A protection-based automatic mud scraper control method and device

Abstract

The application relates to the technical field of mud scrapers, and discloses an automatic mud scraper control method and device based on protection, which acquires position information of a time sensor and a chain gear on a mud scraper, sends a data acquisition signal to the time sensor and the chain gear based on the position information, collects the time for the chain gear to rotate one round based on the data acquisition signal, takes an image of the lower part of a clarifying tank, acquires a sludge image of the lower part of the clarifying tank, determines the sludge amount of the lower part of the clarifying tank according to the sludge image, sends different early warning signals based on the sludge amount of the lower part of the clarifying tank and the time for the chain gear to rotate one round, and controls the automatic stop of the mud scraper according to the early warning signals. The application adds a chain gear normal running time sensor device on the mud scraper. When the rotating speed of the mud scraper slows down, the rotating speed of the chain gear slows down, the time for the chain gear to rotate one round is lengthened, the time sensor device is triggered to send a linkage torque alarm, the mud scraper stops running, and the speed reducer of the mud scraper is prevented from being damaged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mud scraper, in particular to an automatic mud scraper control method and device based on protection. BACKGROUND

[0002] The mud scraper is a machine for cleaning sludge, which is used in urban sewage treatment plants, waterworks and industrial wastewater treatment for removing sludge settled at the bottom of the pool and scum on the surface of the pool. However, the mud scraper encounters problems in use: a mud scraper is generally arranged under the clarifying tank, but when the amount of mud under the clarifying tank is large and the torque of the automatic mud scraper is large, the protection device does not trigger, resulting in damage to the reducer of the mud scraper.

[0003] In the prior art, a torque alarm is set during the operation of the mud scraper in the clarifying tank, and the mud scraper automatically rises when the motor current increases. However, this technical solution is more likely to cause wear of the gear of the mud scraper reducer and damage to the bearing and shell of the reducer, thereby increasing the cost.

[0004] Therefore, how to provide an automatic mud scraper control method and device based on protection is a technical problem to be solved at present. SUMMARY

[0005] In view of the problems existing in the prior art, the purpose of the present application is to provide an automatic mud scraper control method and device based on protection. The present application adds a chain gear normal operation time probe sensing device to the mud scraper. When the rotation speed of the mud scraper slows down, the rotation speed of the chain gear slows down, the time for one rotation of the chain gear lengthens, the time sensing device triggers the torque alarm, and the operation of the mud scraper is stopped to avoid damage to the reducer of the mud scraper.

[0006] In order to achieve the above-mentioned purpose, the present application provides an automatic mud scraper control method based on protection, which comprises:

[0007] Obtaining position information of a time sensor and a chain gear arranged on the mud scraper, and sending a data acquisition signal to the time sensor and the chain gear based on the position information;

[0008] Based on the data acquisition signal, the rotation speed of the chain gear and the time for one rotation of the chain gear are acquired;

[0009] Image shooting is performed on the lower part of the clarifying tank to obtain a sludge image of the lower part of the clarifying tank, and the amount of sludge in the lower part of the clarifying tank is determined according to the sludge image of the lower part;

[0010] Different warning signals are sent based on the amount of sludge in the lower part of the clarifying tank and the time for one rotation of the chain gear, and the automatic stopping of the mud scraper is controlled according to the warning signals.

[0011] In one of the embodiments, when determining the amount of the underflow sludge of the clarifier according to the underflow sludge image, comprising:

[0012] performing image preprocessing on the underflow sludge image to obtain a preprocessed underflow sludge image, wherein the image preprocessing comprises image edge enhancement, image threshold segmentation and image binarization processing;

[0013] performing image feature analysis on the preprocessed underflow sludge image to obtain a feature analysis result;

[0014] inputting the feature analysis result into a mathematical calculation model to determine the amount of the underflow sludge of the clarifier.

[0015] In one of the embodiments, when issuing different early warning signals based on the underflow sludge of the clarifier and the time for the chain gear to rotate one round, comprising:

[0016] determining the amount of the underflow sludge of the clarifier ΔA and the time for the chain gear to rotate one round ΔT;

[0017] determining corresponding underflow sludge threshold value Δa and chain gear rotation one round threshold value Δt based on the amount of the underflow sludge of the clarifier ΔA and the time for the chain gear to rotate one round ΔT;

[0018] when ΔA≤Δa and ΔT≥Δt, a first early warning signal is issued, wherein the first early warning signal is used to represent the failure state of the mud scraper;

[0019] when ΔA>Δa and ΔT≥Δt, a second early warning signal is issued, wherein the second early warning signal is used to control the automatic stop of the mud scraper.

