mixing of rainwater and sewage. During rainy weather, chemical parameters such as pH, oxidation-reduction potential (Eh), and dissolved oxygen (DO) within the sewage pipes do not show significant abrupt changes along the pipe's length. By comprehensively analyzing and identifying significant abrupt changes in chemical parameters along the sewage pipe's length, one can determine whether there are misconnections or mixing of rainwater pipes within the sewage system. Therefore, utilizing the significant abrupt changes in chemical parameters along the pipe's length to determine the presence of misconnections or mixing of rainwater pipes in urban sewage systems has significant implications and promising applications for trenchless diagnosis of functional and structural defects in sewage networks.

[0003] Domestically and internationally, pipeline inspection and maintenance typically employs robots combined with robotic arms. Practical products are gradually being introduced, but these products are only applicable in situations where the pipes are dry or have very low water levels, failing to consider the challenges of robot movement and inspection in environments with sludge buildup and high water levels. Furthermore, pipeline robots struggle to detect misconnections or cross-connections between sewage and rainwater pipes. Therefore, current pipeline inspection technologies can only perform single-section, single-time inspections of the network, and the inspection instruments are bulky, the process complex, and the equipment expensive, making it impossible to comprehensively analyze network problems in a single operation. Improvements are needed. Summary of the Invention

[0004] This invention provides a data acquisition and detection device and method for underground sewage pipes connected to rainwater pipes, which can solve the problems of frequent misconnections and leakage in existing underground sewage drainage pipe networks.

[0005] To solve the above problems, the technical solution provided by the present invention is as follows:

[0006] This invention provides a data acquisition and detection device for underground sewage pipes and rainwater pipes. The acquisition and detection device includes a spherical shell (2). Inside the spherical shell (2) are a power system (1), a signal conversion and transmission central system (5), multiple water quality chemical parameter acquisition and sensing systems (6), an image and video acquisition system (7), and a power system.

[0007] Multiple water quality chemical parameter acquisition and sensing systems (6) are arranged around the side wall of the spherical shell (2), and the detection ends of the multiple water quality chemical parameter acquisition and sensing systems (6) protrude from the spherical shell (2). The image and video acquisition system (7) is attached to the side wall of the spherical shell (2), and the camera of the image and video acquisition system (7) protrudes from the spherical shell (2).

[0008] The power system includes an electric motor (3) and a propeller (4) connected to the electric motor (3), the propeller (4) being arranged to protrude from the side wall of the spherical shell (2);

[0009] The water quality chemical parameter acquisition and sensing system (6) is used to acquire water quality information, and the image and video acquisition system (7) is used to acquire pipeline mixed video data and send it to the signal conversion and transmission center system (5); the signal conversion and transmission center system (5) converts and transmits the received water quality information to the ground terminal through Internet technology;

[0010] The water quality chemical parameter acquisition and sensing system (6) also includes a GPS locator, which plots the path of the acquisition and detection device and can determine the path based on the operating distance s-water quality chemical parameter curve and water quality chemical parameters (pH). s Eh s and DO s Mark the abrupt changes in the curve of the first derivative of the running distance s along the path;

[0011] The electric motor (3) is connected to the power system (1), which continuously provides power to the propeller (4). The propeller (4) rotates after being powered, pushing the sewage toward the collection and detection device, and then using the reaction force of the sewage to push the collection and detection device forward.

[0012] According to an optional embodiment of the present invention, the spherical shell (2) is made of PVC plastic.

[0013] According to an optional embodiment of the present invention, the image and video acquisition system (7) has a waterproof camera.

[0014] According to an optional embodiment of the present invention, the number of water quality chemical parameter acquisition and sensing systems (6) is two, and the two water quality chemical parameter acquisition and sensing systems (6) are located on both sides of the image and video acquisition system (7).

[0015] According to an optional embodiment of the present invention, the water quality chemical parameter acquisition and sensing system (6) includes at least a pH sensor, a redox potential sensor, and a dissolved oxygen sensor.

[0016] According to an optional embodiment of the present invention, the electric motor (3) has a rated power of 2.92-3.3W, a rated voltage of 3V, a rated current of 0.235-1.18A, a rated speed of 11700-13660 (rpm), and a rated torque of 2.32-2.39NM.

