Underground Sewage Treatment Tank Automatic Inspection Device

Abstract

This application relates to an automatic inspection device for underground sewage treatment ponds, belonging to the technical field of invisible sewage treatment pond detection in underground sewage treatment plants. The automatic inspection device for underground sewage treatment ponds includes a vehicle body and a wheel drive assembly; it also includes a positioning and lid-taking assembly and a detection assembly. The detection assembly includes a first image sensor, a rangefinder, a sewage detection assembly, and a controller. The first image sensor is used to obtain a panoramic image of the area to be detected in the aeration tank; the rangefinder is used to measure the distance from the sewage detection assembly to the liquid level in the aeration tank; the sewage detection assembly is used to detect the water sample in the aeration tank. This application has the effect of efficiently detecting the sewage treatment situation at each sampling point in the aeration tank.

Description

Technical Field

[0001] This application relates to the technical field of detecting invisible sewage treatment ponds in underground sewage treatment plants, and particularly to an automatic inspection device for underground sewage treatment ponds. Background Art

[0002] During the normal operation of an underground sewage treatment plant, it is usually necessary to regularly conduct sampling inspections on the invisible sewage treatment ponds in the underground sewage treatment plant.

[0003] Currently, regular inspection sampling is usually manually operated. Workers first obtain water samples in the treatment pond and then take the water samples back to the laboratory for measurement and analysis or measure them on-site with instruments. However, the treatment ponds in underground sewage treatment plants are relatively large in space and there are many positions that need to be detected, so manual detection is time-consuming and laborious. Summary of the Invention

[0004] To help efficiently detect the sewage at each sampling point in the aeration tank, this application provides an automatic inspection device for underground sewage treatment ponds.

[0005] The automatic inspection device for underground sewage treatment ponds provided by this application adopts the following technical solutions:

[0006] The automatic inspection device for underground sewage treatment ponds includes a vehicle body and a wheel drive assembly;

[0007] It further includes a positioning and lid-removing assembly and a detection assembly. The detection assembly includes a first image sensor, a rangefinder, a sewage detection assembly, and a controller. The first image sensor is used to obtain a panoramic image of the area to be detected in the aeration tank;

[0008] The rangefinder is used to measure the distance from the sewage detection assembly to the liquid level in the aeration tank;

[0009] The sewage detection assembly is used to detect the water sample in the aeration tank;

[0010] The controller is electrically connected to the wheel drive assembly, the positioning and lid-removing assembly, the first image sensor, the rangefinder, and the sewage detection assembly respectively.

[0011] Preferably, the sewage detection assembly includes a turbidity sensor, a dissolved oxygen sensor, and an optical particle counter. The turbidity sensor is used to measure the sludge concentration of the sewage in the aeration tank;

[0012] The dissolved oxygen sensor is used to measure the dissolved oxygen concentration of the sewage in the aeration tank;

[0013] The optical particle counter is used to measure the size and quantity of solid particles in the sewage in the aeration tank.

[0014] Preferably, the positioning and lid-grabbing assembly includes a second image sensor and a grabbing member. The second image sensor is used to acquire an image of the sampling lid. The controller is further used to identify and position the sampling lid. The grabbing member is used to grab or release the sampling lid. The second image sensor and the grabbing member are both electrically connected to the controller.

[0015] Preferably, the grabbing member includes a mechanical claw and a first electric cylinder. The first electric cylinder is arranged on the vehicle body. The extending direction of the first electric cylinder is arranged along the vertical direction. The mechanical claw is connected to the piston rod of the first electric cylinder. The first electric cylinder is used to drive the mechanical claw to slide in a direction close to or away from the sampling point. The mechanical claw and the first electric cylinder are both electrically connected to the controller.

[0016] Preferably, the mechanical claw includes a fixed disk, clamping claws and an electric motor. The fixed disk is connected to the piston rod of the first electric cylinder. A plurality of the clamping claws are provided. The plurality of clamping claws are spaced apart and hinged to the fixed disk along the circumferential direction of the fixed disk. Each clamping claw includes a rotating claw and a grabbing inclined claw. The rotating claw is hinged to the fixed disk. The hinge axis of the rotating claw is perpendicular to the extending direction of the first electric cylinder. The grabbing inclined claw is arranged at one end of the rotating claw away from the fixed disk. The angle between the side of the rotating claw close to the center of the fixed disk and the side of the grabbing inclined claw close to the center of the fixed disk is less than 90°. The electric motor is arranged on the fixed disk. The electric motor is used to drive the rotating claw to rotate. The electric motor is electrically connected to the controller.

[0017] Preferably, a mounting block is slidably arranged on the vehicle body. The sliding direction of the mounting block is arranged along the vertical direction. The first image sensor and the rangefinder are both arranged on the mounting block. A movable block is movably arranged on the mounting block. The movable block slides in a direction close to or away from the liquid level in the aeration tank. The sewage detection assembly is arranged on the movable block. A first sliding assembly for driving the mounting block to slide is arranged on the vehicle body. A second sliding assembly for driving the movable block to slide in a direction close to or away from the liquid level in the aeration tank is arranged on the mounting block.