[0020] In one of the embodiments, after controlling the automatic stop of the mud scraper according to the early warning signal, further comprising:

[0021] setting the underflow sludge cleaning time of the clarifier according to the amount of the underflow sludge of the clarifier ΔA;

[0022] controlling the automatic start of the mud scraper based on the underflow sludge cleaning time of the clarifier.

[0023] In one of the embodiments, when setting the underflow sludge cleaning time of the clarifier according to the amount of the underflow sludge of the clarifier ΔA, comprising:

[0024] A preset sludge amount matrix B of the lower part of the clarifier is set as B (B1, B2, B3, B4), wherein B1 is a first preset sludge amount, B2 is a second preset sludge amount, B3 is a third preset sludge amount, and B4 is a fourth preset sludge amount, and B1

[0025] A preset sludge cleaning time matrix C of the lower part of the clarifier is set as C (C1, C2, C3, C4, C5), wherein C1 is a first preset sludge cleaning time, C2 is a second preset sludge cleaning time, C3 is a third preset sludge cleaning time, C4 is a fourth preset sludge cleaning time, and C5 is a fifth preset sludge cleaning time, and C1

[0026] The sludge cleaning time of the lower part of the clarifier is set according to the relationship between the sludge amount ΔA of the lower part of the clarifier and each preset sludge amount:

[0027] When ΔA

[0028] When B1≤ΔA

[0029] When B2≤ΔA

[0030] When B3≤ΔA

[0031] When B4≤ΔA

[0032] In order to achieve the above-mentioned purpose, the application provides an automatic mud scraper control device based on protection, which comprises:

[0033] A sending module is configured to acquire position information of a time sensor and a chain gear arranged on the mud scraper, and send a data acquisition signal to the time sensor and the chain gear based on the position information;

[0034] An acquisition module is configured to acquire a rotating speed of the chain gear and a time for one rotation of the chain gear based on the data acquisition signal;

[0035] The determination module is configured to capture an image of the lower part of the clarifying tank, acquire a lower sludge image of the clarifying tank, and determine a lower sludge amount of the clarifying tank according to the lower sludge image.

[0036] The early warning module is configured to issue different early warning signals based on the lower sludge amount of the clarifying tank and the time for one rotation of the chain gear, and control automatic stop of the mud scraper according to the early warning signals.

[0037] In one of the embodiments, the determination module is specifically configured to:

[0038] The determination module is configured to perform image preprocessing on the lower sludge image to obtain a preprocessed lower sludge image, wherein the image preprocessing includes image edge enhancement, image threshold segmentation, and image binarization processing.

[0039] The determination module is configured to perform image feature analysis on the preprocessed lower sludge image to obtain a feature analysis result.

[0040] The determination module is configured to input the feature analysis result into a mathematical calculation model to determine the lower sludge amount of the clarifying tank.

[0041] In one of the embodiments, the early warning module is specifically configured to:

[0042] The early warning module is configured to determine the lower sludge amount ΔA of the clarifying tank and the time ΔT for one rotation of the chain gear.

[0043] The early warning module is configured to determine corresponding lower sludge threshold Δa and time threshold Δt for one rotation of the chain gear based on the lower sludge amount ΔA of the clarifying tank and the time ΔT for one rotation of the chain gear.

[0044] When ΔA≤Δa and ΔT≥Δt, the early warning module is configured to issue a first early warning signal, wherein the first early warning signal is used to represent a fault state of the mud scraper.

[0045] When ΔA>Δa and ΔT≥Δt, the early warning module is configured to issue a second early warning signal, wherein the second early warning signal is used to control automatic stop of the mud scraper.

[0046] In one of the embodiments, the early warning module is specifically configured to:

[0047] The early warning module is configured to set a lower sludge cleaning time of the clarifying tank according to the lower sludge amount ΔA of the clarifying tank.