[0017] Based on the underground sewage pipe and rainwater pipe data acquisition and detection device in the above embodiments, the present invention also provides a method for acquiring data on underground sewage pipe and rainwater pipe connections, the acquisition method comprising the following steps:

[0018] Step S1: The underground sewage pipe cross-section data acquisition and detection device enters the urban underground sewage pipe, simultaneously activating multiple water quality chemical parameter acquisition and sensing systems, image and video acquisition systems, and GPS positioning systems. Every 0.01-0.5 m of movement, the acquisition and detection device collects the pipe cross-section coordinates (x, y) and the water quality chemical parameters (pH) of the sewage at that cross-section. s Eh s and DO s The data acquisition frequency or acquisition distance can be adjusted according to the actual situation.

[0019] Step S2: The signal conversion and transmission central system acquires the water quality chemical parameters (pH) of the sewage at a certain drainage pipe section through the acquisition and detection device. s Eh s and DO s The system transmits the received water quality chemical parameters (pH, Eh) and pipeline cross-sectional coordinates (x, y) via internet technology. s and DO s The data such as the pipe cross-section coordinates (x, y) are converted and transmitted to the ground video acquisition terminal server; and the path map and running distance (s) of the pipe through which the acquisition and detection device passes are calculated and generated, where the calculation formula of the running distance s is as shown in formula (1);

[0020] Equation (1)

[0021] in: , The initial coordinates are taken as the starting point of the detection device.

[0022] Step S3, water quality chemical parameters (pH) in the video acquisition terminal server s Eh s and DO s The software automatically calculates and plots the data based on the operating distance (s) and video information of the detection device, generating a graph representing the operating distance (s) and water quality chemical parameters (pH). s Eh s and DOs A curve showing the relationship between concentrations;

[0023] Step S4, based on the generated running distance s-water quality chemical parameters (pH) s Eh s and DO s The curves between concentrations were plotted using equations (2) to (4) to further generate water quality chemical parameters (pH, Eh). s and DO s The curve showing the change of the first derivative with respect to the running distance s;

[0024] Equation (2)

[0025] Equation (3)

[0026] Equation (4)

[0027] In step S5, abrupt changes occurred in the s-pH, s-Eh, and s-DO distance plots, and... =dpH / ds graph, =dEh / ds graph, When the dDO / ds graph shows extreme values ​​simultaneously, there must be a misconnection or cross-connection of rainwater pipes at the operating distance s of the sewage pipeline; when two of the operating distance s-pH graph, operating distance s-Eh graph, and operating distance s-DO graph show abrupt changes, and =dpH / ds graph, =dEh / ds graph, When two extreme values ​​appear in the dDO / ds graph, there may be a misconnection or cross-connection of rainwater pipes at the operating distance s of the sewage pipe. A comprehensive diagnosis should be made based on image and video information to determine if a misconnection or cross-connection exists in the sewage pipe. If only one abrupt change occurs in the operating distance s-pH graph, operating distance s-Eh graph, or operating distance s-DO graph, or... =dpH / ds graph, =dEh / ds graph, If the dDO / ds graph shows an extreme value at only one location, then there is no possibility of a misconnection or cross-connection of rainwater pipes in the sewage pipe at the operating distance s.

[0028] According to an optional embodiment of the present invention, the wastewater quality data in step S1 includes at least pH value, oxidation-reduction potential value, and dissolved oxygen value, and the image and video acquisition system simultaneously turns on the camera and lights.

[0029] According to an optional embodiment of the present invention, in step S2, the signal conversion and transmission central system receives information collected by the water quality chemical parameter acquisition and sensing system and the image and video acquisition system, and transmits the data to the ground video acquisition terminal server in real time via 4G module / Bluetooth technology.

[0030] According to an optional embodiment of the present invention, in steps S3 and S4, after receiving information, the signal conversion and transmission central system automatically processes and analyzes the data based on the water quality chemical parameter acquisition and the GPS locator in the sensing system, and draws and generates a path map of the detection device and the running distance s-water quality chemical parameter (pH). s Eh s and DO s Concentration curve, water quality chemical parameters (pH) s Eh s and DO s The graph shows the first derivative of the distance s used to determine the change of the distance s with respect to water quality chemical parameters (pH). The graph will be displayed in real-time on the screen. s Eh s and DO s Concentration curve, water quality chemical parameters (pH) s Eh s and DO s The abrupt change data of the curve of the first derivative of the running distance s is marked on the path.