[0018] Preferably, the second sliding assembly includes a rotating rod, a sliding rod and a driving source. The rotating rod rotates on the mounting block. The rotation axis of the rotating rod is perpendicular to the sliding direction of the mounting block. One end of the sliding rod is hinged to the rotating rod, and the other end is connected to the movable block. The driving source is used to drive the rotating rod to rotate in a direction close to or away from the liquid level in the aeration tank. The driving source is electrically connected to the controller.

[0019] Preferably, a water tank is arranged inside the vehicle body. A water pump is arranged in the water tank. The water pump is communicated with a water spray nozzle through a connecting pipe. The water spray nozzle is used to clean the sewage detection assembly. The water pump is electrically connected to the controller.

[0020] Preferably, a water receiving box is slidably arranged inside the vehicle body. The water receiving box is located below the water spraying nozzle. The water receiving box slides in a direction close to or away from the sewage detection component. A power component for driving the water receiving box to slide in a direction close to or away from the sewage detection component is arranged inside the vehicle body. The power component is electrically connected to the controller.

[0021] Preferably, a protection plate is slidably inserted through the mounting block. The protection plate is located on the side of the first image sensor close to the sewage detection component. The sliding direction of the protection plate is parallel to the sliding direction of the mounting block. The protection plate slides into or out of the mounting block in a direction close to or away from the first image sensor. An inclined plate is arranged on the top wall of the protection plate. The inclined plate slopes upward in a direction close to the sewage detection component. A water spraying pipe is arranged on the water receiving box. The water spraying pipe is communicated with a water pump through a hose. A through hole for the water spraying pipe to slide through is formed in the mounting block. The water spraying pipe is used for relative sliding with the inclined plate. A pulling component is arranged inside the mounting block. The pulling component is used for pulling the protection plate to slide into the mounting block in a direction away from the first image sensor.

[0022] In summary, the present application includes the following beneficial technical effects:

[0023] When it is necessary to detect the sewage in the aeration tank, the wheel drive assembly drives the vehicle body to move forward according to a preset program, so that the vehicle body moves to the vicinity of the sampling cover. Then, the positioning and cover-grabbing assembly positions and grabs the sampling cover. Then, the vehicle body is driven to move by the wheel drive assembly, and the first image sensor is used to obtain an image of the sampling port. The controller identifies and locates the position of the sampling port, so that the sewage detection component, the first image sensor and the rangefinder are aligned with the sampling port. Then, the first image sensor, the rangefinder and the sewage detection component are extended into the aeration tank. The controller extends the sewage detection component below the liquid level in the aeration tank according to the distance measured by the rangefinder from the sewage detection component to the liquid level in the aeration tank. The sewage detection component detects the water sample in the aeration tank. The first image sensor obtains a panoramic image of the area to be detected in the aeration tank to observe the uniformity of bubbles in the aeration tank. After the detection is completed, the controller controls the sewage detection component, the rangefinder and the first image sensor to move out of the aeration tank. Then, the wheel drive assembly drives the vehicle body to reach the next sampling point position according to a preset program, and so on. Finally, the vehicle body returns to the starting point, which helps to efficiently detect the sewage at each sampling point in the aeration tank, saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present application.

[0025] Figure 2 is Figure 1 an enlarged view of part A in

[0026] Figure 3 It is a partial structural cross-sectional view of an embodiment of the present application.

[0027] Figure 4 It is Figure 3 an enlarged view of part B in

[0028] Figure 5 It is a schematic diagram of the overall structure from another perspective of an embodiment of the present application.

[0029] Explanation of reference numerals: 1, vehicle body; 2, first image sensor; 3, rangefinder; 4, sewage detection component; 41, turbidity sensor; 42, dissolved oxygen sensor; 43, optical particle counter; 5, controller; 6, second image sensor; 7, robotic claw; 71, fixed disk; 72, clamping claw; 721, rotating claw; 722, grasping inclined claw; 73, electric motor; 8, mounting block; 9, movable block; 10, second sliding component; 101, rotating rod; 102, sliding rod; 103, driving source; 11, water tank; 12, spray nozzle; 13, water receiving box; 14, protection plate; 15, inclined plate; 16, spray water pipe; 17, hose; 18, water pump; 19, through hole; 20, driving motor; 21, second electric cylinder; 22, chute; 24, rodless electric cylinder; 25, sliding cavity; 26, spring; 27, TFT touch screen; 28, first electric cylinder; 29, support plate. Detailed implementation manners

[0030] The following further describes the present application in detail in conjunction with the attached Figures 1-5 drawings.