[0048] The early warning module is configured to control automatic start of the mud scraper based on the lower sludge cleaning time of the clarifying tank.

[0049] In one embodiment, the early warning module is specifically used for:

[0050] The early warning module is used for presetting a lower sludge amount matrix B of the clarifier, setting B (B1, B2, B3, B4), wherein B1 is a first preset lower sludge amount, B2 is a second preset lower sludge amount, B3 is a third preset lower sludge amount, B4 is a fourth preset lower sludge amount, and B1 < B2 < B3 < B4;

[0051] The early warning module is used for presetting a lower sludge cleaning time matrix C of the clarifier, setting C (C1, C2, C3, C4, C5), wherein C1 is a first preset lower sludge cleaning time, C2 is a second preset lower sludge cleaning time, C3 is a third preset lower sludge cleaning time, C4 is a fourth preset lower sludge cleaning time, C5 is a fifth preset lower sludge cleaning time, and C1 < C2 < C3 < C4 < C5;

[0052] The early warning module is used for setting the lower sludge cleaning time of the clarifier according to the relationship between the lower sludge amount ΔA of the clarifier and each preset lower sludge amount:

[0053] When ΔA < B1, the first preset lower sludge cleaning time C1 is selected as the lower sludge cleaning time of the clarifier;

[0054] When B1 ≤ ΔA < B2, the second preset lower sludge cleaning time C2 is selected as the lower sludge cleaning time of the clarifier;

[0055] When B2 ≤ ΔA < B3, the third preset lower sludge cleaning time C3 is selected as the lower sludge cleaning time of the clarifier;

[0056] When B3 ≤ ΔA < B4, the fourth preset lower sludge cleaning time C4 is selected as the lower sludge cleaning time of the clarifier;

[0057] When B4 ≤ ΔA, the fifth preset lower sludge cleaning time C5 is selected as the lower sludge cleaning time of the clarifier.

[0058] The present application provides an automatic mud scraper control method and device based on protection, which has the following beneficial effects compared with the prior art:

[0059] The application discloses a kind of based on protection's automatic mud scraper control method and device, obtain the position information of time sensor and chain gear on mud scraper, data acquisition signal is sent to time sensor and chain gear based on position information, based on data acquisition signal, the time of chain gear rotation is collected, the image of the lower part of clarifying tank is photographed, the lower part of clarifying tank sludge image is obtained, the lower part of clarifying tank sludge amount is determined according to lower part of clarifying tank sludge image, different early warning signals are sent based on the lower part of clarifying tank sludge amount and the time of chain gear rotation, the automatic stop of mud scraper is controlled according to early warning signal, the application is increased chain gear normal operation time sensing device on mud scraper, when mud scraper speed slows down, chain gear speed slows down, the time of chain gear rotation lengthens, triggers time sensing device linkage torque alarm, stops mud scraper operation, avoids mud scraper speed reducer damage. BRIEF DESCRIPTION OF DRAWINGS

[0060] Figure 1 The flow diagram of the automatic mud scraper control method based on protection in the embodiment of the application is shown.

[0061] Figure 2 The structure diagram of the automatic mud scraper control system based on protection in the embodiment of the application is shown. DETAILED DESCRIPTION

[0062] The specific embodiments of the application will be further described in detail below with reference to the accompanying drawings and embodiments. The following embodiments are used to illustrate the application, but not to limit the scope of the application.

[0063] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0064] The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0065] In the description of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "mounting", "connection", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection, it can be mechanical connection, or electrical connection, it can be direct connection, or indirect connection through intermediate medium, or internal connection of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0066] The following is a description of the preferred embodiments of the present application in conjunction with the accompanying drawings.

[0067] As shown in Figure 1 The embodiments of the present application disclose a kind of automatic mud scraper control method based on protection, the method comprises:

[0068] S110: the position information of time sensor and chain gear set on the mud scraper is acquired, and data acquisition signal is sent to the time sensor and the chain gear based on the position information;

[0069] In the present embodiment, time sensor and chain gear are additionally arranged on the mud scraper, and then the automatic stop of the mud scraper is controlled by the time sensor and the chain gear.