[0031] Beneficial effects: The present invention provides a data acquisition and detection device and method for underground sewage pipes mixed with rainwater pipes. The acquisition and detection device includes a spherical shell, and a power system, a signal conversion and transmission central system, multiple water quality chemical parameter acquisition and sensing systems, an image and video acquisition system and a power system are set inside the spherical shell. Compared with the prior art, the present invention has the following advantages: (1) It can operate with low energy consumption, stability and continuous operation in complex pipe networks, which helps to improve the quality of urban "one factory and one network", can accelerate the construction and transformation of urban sewage drainage pipe networks, and is conducive to the management of urban drainage systems. (2) The shell of the acquisition and detection device adopts a streamlined boat-shaped design, which ensures that the device can detect smoothly and avoid overturning in the complex underground pipes. The PVC material of the shell ensures good sealing and water-proof performance. It is driven by a high-power motor with basically the same speed and torque and a rechargeable lithium battery, so as to realize the low power consumption and continuous operation of the acquisition and detection device. (3) It can quickly, accurately and intelligently diagnose and detect the location of rainwater and sewage mixing, which greatly reduces economic costs compared with traditional excavation technology. Water quality sensors can promptly feed back data such as ORP, pH, DO, and location coordinates in the cross-section of sewage pipes. Through the independently developed intelligent algorithm for rainwater and sewage mixing, the chemical data of sewage in the pipes can be quickly calculated and analyzed. Within 1 minute, it can be determined whether there is rainwater and sewage mixing and the point of rainwater and sewage mixing in the pipe. Compared with traditional excavation and detection, the economic cost is reduced by 80-90%. (4) Simple operation and control, easy to use. The user terminal can view water quality data analysis and pipeline monitoring video in real time. Through simple judgment, the point of rainwater and sewage mixing can be quickly analyzed and then the mixing point can be adjusted. The operation and control are simple, reducing the workload of detection and cleaning personnel. (5) Convenient data information transmission. Using a 4G module to connect the server, its coverage is wide and the transmission distance is long. Connecting the server to the ground terminal can greatly improve the speed and reliability of information transmission and realize efficient and convenient data transmission. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of a data acquisition and detection device for underground sewage pipes and rainwater pipes provided in an embodiment of this application.

[0034] Figure 2 This is a single-chip main control circuit diagram provided for an embodiment of this application.

[0035] Figure 3This is a diagram illustrating the composition of the pH sensor module provided in an embodiment of this application.

[0036] Figure 4 This is a diagram illustrating the composition of the DO sensor module provided in an embodiment of this application.

[0037] Figure 5 This is a diagram illustrating the composition of the ORP sensor module provided in an embodiment of this application.

[0038] Figure 6 This is a diagram illustrating the mixed connection of underground sewage pipes, provided as an embodiment of this application.

[0039] Figures 7(A) to (F) show the operating distance s-water quality chemical parameters (pH) provided in the embodiments of this application. s Eh s and DO s Concentration curve, water quality chemical parameters (pH) s Eh s and DO s Curve showing the change of the first derivative with the running distance s Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0041] like Figure 1 As shown in the figure, this embodiment of the invention provides a data acquisition and detection device for underground sewage pipes mixed with rainwater pipes. The device includes a spherical shell 2 made of PVC plastic, which is rigid, corrosion-resistant, and ensures stable operation. Inside the spherical shell 2 are a power system 1, a signal conversion and transmission central system 5, multiple water quality chemical parameter acquisition and sensing systems 6, an image and video acquisition system 7, and a power system. In this embodiment, the power system 1 provides electrical energy to the acquisition and detection device, primarily powering the signal conversion and transmission central system 5, the multiple water quality chemical parameter acquisition and sensing systems 6, the image and video acquisition system 7, and the power system. The signal conversion and transmission central system 5 employs... Figure 2 The single-chip main control circuit shown.