[0031] An embodiment of the present application discloses an automatic inspection device for an underground sewage treatment tank. Referring to Figure 1 and Figure 3 , the automatic inspection device for the underground sewage treatment tank includes a vehicle body 1 and a wheel drive assembly. The vehicle body 1 adopts a cold-rolled steel shell and an aluminum alloy skeleton, and is subjected to surface plastic spraying treatment, with good structural stability; the wheel drive assembly includes a driving motor 20, the driving motor 20 is installed on the vehicle body 1, and the wheels of the vehicle body 1 are connected to the driving motor 20. In other embodiments, the driving motor 20 can be replaced with an internal combustion engine, a fuel cell, etc.

[0032] Referring to Figure 1 and Figure 2, the automatic inspection device for the underground sewage treatment tank further includes a positioning and lid-grabbing assembly. The positioning and lid-grabbing assembly includes a second image sensor 6 and a grabbing member. The grabbing member is used to grab or release the sampling lid. The grabbing member includes a mechanical claw 7 and a first electric cylinder 28. The first electric cylinder 28 is fixedly installed on the side wall of the vehicle body 1, and the extending direction of the first electric cylinder 28 is arranged along the vertical direction. The mechanical claw 7 includes a fixed disk 71, clamping claws 72 and an electric motor 73. The cross-section of the fixed disk 71 is circular. The fixed disk 71 is located below the first electric cylinder 28, and the fixed disk 71 is fixedly connected to the piston rod of the first electric cylinder 28. The first electric cylinder 28 is used to drive the fixed disk 71 to slide in the direction of approaching or departing from the sampling point.

[0033] Referring to Figure 1 and Figure 2 , a plurality of clamping claws 72 are provided. The plurality of clamping claws 72 are hinged to the fixed disk 71 at intervals along the circumferential direction of the center of the fixed disk 71. The clamping claws 72 include rotating claws 721 and grabbing inclined claws 722. The rotating claws 721 are hinged to the side of the fixed disk 71 away from the first electric cylinder 28. The hinge axis of the rotating claws 721 is perpendicular to the extending direction of the first electric cylinder 28. The distance from the rotating claws 721 to the center of the fixed disk 71 increases sequentially in the direction away from the first electric cylinder 28. The grabbing inclined claws 722 are fixedly connected to the end of the rotating claws 721 away from the fixed disk 71. The angle between the side of the rotating claws 721 close to the center of the fixed disk 71 and the side of the grabbing inclined claws 722 close to the center of the fixed disk 71 is less than 90°. The rotating shaft of the rotating claws 721 is connected to the electric motor 73. The electric motor 73 is used to drive the rotating claws 721 to rotate in the direction of approaching or departing from the center of the fixed disk 71.

[0034] Referring to Figure 1 , the second image sensor 6 is installed on the housing of the first electric cylinder 28. The second image sensor 6 is used to obtain the image of the sampling lid. As an implementation manner of the second image sensor 6, the second image sensor 6 is an anti-corrosion spherical camera with 4 million pixels, which can rotate horizontally 360° and has a built-in heating glass for effective defogging. In other embodiments, the second image sensor 6 can also be a camera, etc.

[0035] When it is necessary to grab the sampling lid, the second image sensor 6 obtains the image of the sampling lid. Then, the sampling lid can be positioned. The first electric cylinder 28 is started to drive the fixed disk 71 to move in the direction of approaching the sampling lid, so that the sampling lid is located between the plurality of clamping claws 72. Since the grabbing inclined claws 722 are inclined to the ground, the electric motor 73 is started to drive the rotating claws 721 to drive the grabbing inclined claws 722 to rotate in the direction of approaching the sampling lid, so that the grabbing inclined claws 722 can extend between the ground and the sampling lid. As the rotating claws 721 continue to rotate in the direction of the sampling lid, the plurality of grabbing inclined claws 722 can fix the sampling lid. Then, the first electric cylinder 28 is started to drive the fixed disk 71 to move upward, so that the plurality of grabbing inclined claws 722 lift the sampling lid, thereby realizing the grabbing of the sampling lid.

[0036] When it is necessary to place the sampling cover on the sampling port, the fixed disk 71 is driven by the first electric cylinder 28 to approach in the direction close to the sampling cover, so that the sampling cover approaches and aligns with the sampling port. Then, the electric motor 73 is started to drive the rotating claw 721 to rotate in the direction away from the sampling cover, so that the plurality of grasping inclined claws 722 gradually lower the sampling cover, thereby realizing the reset of the sampling cover.

[0037] Refer to Figure 3 and Figure 4 As shown in FIGS. and, a first sliding assembly is provided at the front end of the vehicle body 1. The first sliding assembly includes a second electric cylinder 21. The second electric cylinder 21 is fixedly installed at the front end of the vehicle body 1, and the extending direction of the second electric cylinder 21 is arranged in the vertical direction. The second electric cylinder 21 extends downward. In other embodiments, the second electric cylinder 21 can be replaced by a cylinder, a hydraulic cylinder, etc. An installation block 8 is fixed on the piston rod of the second electric cylinder 21. The installation block 8 is located below the second electric cylinder 21. The second electric cylinder 21 is used to drive the installation block 8 to slide in the direction close to or away from the aeration tank.