[0070] S120: the rotating speed of the chain gear and the time of one revolution of the chain gear are collected based on the data acquisition signal;

[0071] S130: image shooting is carried out on the lower part of the clarifier, the lower mud image of the clarifier is acquired, and the lower mud amount of the clarifier is determined according to the lower mud image;

[0072] In some embodiments of the present application, when the lower mud amount of the clarifier is determined according to the lower mud image, it comprises:

[0073] The lower mud image is preprocessed to obtain a preprocessed lower mud image, wherein the image preprocessing comprises image edge enhancement, image threshold segmentation and image binarization processing;

[0074] The preprocessed lower mud image is analyzed to obtain a feature analysis result;

[0075] The feature analysis result is input into a mathematical calculation model to determine the lower mud amount of the clarifier.

[0076] In the present embodiment, by determining the lower mud amount of the clarifier, a foundation for judging whether to stop the mud scraper is laid, and a reliable judgment basis is provided.

[0077] S140: Based on the amount of sludge at the bottom of the clarifier and the time it takes for the chain gear to rotate one revolution, different warning signals are issued, and the automatic stop of the sludge scraper is controlled according to the warning signals.

[0078] In some embodiments of this application, when issuing different warning signals based on the lower sludge of the clarification tank and the time taken for the chain gear to rotate one revolution, the following methods are included:

[0079] Determine the amount of sludge ΔA at the bottom of the clarification tank and the time ΔT for the chain gear to rotate one revolution;

[0080] The corresponding threshold values ​​for the lower sludge volume ΔA and the time ΔT for one rotation of the chain gear are determined based on the amount of sludge in the lower part of the clarification tank and the time threshold value for one rotation of the chain gear.

[0081] When ΔA≤Δa and ΔT≥Δt, a first warning signal is issued, wherein the first warning signal is used to characterize the fault state of the sludge scraper;

[0082] When ΔA>Δa and ΔT≥Δt, a second warning signal is issued, wherein the second warning signal is used to control the sludge scraper to stop automatically.

[0083] In this embodiment, when the amount of sludge at the bottom of the clarification tank ΔA ≤ the lower sludge threshold Δa, it indicates that the sludge scraper may have malfunctioned, and a first warning signal is issued to remind the staff to repair the sludge scraper. When the amount of sludge at the bottom of the clarification tank ΔA > the lower sludge threshold Δa, it indicates that there is a large amount of sludge at the bottom of the clarification tank, and the sludge scraper is stopped, reminding the staff to clean it to avoid damage to the sludge scraper reducer.

[0084] In some embodiments of this application, after controlling the automatic stop of the sludge scraper according to the warning signal, the method further includes:

[0085] The sludge removal time at the bottom of the clarification tank is set according to the amount of sludge ΔA at the bottom of the clarification tank;

[0086] The automatic start of the sludge scraper is controlled based on the sludge removal time at the bottom of the clarification tank.

[0087] Specifically, when setting the sludge removal time at the bottom of the clarifier based on the amount of sludge ΔA at the bottom of the clarifier, the following steps are included:

[0088] The matrix B of the lower sludge volume of the clarification tank is set as B(B1, B2, B3, B4), where B1 is the first preset lower sludge volume, B2 is the second preset lower sludge volume, B3 is the third preset lower sludge volume, and B4 is the fourth preset lower sludge volume, and B1 < B2 < B3 < B4.

[0089] a preset clarifier lower sludge cleaning time matrix C is set, C(C1, C2, C3, C4, C5), wherein C1 is a first preset lower sludge cleaning time, C2 is a second preset lower sludge cleaning time, C3 is a third preset lower sludge cleaning time, C4 is a fourth preset lower sludge cleaning time, and C5 is a fifth preset lower sludge cleaning time, and C1

[0090] The lower sludge cleaning time of the clarifier is set according to the relationship between the lower sludge amount ΔA of the clarifier and each preset lower sludge amount:

[0091] When ΔA

[0092] When ΔA

[0093] When ΔA

[0094] When ΔA

[0095] When ΔA

[0096] In this embodiment, the lower sludge cleaning time of the clarifier is set according to the relationship between the lower sludge amount ΔA of the clarifier and each preset lower sludge amount, and then the automatic start of the mud scraper is controlled based on the lower sludge cleaning time of the clarifier, so that the normal work of the mud scraper can be ensured and the work progress of the mud scraper can be avoided.

[0097] In order to further illustrate the technical idea of the present application, the technical solution of the present application will be described in combination with specific application scenarios.