[0042] Multiple water quality chemical parameter acquisition and sensing systems 6 are arranged around the sidewall of the spherical shell 2, with the detection ends of the multiple water quality chemical parameter acquisition and sensing systems 6 protruding from the spherical shell 2. An image and video acquisition system 7 is fitted to the sidewall of the spherical shell 2, with the camera of the image and video acquisition system 7 protruding from the spherical shell 2. In this embodiment, the number of water quality chemical parameter acquisition and sensing systems 6 is preferably two, with the two water quality chemical parameter acquisition and sensing systems 6 located on both sides of the image and video acquisition system 7. The water quality chemical parameter acquisition and sensing system 6 includes at least a pH sensor, a redox potential sensor, and a dissolved oxygen sensor. The pH sensor is as follows... Figure 3 The diagram shows the composition of the pH sensor module. The dissolved oxygen sensor is shown below. Figure 4 The diagram shows the composition of the DO sensor module. The redox potential sensor is as follows: Figure 5 The diagram shows the composition of the ORP sensor module.

[0043] The image and video acquisition system 7 features a waterproof camera, enabling better image capture within the pipe. The water quality chemical parameter acquisition and sensing system 6 collects water quality information, while the image and video acquisition system 7 collects mixed video data from the pipeline and sends it to the signal conversion and transmission center system 5. The signal conversion and transmission center system 5 converts and transmits the received water quality information to a ground terminal via internet technology. The preferred internet technology is Bluetooth or 4G transmission. The water quality chemical parameter acquisition and sensing system 6 also includes a GPS locator to map the path of the acquisition and detection device to the water quality chemical parameter (pH). s Eh s and DO s The system can generate curves showing the relationship between concentrations and the derivative curves of water quality chemical parameters with respect to path s, and can mark the path based on abrupt changes in the derivative curve data.

[0044] The power system includes an electric motor 3 and a propeller 4 connected to the electric motor 3. The propeller 4 protrudes from the side wall of the spherical outer shell 2. The electric motor 3 is connected to the power supply system 1 and has a rated power of 2.92-3.3W, a rated voltage of 3V, a rated current of 0.235-1.18A, a rated speed of 11700-13660 rpm, and a rated torque of 2.32-2.39 Nm. The power supply system 1 continuously provides power to the propeller 4, which rotates and pushes the sewage towards the collection and detection device. The reaction force of the sewage then propels the collection and detection device forward.

[0045] Based on the data acquisition and detection device for underground sewage pipes and rainwater pipes provided in the above embodiments, the present invention also provides a data acquisition method for underground sewage pipes and rainwater pipes, the acquisition method comprising the following steps:

[0046] Step S1: The underground sewage pipe cross-section data acquisition and detection device enters the urban underground sewage pipe, simultaneously activating multiple water quality chemical parameter acquisition and sensing systems, image and video acquisition systems, and GPS positioning systems. Every 0.01-0.5 m of movement, the acquisition and detection device collects the pipe cross-section coordinates (x, y) and the water quality chemical parameters (pH) of the sewage at that cross-section. s Eh s and DO s The data acquisition frequency or acquisition distance can be adjusted according to the actual situation.

[0047] Step S2: The signal conversion and transmission central system acquires the water quality chemical parameters (pH) of the sewage at a certain drainage pipe section through the acquisition and detection device. s Eh s and DO s The system transmits the received water quality chemical parameters (pH) and pipeline cross-sectional coordinates (x, y) via internet technology. s Eh s and DO s The data such as the pipe cross-section coordinates (x, y) are converted and transmitted to the ground video acquisition terminal server; and the path map and running distance (s) of the pipe through which the acquisition and detection device passes are calculated and generated, where the calculation formula of the running distance s is as shown in formula (1);

[0048] Equation (1)

[0049] in: , The initial coordinates are taken as the starting point of the detection device.

[0050] Step S3, water quality chemical parameters (pH) in the video acquisition terminal server s Eh s and DO s The software automatically calculates and plots the data based on the operating distance (s) and video information of the detection device, generating a graph representing the operating distance (s) and water quality chemical parameters (pH). s Eh s and DO s A graph showing the relationship between concentrations.