[0038] Refer to Figure 3 and Figure 4 As shown in FIGS. and, a second sliding assembly 10 is provided on the installation block 8. The second sliding assembly 10 includes a rotating rod 101, a sliding rod 102 and a driving source 103. The driving source 103 is fixed on the top wall of the installation block 8 on the side away from the vehicle body 1. The driving source 103 can be a reduction motor, a stepping motor, etc.; the rotating rod 101 is fixedly connected to the output shaft of the driving source 103. The rotation axis of the rotating rod 101 is perpendicular to the extending direction of the second electric cylinder 21. The driving source 103 can drive the rotating rod 101 to rotate in the direction close to or away from the liquid level in the aeration tank; the sliding rod 102 is hinged to one end of the rotating rod 101 away from the installation block 8. The hinge axis of the sliding rod 102 is parallel to the rotation axis of the rotating rod 101. The sliding rod 102 is located on the side of the rotating rod 101 away from the installation block 8. A movable block 9 is fixed at one end of the sliding rod 102 away from the rotating rod 101. The second sliding assembly 10 can drive the movable block 9 to move in the direction close to or away from the liquid level of the aeration tank.

[0039] Refer to Figure 4, for the convenience of detecting the sewage in the aeration tank, the automatic inspection device for the underground sewage treatment tank further includes a detection component. The detection component includes a first image sensor 2, a rangefinder 3, a sewage detection component 4, and a controller 5. The first image sensor 2 is fixedly installed on the bottom wall of the mounting block 8. The first image sensor 2 is used to obtain a panoramic image of the area to be detected in the aeration tank. The first image sensor 2 is electrically connected to the controller 5. By setting the first image sensor 2, a panoramic image of the area to be detected in the aeration tank can be obtained, thereby facilitating the observation of the uniformity of bubbles in the area to be detected in the aeration tank. As an implementation manner of the first image sensor 2, the first image sensor 2 is a camera. In other embodiments, the camera can also be replaced by a video camera.

[0040] Referring to Figure 1 and Figure 4 , the rangefinder 3 is fixedly installed on the side wall of the mounting block 8. The rangefinder 3 is located above the first image sensor 2. The rangefinder 3 is electrically connected to the controller 5. The rangefinder 3 is used to measure the distance from the sewage detection component 4 to the liquid level in the aeration tank. As an implementation manner of the rangefinder 3, the rangefinder 3 is a laser rangefinder 3. In other embodiments, the laser rangefinder 3 can be replaced by a radar rangefinder 3, a vision rangefinder 3, etc. By setting the rangefinder 3, the distance from the sewage detection component 4 to the liquid level in the aeration tank can be measured, which is convenient for extending the sewage detection component 4 below the liquid level in the aeration tank according to the detected distance to detect the sewage.

[0041] Referring to Figure 4 , the sewage detection component 4 is arranged on the bottom wall of the movable block 9. The sewage detection component 4 is used to detect the water sample in the aeration tank. The sewage detection component 4 includes a turbidity sensor 41, a dissolved oxygen sensor 42, and an optical particle counter 43. The turbidity sensor 41, the dissolved oxygen sensor 42, and the optical particle counter 43 are all installed on the movable block 9. The turbidity sensor 41 is a sensor for detecting the turbidity of the water of the product. The turbidity sensor 41 is used to measure the sludge concentration of the sewage in the aeration tank. The measuring range of the turbidity sensor is 0 - 3000 NTU; the dissolved oxygen sensor 42 is a sensing device for measuring the dissolved amount of oxygen in water. The dissolved oxygen sensor 42 is used to measure the dissolved oxygen concentration of the sewage in the aeration tank. The measuring range is 0 - 20 mg / L; the optical particle counter is a device for detecting the size and quantity of various particles in the oil. The optical particle counter 43 is used to measure the size and quantity of solid particles in the sewage in the aeration tank and can detect particles of 1 - 400 um; the turbidity sensor 41, the dissolved oxygen sensor 42, and the optical particle counter 43 are all electrically connected to the controller 5. By the operation of the turbidity sensor 41, the dissolved oxygen sensor 42, and the optical particle counter 43, the detection of the sewage in the aeration tank is realized.

[0042] Referring to Figure 2 , Figure 3 andFigure 5 The controller 5 is installed on the vehicle body 1. The controller 5 is electrically connected to the drive motor 20, the first electric cylinder 28, the second image sensor 6, the electric motor 73, the second electric cylinder 21, and the drive source 103 respectively. In this embodiment, the movement path of the vehicle body 1 is preset.