[0098] Correspondingly, as shown in Figure 2 The present application also provides an automatic mud scraper control device based on protection, which comprises:

[0099] A sending module is configured to acquire position information of a time sensor and a chain gear arranged on the mud scraper, and send a data acquisition signal to the time sensor and the chain gear based on the position information;

[0100] The collection module is configured to collect the rotating speed of the chain gear and the time for the chain gear to rotate one round based on the data collection signal.

[0101] The determination module is configured to capture an image of the lower part of the clarifying tank, acquire a lower sludge image of the clarifying tank, and determine the amount of lower sludge of the clarifying tank according to the lower sludge image.

[0102] The early warning module is configured to issue different early warning signals based on the amount of lower sludge of the clarifying tank and the time for the chain gear to rotate one round, and control the automatic stop of the mud scraper according to the early warning signals.

[0103] In some embodiments of the present application, the determination module is specifically configured to:

[0104] The determination module is configured to perform image preprocessing on the lower sludge image to obtain a preprocessed lower sludge image, wherein the image preprocessing includes image edge enhancement, image threshold segmentation, and image binarization processing.

[0105] The determination module is configured to perform image feature analysis on the preprocessed lower sludge image to obtain a feature analysis result.

[0106] The determination module is configured to input the feature analysis result into a mathematical calculation model to determine the amount of lower sludge of the clarifying tank.

[0107] In some embodiments of the present application, the early warning module is specifically configured to:

[0108] The early warning module is configured to determine the amount of lower sludge ΔA of the clarifying tank and the time ΔT for the chain gear to rotate one round.

[0109] The early warning module is configured to determine corresponding lower sludge threshold Δa and chain gear rotation one round time threshold Δt based on the amount of lower sludge ΔA of the clarifying tank and the time ΔT for the chain gear to rotate one round.

[0110] When ΔA≤Δa and ΔT≥Δt, the early warning module is configured to issue a first early warning signal, wherein the first early warning signal is used to represent a fault state of the mud scraper.

[0111] When ΔA>Δa and ΔT≥Δt, the early warning module is configured to issue a second early warning signal, wherein the second early warning signal is used to control the automatic stop of the mud scraper.

[0112] In some embodiments of the present application, the early warning module is specifically configured to:

[0113] The early warning module is configured to set the lower sludge cleaning time of the clarifying tank according to the amount of lower sludge ΔA of the clarifying tank.

[0114] The early warning module is configured to control automatic start of the mud scraper based on the sludge cleaning time of the lower part of the clarifying tank.

[0115] In some embodiments of the present application, the early warning module is specifically configured to:

[0116] The early warning module is configured to preset a sludge amount matrix B of the lower part of the clarifying tank, and set B (B1, B2, B3, B4), wherein B1 is a first preset sludge amount, B2 is a second preset sludge amount, B3 is a third preset sludge amount, and B4 is a fourth preset sludge amount, and B1 < B2 < B3 < B4;

[0117] The early warning module is configured to preset a sludge cleaning time matrix C of the lower part of the clarifying tank, and set C (C1, C2, C3, C4, C5), wherein C1 is a first preset sludge cleaning time, C2 is a second preset sludge cleaning time, C3 is a third preset sludge cleaning time, C4 is a fourth preset sludge cleaning time, and C5 is a fifth preset sludge cleaning time, and C1 < C2 < C3 < C4 < C5;

[0118] The early warning module is configured to set the sludge cleaning time of the lower part of the clarifying tank according to the relationship between the sludge amount ΔA of the lower part of the clarifying tank and each preset sludge amount:

[0119] When ΔA < B1, the first preset sludge cleaning time C1 is selected as the sludge cleaning time of the lower part of the clarifying tank;

[0120] When B1 ≤ ΔA < B2, the second preset sludge cleaning time C2 is selected as the sludge cleaning time of the lower part of the clarifying tank;

[0121] When B2 ≤ ΔA < B3, the third preset sludge cleaning time C3 is selected as the sludge cleaning time of the lower part of the clarifying tank;

[0122] When B3 ≤ ΔA < B4, the fourth preset sludge cleaning time C4 is selected as the sludge cleaning time of the lower part of the clarifying tank;

[0123] When B4 ≤ ΔA, the fifth preset sludge cleaning time C5 is selected as the sludge cleaning time of the lower part of the clarifying tank.