[0051] Step S4, based on the generated running distance s-water quality chemical parameters (pH) s Eh s and DO s The curves between concentrations were plotted using equations (2) to (4) to further generate water quality chemical parameters (pH). s Eh s and DO s The curve showing the change of the first derivative with respect to the running distance s;

[0052] Equation (2)

[0053] Equation (3)

[0054] Equation (4)

[0055] In step S5, abrupt changes occurred in the run distance s-pH plot, run distance s-Eh plot, and run distance s-DO plot, and =dpH / ds graph, =dEh / ds graph, When the dDO / ds graph shows extreme values ​​simultaneously, there must be a misconnection or cross-connection of rainwater pipes at the operating distance s of the sewage pipeline; when two of the operating distance s-pH graph, operating distance s-Eh graph, and operating distance s-DO graph show abrupt changes, and =dpH / ds graph, =dEh / ds graph, When two extreme values ​​appear in the dDO / ds graph, there may be a misconnection or cross-connection of rainwater pipes at the operating distance s of the sewage pipe. A comprehensive diagnosis should be made based on image and video information to determine if a misconnection or cross-connection exists in the sewage pipe. If only one abrupt change occurs in the operating distance s-pH graph, operating distance s-Eh graph, or operating distance s-DO graph, or... =dpH / ds graph, =dEh / ds graph, If the dDO / ds graph shows an extreme value at only one location, then there is no possibility of a misconnection or cross-connection of rainwater pipes in the sewage pipe at the operating distance s.

[0056] Preferably, the wastewater quality data in step S1 includes at least pH value, oxidation-reduction potential value, and dissolved oxygen value, and the image and video acquisition system simultaneously turns on the camera and lights.

[0057] Preferably, in step S2, the signal conversion and transmission central system receives information collected by the water quality chemical parameter acquisition and sensing system, as well as the image and video acquisition system, and transmits the data to the ground video acquisition terminal server in real time via 4G module / Bluetooth technology.

[0058] Preferably, in steps S3 and S4, after receiving the information, the signal conversion and transmission central system automatically processes and analyzes the data based on the water quality chemical parameter acquisition and the GPS locator in the sensing system, and generates a path map of the detection device and the operating distance s-water quality chemical parameter (pH). s Eh s and DO s Concentration curve, water quality chemical parameters (pH)s Eh s and DO s The graph shows the first derivative of the distance s used to determine the change of the distance s with respect to water quality chemical parameters (pH). The graph will be displayed in real-time on the screen. s Eh s and DO s Concentration curve, water quality chemical parameters (pH) s Eh s and DO s The abrupt change data of the curve of the first derivative of the running distance s is marked on the path.

[0059] Example 1: A detection map of mixed connection of rainwater and sewage pipe networks was established, taking Chengbei District of Xiangtan City as an example.

[0060] The city is an old urban area where combined sewer overflows and pipe network leaks are common. For example... Figure 6 As shown, the sewage pipeline is 65m long. A DN 600 rainwater pipeline and a DN 500 sewage pipeline connect to the main sewage pipeline at distances of 30m and 60m from the starting point, respectively. To ensure the long-term operation of the data acquisition and detection device in the complex pipeline, a lithium battery provides a stable power source.

[0061] The specific steps of a data acquisition method for underground sewage pipes connected to rainwater pipes are as follows:

[0062] A data acquisition and detection device is placed in wastewater monitoring well W1 and connected to a ground-based display screen via a 4G module. The display screen shows the pipeline path traversed by the device and plots its movement within the pipeline. Simultaneously, each sensor activates, transmitting the water quality chemical parameters (pH) detected in the corresponding wastewater pipeline. s Eh s and DO s The data is transmitted to the ground terminal, where the ground terminal server software automatically generates the s-pH map (Figure 7(A)), s-Eh map (Figure 7(C)), and s-DO map (Figure 7(D)). Points with abrupt changes in value are marked. Simultaneously, the ground terminal server software automatically generates the dpH / ds map (Figure 7(B)), dEh / ds map (Figure 7(D)), and dDO / ds map (Figure 7(E)). Points with abrupt changes in value are marked.

[0063] As shown in Figures 7(A) to (F), the distance s-pH diagram, the operating distance s-Eh diagram, the operating distance s-DO diagram, the dpH / ds diagram, the dEh / ds diagram, and the dDO / ds diagram all show abrupt changes at a distance of 30m. Based on a comprehensive analysis of the image and video information, it is found that the sewage pipe is connected to the rainwater pipe at a distance of 30m.