[0043] When it is necessary to detect the sewage, the first image sensor 2 is used to obtain the image of the sampling port. The controller 5 identifies and locates the position of the sampling port, aligns the first image sensor 2 and the sewage detection component 4 with the sampling port. Then, according to the distance measured by the rangefinder 3 from the sewage detection component 4 to the liquid level in the aeration tank, the second electric cylinder 21 drives the mounting block 8 to drive the first image sensor 2, the rangefinder 3, and the rotating rod 101 to move downward, so that the rangefinder 3 moves to the sampling port. Then, the second electric cylinder 21 continues to drive the mounting block 8 to move downward. At this time, the rangefinder 3 can detect the continuously moving downward distance through the analysis of the controller 5 until the first image sensor 2 is moved to the required position in the aeration tank. At this time, according to the distance measured by the rangefinder 3 from the rangefinder 3 to the liquid level, the distance from the sewage detection component 4 to the liquid level can be obtained. Thus, according to the moving distance and the depth of the aeration tank, the height of the water surface can be determined. Then, the drive source 103 drives the rotating rod 101 to rotate towards the direction close to the liquid level. The hinged part of the rotating rod 101 and the sliding rod 102 moves downward, so that the sliding rod 102 and the movable block 9 move towards the liquid level until the turbidity sensor 41, the dissolved oxygen sensor 42, and the optical particle counter 43 on the movable block 9 move below the first image sensor 2 and enter the liquid level, thus facilitating the efficient, rapid detection of the sewage; at the same time, it can drive the sliding rod 102 to move horizontally, which helps to measure the sewage data at different lateral positions near the same sampling port and can meet the downward depth of the sewage detection component 4.

[0044] When the detection is completed, the drive source 103 drives the rotating rod 101 to rotate away from the liquid level, so that the rotating rod 101 drives the sliding rod 102 and the movable block 9 to move upward, so as to move the turbidity sensor 41, the dissolved oxygen sensor 42, and the optical particle counter 43 above the first image sensor 2. Then, the second cylinder drives the mounting block 8 to move upward, moves the first image sensor 2, the rangefinder 3, and the sewage detection component 4 out of the aeration tank. Then, the drive motor 20 drives the vehicle body 1 to reach the next sampling point position for detection according to the preset program, and so on. Finally, the vehicle body 1 returns to the starting point, which helps to efficiently detect the sewage at each sampling point in the aeration tank, saving time and effort.

[0045] Refer to Figure 3 and Figure 4, a water tank 11 for storing water source is arranged in the vehicle body 1. A water pump 18 is arranged in the water tank 11. The water pump 18 is communicated with a water spray nozzle 12 through a connecting pipe. There are two water spray nozzles 12, and they are located on the opposite sides of the movable block 9. The water spray nozzles 12 are inclined upward toward the side close to the sewage detection component 4. The water spray nozzles 12 are used to clean the sewage detection component 4. The water pump 18 is electrically connected to the controller 5. When the rotating rod 101 is in the initial state, the sewage detection component 4 is located above the water spray nozzles 12.

[0046] Refer to Figure 3 and Figure 4 , a chute 22 is formed on one side of the vehicle body 1 close to the mounting block 8. A water receiving box 13 is slidably arranged in the chute 22. The water receiving box 13 is located below the water spray nozzles 12. The sliding direction of the water receiving box 13 is perpendicular to the sliding direction of the mounting block 8. The water receiving box 13 slides toward or away from the sewage detection component 4. A power component for driving the water receiving box 13 to slide toward or away from the sewage detection component 4 is arranged in the vehicle body 1. The power component includes a rodless electric cylinder 24 arranged in the chute 22. The water receiving box 13 is fixed to the moving part of the rodless electric cylinder 24. The rodless electric cylinder 24 is electrically connected to the controller 5. In other embodiments, the rodless electric cylinder 24 can be replaced by a cylinder, a hydraulic cylinder, etc.

[0047] Refer to Figure 3 and Figure 4 , a sliding cavity 25 is formed in the mounting block 8. The sliding cavity 25 is located above the first image sensor 2. A protective plate 14 is slidably penetrated in the sliding cavity 25. The first image sensor 2 is located on the side of the protective plate 14 away from the sewage detection component 4. The protective plate 14 slides into or out of the sliding cavity 25 toward or away from the first image sensor 2. An inclined plate 15 is fixed to the top wall of the protective plate 14. The inclined plate 15 is inclined upward away from the vehicle body 1. A support plate 29 is fixedly arranged on the side of the water receiving box 13 away from the sewage detection component 4. A water spray pipe 16 is fixedly penetrated through the support plate 29. The length direction of the water spray pipe 16 is parallel to the sliding direction of the water receiving box 13. The water spray pipe 16 is communicated with the water pump 18 through a hose 17. The water spray pipe 16 is located above the water spray nozzles 12. A through hole 19 for the water spray pipe 16 to slide through is formed in the mounting block 8. The through hole 19 is communicated with the sliding cavity 25. The water spray pipe 16 is used for relative sliding with the inclined plate 15. A pulling component for pulling the protective plate 14 to slide into the mounting block 8 away from the first image sensor 2 is arranged in the mounting block 8. The pulling component includes a spring 26 for pulling the protective plate 14 to slide into the mounting block 8 away from the first image sensor 2. One end of the spring 26 is fixed to the bottom wall of the sliding cavity 25, and the other end is fixed to the inclined plate 15. In other embodiments, the spring 26 can be replaced by an elastic pulling rope.