[0124] In summary, the embodiment of the present application obtains the position information of the time sensor and the chain gear on the mud scraper, sends a data acquisition signal to the time sensor and the chain gear based on the position information, acquires the time for the chain gear to rotate one round based on the data acquisition signal, takes an image of the lower part of the clarifying tank, acquires the image of the sludge in the lower part of the clarifying tank, determines the sludge amount in the lower part of the clarifying tank according to the image of the sludge in the lower part, sends different early warning signals based on the sludge amount in the lower part of the clarifying tank and the time for the chain gear to rotate one round, and controls the automatic stop of the mud scraper according to the early warning signals. The present application adds the chain gear normal running time sensor device on the mud scraper, triggers the time sensor device linkage torque alarm when the speed of the mud scraper and the chain gear is slowed down and the time for the chain gear to rotate one round is lengthened, and stops the running of the mud scraper, thereby avoiding the damage of the mud scraper speed reducer.

[0125] In the description of the above-described embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0126] Although the present application has been described with reference to the embodiments above, various modifications can be made to it and components thereof can be replaced with equivalents without departing from the scope of the present application. In particular, each feature disclosed in the embodiments of the present application can be used in any combination with any other feature disclosed in the embodiments of the present application, unless there is a structural conflict. The combinations of these features are not all described in the present specification only for the purpose of omitting the description and saving resources. Therefore, the present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0127] Those skilled in the art can understand that the above are only preferred embodiments of the present application, and are not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments. For those skilled in the art, the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A protection-based automatic sludge scraper control method, characterized in that, The method includes: The position information of the time sensor and chain gear installed on the sludge scraper is obtained, and a data acquisition signal is sent to the time sensor and chain gear based on the position information; The rotational speed of the chain gear and the time it takes for the chain gear to rotate one revolution are acquired based on the data acquisition signal. The lower part of the clarification tank is photographed to obtain an image of the sludge in the lower part of the clarification tank, and the amount of sludge in the lower part of the clarification tank is determined based on the image of the sludge in the lower part of the clarification tank. Different warning signals are issued based on the amount of sludge at the bottom of the clarification tank and the time it takes for the chain gear to rotate one revolution, and the sludge scraper is automatically stopped according to the warning signal. After controlling the automatic stop of the sludge scraper based on the warning signal, the method further includes: The sludge removal time at the bottom of the clarification tank is set according to the amount of sludge ΔA at the bottom of the clarification tank; The automatic start of the sludge scraper is controlled based on the sludge removal time at the bottom of the clarification tank; When setting the sludge removal time at the bottom of the clarifier based on the sludge volume ΔA at the bottom of the clarifier, the following steps are included: The matrix B of the lower sludge volume of the clarification tank is set as B(B1, B2, B3, B4), where B1 is the first preset lower sludge volume, B2 is the second preset lower sludge volume, B3 is the third preset lower sludge volume, and B4 is the fourth preset lower sludge volume, and B1 < B2 < B3 < B4. A preset sludge cleaning time matrix C for the lower part of the clarification tank is defined as C(C1, C2, C3, C4, C5), where C1 is the first preset lower sludge cleaning time, C2 is the second preset lower sludge cleaning time, C3 is the third preset lower sludge cleaning time, C4 is the fourth preset lower sludge cleaning time, and C5 is the fifth preset lower sludge cleaning time, and C1 < C2 < C3 < C4 < C5; The sludge removal time of the lower part of the clarification tank is set according to the relationship between the amount of sludge ΔA at the bottom of the clarification tank and each preset amount of sludge at the bottom: When ΔA < B1, the first preset lower sludge cleaning time C1 is selected as the lower sludge cleaning time of the clarification tank; When B1≤ΔA<B2, the second preset lower sludge cleaning time C2 is selected as the lower sludge cleaning time of the clarification tank; When B2≤ΔA<B3, the third preset lower sludge cleaning time C3 is selected as the lower sludge cleaning time of the clarification tank; When B3≤ΔA<B4, the fourth preset lower sludge cleaning time C4 is selected as the lower sludge cleaning time of the clarification tank; When B4≤ΔA, the fifth preset lower sludge cleaning time C5 is selected as the lower sludge cleaning time of the clarification tank.