[0064] As shown in Figures 7(A) to (F), the dpH / ds diagram has several abrupt changes except at the position where s is 30m. However, the distance s-pH diagram, the operating distance s-Eh diagram, the operating distance s-DO diagram, the dEh / ds diagram, and the dDO / ds diagram at the corresponding positions do not show abrupt changes. Therefore, it can be determined that there are no misconnections or mixed connections of rainwater pipes in the dpH / ds diagram except at the position where s is 30m.

[0065] In addition, there is a sewage pipe connected at s=60m, but there are no obvious abrupt changes in the distance s-pH diagram, operating distance s-Eh diagram, operating distance s-DO diagram, dpH / ds diagram, dEh / ds diagram, and dDO / ds diagram. Therefore, it can be determined that there is no misconnection or mixed connection of rainwater pipe at the sewage pipe at s=60m.

[0066] Example 2: A detection map of mixed connection of rainwater and sewage pipe networks was established, taking Chengbei District of Xiangtan City as an example.

[0067] Chengbei District of Xiangtan City is an older urban area with widespread issues of combined sewer overflows and pipe network leaks. To ensure the long-term operation of the data acquisition and detection device in complex pipelines, lithium batteries provide a stable power source. The device's detection map of combined sewer overflows and a path intelligent algorithm calculated the total length of sewage pipelines in Chengbei District to be 7270m, stormwater pipelines to be 5660m, and combined sewer overflows to be 3457m. The device's chip, combined with satellite GPS positioning, generated a leak map of stormwater and sewage pipelines in Chengbei District. It also precisely analyzed areas near the Software College, Jili Artificial Lake, Liancheng Avenue, and Xuefu Road in the Shuangqing Canal basin where combined sewer overflows are observed. Furthermore, moderate to severe leaks were found in some industrial areas, Daxin Community, and Jili Community at the southern end of the Fengshou Canal. Note: Dashed lines represent sewage pipes, thick solid lines represent rainwater pipes, and thin overlapping solid lines represent detected mixed sewage and rainwater pipes; white areas represent severely leaking pipes detected by the data collection and detection device, and gray areas represent moderately leaking pipes.

[0068] The specific steps of a data acquisition method for underground sewage pipes connected to rainwater pipes are as follows:

[0069] A data acquisition and detection device is placed at the pipe opening and connected to a ground-based display screen via a 4G module. The display screen shows the pipe path traversed by the data acquisition and detection device and plots its trajectory within the pipe. Simultaneously, each sensor activates, transmitting data detected in its respective pipe to the ground. The ground system plots pH, COD, and DO concentration curves of the sewage inside the pipe, marking any points of abrupt changes in values. Based on the data from each pipe and the trajectory images from the data acquisition and detection device, it is determined whether there is any mixing of rainwater and sewage pipes, and the entire community's pipe system is then modified accordingly.

[0070] For example, by analyzing pH values: wastewater with a value less than 6 is acidic and contains harmful substances such as heavy metal ions and their salts, while wastewater with a value greater than 9 is alkaline and usually contains large amounts of organic matter, inorganic salts, and other harmful substances. The pH of a solution changes with factors such as temperature and storage time. Since the temperature in the pipeline is constant, the pH value is less affected by temperature. If the pH value plotted from instantaneous sampling data shows a sudden change, then there is a mixing of rainwater and sewage at that node.

[0071] By analyzing the COD value of rainwater at pipe network nodes: COD reflects the degree of pollution by reducing substances in the water, mainly nitrite, ferrous salt, and organic matter. Real-time monitoring of COD value in the pipeline will cause a sudden change in COD value when passing through the mixing interface of rainwater and sewage pipes. This sudden change point is very likely to indicate the presence of rainwater and sewage mixing.

[0072] Analysis of the dissolved oxygen (DO) concentration curve reveals that the DO concentration should be controlled within the range of 0.5–2.0 mg / L during wastewater treatment. A gradual decrease in DO concentration is primarily caused by sudden changes in influent water quality, such as the inflow of high-concentration organic wastewater (dissolved BOD), the discharge of wastewater with high oxygen consumption, or the inflow of high-concentration FeO wastewater, which affects the inflow of oxygen-transferring wastewater. A sharp increase in DO concentration is mainly due to the following reasons: in combined sewer systems, prolonged rainfall and large inflows of snowmelt can cause excessively low influent loads in the aeration tank, leading to an increase in DO concentration; a sudden change in DO concentration indicates the presence of combined sewer overflows at that point.