[0048] When the rodless electric cylinder 24 drives the water receiving box 13 to slide towards the sewage detection component 4, the water spray pipe 16 on the water receiving box 13 gradually passes through the through hole 19 and abuts against the inclined plate 15 on the protection plate 14. As the water receiving box 13 continues to move, the water spray pipe 16 can relatively slide with the inclined plate 15, pushing the protection plate 14 to slide towards the first image sensor 2, stretching the spring 26, and the protection plate 14 gradually blocks the first image sensor 2 until the water spray pipe 16 passes through the through hole 19 and extends out of the mounting block 8. The water receiving box 13 is located below the water spray nozzle 12 and the sewage detection component 4. Then the water pump 18 is started, so that the water spray nozzle 12 and the water spray pipe 16 clean the sewage detection component 4 from different directions. The wastewater after cleaning drops into the water receiving box 13 for collection, which helps to ensure the accuracy of data at each sampling point. At the same time, the setting of the protection plate 14 makes the cleaned wastewater not easily splash on the first image sensor 2, reducing the influence on the image acquisition of the first image sensor 2.

[0049] When the cleaning is completed, the rodless electric cylinder 24 drives the water receiving box 13 towards the vehicle body 1, making the water spray pipe 16 slide away from the mounting block 8, reducing the abutment against the inclined plate 15 of the protection plate 14. The stretched spring 26 pulls the protection plate 14 to slide into the sliding cavity 25 away from the first image sensor 2, gradually exposing the first image sensor 2.

[0050] Refer to Figure 5 , to detect the sewage in the aeration tank conveniently and efficiently, a 10-inch TFT touch screen 27 is installed on the vehicle body of the vehicle body 1. The TFT touch screen 27 is electrically connected to the first image sensor 2, the second image sensor 6, and the controller 5 respectively. The opening and closing of the first electric cylinder 28 and the second electric cylinder 21 can be realized through touch buttons, and the images obtained by the first image sensor 2 and the second image sensor 6 can be displayed. A access platform is created, and a data interface is reserved on the vehicle body for users to access and review the content in the access platform; the data interface can be interfaces such as USB and RJ-45.

[0051] The implementation principle of the embodiment of the present application is: when it is necessary to detect the sewage in the aeration tank, the drive motor 20 is started, and the drive motor 20 drives the wheels of the vehicle body 1 to move forward along a preset program, moving the vehicle body 1 to near the sampling cover. The second image sensor 6 obtains the sampling cover image, identifies and locates the sampling cover through the controller 5, and then the first electric cylinder 28 drives the fixed disk 71 to approach the sampling cover, and the electric motor 73 drives the rotating claw 721 to drive the grasping inclined claw 722 to rotate towards the sampling cover, so that the grasping inclined claw 722 grabs and fixes the sampling cover. Then the first electric cylinder 28 drives the fixed disk 71 to move upward, and the plurality of grasping inclined claws 722 grab the sampling cover and rise.

[0052] Then, the driving motor 20 drives the wheels to move the vehicle body 1. The first image sensor 2 is used to obtain the sampling port image. The controller 5 identifies and locates the position of the sampling port, aligns the first image sensor 2 and the sewage detection component 4 with the sampling port. The second electric cylinder 21 drives the mounting block 8 to drive the first image sensor 2, the rangefinder 3 and the rotating rod 101 to move downward, so that the rangefinder 3 moves to the sampling port. Then, the second electric cylinder 21 continues to drive the mounting block 8 to move downward. At this time, the controller 5 can analyze the distance of continuous downward movement through the measurement data fed back by the rangefinder 3 until the first image sensor 2 is moved to the required position in the aeration tank. The distance from the rangefinder 3 to the liquid surface can be measured, and the distance from the sewage detection component 4 to the liquid surface can be obtained. Thus, the height of the water surface can be determined according to the moving distance and the depth of the aeration tank. Then, the drive source 103 is started, and the reduction motor drives the rotating rod 101 to rotate towards the direction close to the liquid surface. The hinge joint between the rotating rod 101 and the sliding rod 102 moves downward until the turbidity sensor 41, the dissolved oxygen sensor 42 and the optical particle counter 43 on the movable block 9 move below the first image sensor 2 and enter the liquid surface. The first image sensor 2 obtains the panoramic image of the area to be detected in the aeration tank to facilitate observing the uniformity of bubbles in the aeration tank. The turbidity sensor 41 detects the sludge concentration of the sewage in the aeration tank. The dissolved oxygen sensor 42 detects the dissolved oxygen concentration of the sewage in the aeration tank. The optical particle counter 43 detects the size and quantity of solid particles in the sewage in the aeration tank to analyze and judge the sedimentation ratio through the controller 5, so as to efficiently detect the sewage at the sampling point position in the aeration tank.

[0053] After the detection is completed, the drive source 103 drives the rotating rod 101 to rotate away from the liquid surface, so that the rotating rod 101 drives the sliding rod 102 and the movable block 9 to move upward to facilitate moving the sewage detection component 4 above the first image sensor 2. Then, the second air cylinder drives the mounting block 8 to move upward to move the first image sensor 2, the rangefinder 3 and the sewage detection component 4 out of the aeration tank.

[0054] Then, the driving motor 20 drives the vehicle body 1 to move, aligning the mechanical claw 7 with the sampling port. The first electric cylinder 28 drives the fixed disk 71 to move closer to the sampling cover, making the sampling cover close to the sampling port. Then, the electric motor 73 drives the rotating claw 721 to rotate away from the sampling cover, and the multiple grasping inclined claws 722 gradually lower the sampling cover.

[0055] Then, the rodless electric cylinder 24 drives the water receiving box 13 to slide towards the sewage detection component 4. The water spraying pipe 16 on the water receiving box 13 gradually passes through the through hole 19 and abuts against the inclined plate 15 of the protection plate 14, pushing the protection plate 14 to slide towards the first image sensor 2. The protection plate 14 gradually shields and protects the first image sensor 2 until the water spraying pipe 16 passes through the through hole 19 and extends out of the mounting block 8. Then, the water pump 18 is started, so that the water spraying nozzles 12 and the water spraying pipe 16 clean the sewage detection component 4 from different directions. The wastewater after cleaning drops into the water receiving box 13 for collection, and the protection plate 14 can prevent the cleaned wastewater from splashing on the first image sensor 2.

[0056] When the cleaning is completed, the rodless electric cylinder 24 drives the water receiving box 13 to move towards the vehicle body 1, so that the water spraying pipe 16 slides away from the mounting block 8, and the spring 26 pulls the protection plate 14 to slide into the sliding cavity 25 away from the first image sensor 2, gradually exposing the first image sensor 2.

[0057] Finally, the driving motor 20 drives the vehicle body 1 to reach the next sampling point position according to the preset program. In this way, by repeating the process, the vehicle body 1 finally returns to the starting point, so that the sewage at each sampling point in the aeration tank can be efficiently detected.

[0058] The above are all the preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An automatic inspection device for underground sewage treatment tanks, characterized in that, It includes a vehicle body (1) and a wheel drive assembly; It further includes a positioning and cover-taking assembly and a detection assembly. The detection assembly includes a first image sensor (2), a rangefinder (3), a sewage detection assembly (4), and a controller (5). The first image sensor (2) is used to obtain a panoramic image of the area to be detected in the aeration tank; The rangefinder (3) is used to measure the distance from the sewage detection assembly (4) to the liquid level in the aeration tank; The sewage detection assembly (4) is used to detect the water sample in the aeration tank; The controller (5) is electrically connected to the wheel drive assembly, the positioning and cover-taking assembly, the first image sensor (2), the rangefinder (3), and the sewage detection assembly (4) respectively; A mounting block (8) is slidably arranged on the vehicle body (1), the sliding direction of the mounting block (8) is arranged in the vertical direction, a water tank (11) is arranged in the vehicle body (1), a water pump (18) is arranged in the water tank (11), the water pump (18) is communicated with a water spray nozzle (12) through a connecting pipe, the water spray nozzle (12) is used for cleaning the sewage detection component (4), the water pump (18) is electrically connected with the controller (5), a water receiving box (13) is slidably arranged in the vehicle body (1), the water receiving box (13) is located below the water spray nozzle (12), the water receiving box (13) slides in the direction close to or away from the sewage detection component (4), a power component for driving the water receiving box (13) to slide in the direction close to or away from the sewage detection component (4) is arranged in the vehicle body (1), the power component is electrically connected with the controller (5), a sliding cavity (25) is formed in the mounting block (8), the sliding cavity (25) is located above the first image sensor (2), a protection plate (14) is slidably penetrated in the sliding cavity (25), the protection plate (14) is located on the side of the first image sensor (2) close to the sewage detection component (4), the sliding direction of the protection plate (14) is parallel to the sliding direction of the mounting block (8), the protection plate (14) slides into or out of the mounting block (8) in the direction close to or away from the first image sensor (2), an inclined plate (15) is arranged on the top wall of the protection plate (14), the inclined plate (15) is inclined upward in the direction close to the sewage detection component (4), a support plate (29) is fixedly arranged on the side of the water receiving box (13) away from the sewage detection component (4), a water spray pipe (16) is fixedly penetrated through the support plate (29), the length direction of the water spray pipe (16) is parallel to the sliding direction of the water receiving box (13), the water spray pipe (16) is communicated with the water pump (18) through a hose (17), the water spray pipe (16) is located above the water spray nozzle (12), a through hole (19) for the water spray pipe (16) to slide through is formed in the mounting block (8), the through hole (19) is communicated with the sliding cavity (25), the water spray pipe (16) is used for sliding relatively with the inclined plate (15), a pulling component is arranged in the mounting block (8), the pulling component is used for pulling the protection plate (14) to slide into the mounting block (8) in the direction away from the first image sensor (2), the pulling component includes a spring (26), one end of the spring (26) is fixed on the bottom wall of the sliding cavity (25), and the other end is fixed on the inclined plate (15).