[0073] Analysis of ORP values ​​reveals the following: a low ORP value indicates a high concentration of reducing substances or organic pollutants and a low dissolved oxygen concentration in the wastewater; a high ORP value indicates a low concentration of organic pollutants and a high concentration of dissolved oxygen or oxidizing substances in the wastewater. A sudden drop in ORP indicates seepage of rainwater in the sewage pipe.

[0074] Compared to conventional pipeline inspection methods, this data acquisition method can obtain more detailed pipeline numerical information and collect and transmit numerical changes within the pipeline in a timely manner, thus providing an accurate data foundation for diagnosing pipeline network problems. This method is simple to operate; the acquisition and detection device is placed behind the pipeline for continuous observation and recording to complete the pipeline inspection. It significantly reduces the cost of manual inspection, avoiding unnecessary waste of manpower and allowing for widespread use in areas where manual inspection is limited. Furthermore, it saves energy; after efficiently completing the inspection, it greatly reduces the area contaminated by rainwater, thereby saving energy for wastewater treatment plants.

[0075] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be covered within the scope of protection of the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.

Claims

1. A method for data acquisition of underground sewage pipes connected to rainwater pipes, characterized in that, The data acquisition method includes the following steps: Step S1, the underground sewage pipeline mixed connection data acquisition and detection device enters the city underground sewage pipeline, synchronously opens multiple water quality chemical parameter acquisition and sensing system, image and video acquisition system, GPS positioning system, the acquisition and detection device collects the pipeline section coordinates (x, y) and the water quality chemical parameters pH s , Eh s and DO s of the sewage of the pipeline section every 0.01-0.5 m movement; the data acquisition frequency can be adjusted according to the actual situation Step S2: The signal conversion and transmission central system acquires the water quality chemical parameters (pH) of the sewage at a certain drainage pipe section through the acquisition and detection device. s Eh s and DO s The pipeline cross-sectional coordinates (x, y) are used, and the received water quality chemical parameters (pH) are transmitted via internet technology. s Eh s and DO s The pipeline cross-section coordinates (x, y) data are converted and transmitted to the ground video acquisition terminal server; and the path map and running distance (s) of the pipeline through which the acquisition and detection device passes are calculated and generated, where the calculation formula for the running distance s is as shown in formula (1); Equation (1) in: , The initial coordinates are taken as the starting point of the acquisition and detection device; Step S3, the water quality chemical parameter pH in the video acquisition terminal server s Eh s and DO s The software automatically calculates and plots the data based on the operating distance (s) of the detection device and video information, generating a graph that combines the operating distance (s) with the water quality chemical parameter pH. s Eh s and DO s A graph showing the relationship between concentrations; Step S4, based on the generated running distance s-water quality chemical parameter pH s Eh s and DO s The concentration curves were further plotted using equations (2) to (4) to generate the water quality chemical parameter pH. s Eh s and DO s Curve showing the change of the first derivative with respect to the running distance s; Equation (2) Equation (3) Equation (4) In step S5, abrupt changes occurred in the s-pH, s-Eh, and s-DO distance plots, and... =dpH / ds graph, =dEh / ds graph, When the dDO / ds graph shows extreme values ​​simultaneously, there must be a misconnection or cross-connection of rainwater pipes at the operating distance s of the sewage pipeline; when two of the operating distance s-pH graph, operating distance s-Eh graph, and operating distance s-DO graph show abrupt changes, and =dpH / ds graph, =dEh / ds graph, When two extreme values ​​appear in the dDO / ds graph, there may be a misconnection or cross-connection of rainwater pipes at the operating distance s of the sewage pipe. A comprehensive diagnosis should be made based on image and video information to determine if a misconnection or cross-connection exists in the sewage pipe. If only one abrupt change occurs in the operating distance s-pH graph, operating distance s-Eh graph, or operating distance s-DO graph, or... =dpH / ds graph, =dEh / ds graph, If the dDO / ds graph shows an extreme value at only one location, then there is no possibility of a misconnection or cross-connection of rainwater pipes in the sewage pipe at the operating distance s.

2. The data acquisition method for underground sewage pipes connected to rainwater pipes according to claim 1, characterized in that, The wastewater quality data in step S1 includes at least pH value, oxidation-reduction potential value, and dissolved oxygen value. The image and video acquisition system simultaneously turns on the camera and lights.