2. The automatic inspection device for underground sewage treatment tanks according to claim 1, wherein: The sewage detection component (4) includes a turbidity sensor (41), a dissolved oxygen sensor (42) and an optical particle counter (43), and the turbidity sensor (41) is used for measuring the sludge concentration of the sewage in the aeration tank; The dissolved oxygen sensor (42) is used for measuring the dissolved oxygen concentration of the sewage in the aeration tank; The optical particle counter (43) is used for measuring the size and quantity of solid particles in the sewage in the aeration tank.

3. The automatic inspection device for underground sewage treatment tanks according to claim 1, characterized in that: The positioning and cover-taking assembly includes a second image sensor (6) and a grasping member. The second image sensor (6) is used to acquire the image of the sampling cover. The controller (5) is further used to identify and position the sampling cover. The grasping member is used to grasp or release the sampling cover. Both the second image sensor (6) and the grasping member are electrically connected to the controller (5).

4. The automatic inspection device for underground sewage treatment tanks according to claim 3, characterized in that: The grasping member includes a mechanical claw (7) and a first electric cylinder (28). The first electric cylinder (28) is arranged on the vehicle body (1). The extending direction of the first electric cylinder (28) is arranged in the vertical direction. The mechanical claw (7) is connected to the piston rod of the first electric cylinder (28). The first electric cylinder (28) is used to drive the mechanical claw (7) to slide in the direction close to or away from the sampling point. Both the mechanical claw (7) and the first electric cylinder (28) are electrically connected to the controller (5).

5. The automatic inspection device for underground sewage treatment tanks according to claim 4, characterized in that: The mechanical claw (7) includes a fixed disk (71), clamping claws (72) and an electric motor (73). The fixed disk (71) is connected to the piston rod of the first electric cylinder (28). A plurality of the clamping claws (72) are arranged. The plurality of clamping claws (72) are hinged to the fixed disk (71) at intervals along the circumferential direction of the fixed disk (71). Each clamping claw (72) includes a rotating claw (721) and a grasping inclined claw (722). The rotating claw (721) is hinged to the fixed disk (71). The hinge axis of the rotating claw (721) is perpendicular to the extending direction of the first electric cylinder (28). The grasping inclined claw (722) is arranged at the end of the rotating claw (721) far from the fixed disk (71). The angle between the side of the rotating claw (721) close to the center of the fixed disk (71) and the side of the grasping inclined claw (722) close to the center of the fixed disk (71) is less than 90°. The electric motor (73) is arranged on the fixed disk (71). The electric motor (73) is used to drive the rotating claw (721) to rotate. The electric motor (73) is electrically connected to the controller (5).

6. The automatic inspection device for underground sewage treatment tanks according to any one of claims 1-5, characterized in that: The first image sensor (2) is fixedly installed on the bottom wall of the mounting block (8). The rangefinder (3) is fixedly installed on the side wall of the mounting block (8). A movable block (9) is movably arranged on the mounting block (8). The movable block (9) slides in the direction close to or away from the liquid level in the aeration tank. The sewage detection assembly (4) is arranged on the bottom wall of the movable block (9). A first sliding assembly for driving the mounting block (8) to slide is arranged on the vehicle body (1). A second sliding assembly (10) for driving the movable block (9) to slide in the direction close to or away from the liquid level in the aeration tank is arranged on the mounting block (8).

7. The automatic inspection device for underground sewage treatment tanks according to claim 6, characterized in that: The second sliding assembly (10) includes a rotating rod (101), a sliding rod (102) and a driving source (103). The rotating rod (101) rotates on the mounting block (8), and the rotation axis of the rotating rod (101) is perpendicular to the sliding direction of the mounting block (8). One end of the sliding rod (102) is hinged to the rotating rod (101), and the other end is connected to the movable block (9). The driving source (103) is used to drive the rotating rod (101) to rotate towards or away from the liquid level in the aeration tank, and the driving source (103) is electrically connected to the controller (5).

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