3. The data acquisition method for underground sewage pipes connected to rainwater pipes according to claim 1, characterized in that, In step S2, the signal conversion and transmission central system receives information collected by the water quality chemical parameter acquisition and sensing system, as well as the image and video acquisition system, and transmits the data to the ground video acquisition terminal server in real time via 4G module / Bluetooth technology.

4. The data acquisition method for underground sewage pipes connected to rainwater pipes according to claim 1, characterized in that, In steps S3 and S4, after receiving the information, the signal conversion and transmission central system automatically processes and analyzes the data based on the water quality chemical parameter acquisition and the GPS locator in the sensing system, and generates a path map of the detection device, the operating distance s, and the water quality chemical parameter pH. s Eh s and DO s Concentration curve, water quality chemical parameter pH s Eh s and DO s The graph shows the first derivative of the operating distance *s*, and the image information will be displayed on the screen in real time; it can also be used to calculate the relationship between the operating distance *s* and the water quality chemical parameter pH. s Eh s and DO s Concentration curve, water quality chemical parameter pH s Eh s and DO s The abrupt changes in the curve of the first derivative of the running distance s are marked on the path.

5. A data acquisition and detection device for underground sewage pipes connected to rainwater pipes, used to implement the data acquisition method for underground sewage pipes connected to rainwater pipes as described in any one of claims 1-4, characterized in that, It includes a spherical shell (2), and the spherical shell (2) is equipped with a power system (1), a signal conversion and transmission central system (5), multiple water quality chemical parameter acquisition and sensing systems (6), an image and video acquisition system (7) and a power system; Multiple water quality chemical parameter acquisition and sensing systems (6) are arranged around the side wall of the spherical shell (2), and the detection ends of the multiple water quality chemical parameter acquisition and sensing systems (6) protrude from the spherical shell (2). The image and video acquisition system (7) is attached to the side wall of the spherical shell (2), and the camera of the image and video acquisition system (7) protrudes from the spherical shell (2). The power system includes an electric motor (3) and a propeller (4) connected to the electric motor (3), the propeller (4) being arranged to protrude from the side wall of the spherical shell (2); The water quality chemical parameter acquisition and sensing system (6) is used to acquire water quality information, and the image and video acquisition system (7) is used to acquire pipeline mixed video data and send it to the signal conversion and transmission center system (5); the signal conversion and transmission center system (5) converts and transmits the received water quality information to the ground terminal through Internet technology; The water quality chemical parameter acquisition and sensing system (6) also includes a GPS locator to map the path of the acquisition and detection device s-water quality chemical parameter pH. s Eh s and DO s The graphs show the relationship between concentrations and the derivative curves of water quality chemical parameters with respect to path s, and can be marked on the path based on abrupt changes in the derivative curve data. The electric motor (3) is connected to the power system (1), which continuously provides power to the propeller (4). The propeller (4) rotates after being powered, pushing the sewage toward the collection and detection device. The reaction force of the sewage or the flow of sewage then propels the collection and detection device forward. The water quality chemical parameter acquisition and sensing system (6) includes at least a pH probe, an oxidation-reduction potential probe, a dissolved oxygen probe, and a corresponding sensing system.

6. The data acquisition and detection device for underground sewage pipes and mixed rainwater pipes according to claim 5, characterized in that, The spherical shell (2) is made of PVC plastic and is easy to move in the drainage pipe.

7. The data acquisition and detection device for underground sewage pipes connected to rainwater pipes according to claim 5, characterized in that, The image and video acquisition system (7) has a waterproof camera.

8. The data acquisition and detection device for underground sewage pipes and mixed rainwater pipes according to claim 5, characterized in that, The number of water quality chemical parameter acquisition and sensing systems (6) is two, and the two water quality chemical parameter acquisition and sensing systems (6) are located on both sides of the image and video acquisition system (7).

9. The data acquisition and detection device for underground sewage pipes and mixed rainwater pipes according to claim 5, characterized in that, The electric motor (3) has a rated power of 2.92-3.3 W, a rated voltage of 3 V, a rated current of 0.235-1.18 A, a rated speed of 11700-13660 rpm, and a rated torque of 2.32-2.39 NM.

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