2. The automatic sludge scraper control method based on protection according to claim 1, characterized in that, Determining the amount of lower sludge in the clarifier based on the lower sludge image includes: The lower silt image is preprocessed to obtain a preprocessed lower silt image, wherein the image preprocessing includes: image edge enhancement, image thresholding segmentation, and image binarization. Image feature analysis was performed on the preprocessed lower silt image to obtain the feature analysis results; The feature analysis results are input into a mathematical calculation model to determine the amount of sludge in the lower part of the clarification tank.

3. The protection-based automatic sludge scraper control method according to claim 1, characterized in that, When issuing different warning signals based on the lower sludge of the clarification tank and the time taken for the chain gear to rotate one revolution, the following are included: Determine the amount of sludge ΔA at the bottom of the clarification tank and the time ΔT for the chain gear to rotate one revolution; The corresponding threshold values ​​for the lower sludge volume ΔA and the time ΔT for one rotation of the chain gear are determined based on the amount of sludge in the lower part of the clarification tank and the time threshold value for one rotation of the chain gear. When ΔA≤Δa and ΔT≥Δt, a first warning signal is issued, wherein the first warning signal is used to characterize the fault state of the sludge scraper; When ΔA>Δa and ΔT≥Δt, a second warning signal is issued, wherein the second warning signal is used to control the sludge scraper to stop automatically.

4. A protection-based automatic sludge scraper control device, characterized in that, The device includes: The transmitting module is used to acquire the position information of the time sensor and chain gear set on the sludge scraper, and send data acquisition signals to the time sensor and chain gear based on the position information; The acquisition module is used to acquire the rotational speed of the chain gear and the time it takes for the chain gear to rotate one revolution based on the data acquisition signal; The determination module is used to take images of the lower part of the clarification tank, obtain images of the sludge in the lower part of the clarification tank, and determine the amount of sludge in the lower part of the clarification tank based on the images of the sludge in the lower part of the clarification tank. The early warning module is used to issue different early warning signals based on the amount of sludge at the bottom of the clarifier and the time it takes for the chain gear to rotate one revolution, and to control the automatic stop of the sludge scraper according to the early warning signal; The early warning module is used to set the sludge cleaning time at the bottom of the clarification tank based on the amount of sludge ΔA at the bottom of the clarification tank. The early warning module is used to control the automatic start of the sludge scraper based on the sludge cleaning time at the bottom of the clarifier. The early warning module is used to preset the lower sludge volume matrix B of the clarification tank, setting B(B1, B2, B3, B4), where B1 is the first preset lower sludge volume, B2 is the second preset lower sludge volume, B3 is the third preset lower sludge volume, B4 is the fourth preset lower sludge volume, and B1 < B2 < B3 < B4. The early warning module is used to preset the lower sludge cleaning time matrix C of the clarification tank, and set C(C1, C2, C3, C4, C5), where C1 is the first preset lower sludge cleaning time, C2 is the second preset lower sludge cleaning time, C3 is the third preset lower sludge cleaning time, C4 is the fourth preset lower sludge cleaning time, and C5 is the fifth preset lower sludge cleaning time, and C1 < C2 < C3 < C4 < C5; The early warning module is used to set the sludge cleaning time of the lower part of the clarification tank based on the relationship between the amount of sludge ΔA at the bottom of the clarification tank and each preset amount of sludge at the bottom: When ΔA < B1, the first preset lower sludge cleaning time C1 is selected as the lower sludge cleaning time of the clarification tank; When B1≤ΔA<B2, the second preset lower sludge cleaning time C2 is selected as the lower sludge cleaning time of the clarification tank; When B2≤ΔA<B3, the third preset lower sludge cleaning time C3 is selected as the lower sludge cleaning time of the clarification tank; When B3≤ΔA<B4, the fourth preset lower sludge cleaning time C4 is selected as the lower sludge cleaning time of the clarification tank; When B4≤ΔA, the fifth preset lower sludge cleaning time C5 is selected as the lower sludge cleaning time of the clarification tank.

5. The automatic sludge scraper control device based on protection according to claim 4, characterized in that, The determining module is specifically used for: The determining module is used to perform image preprocessing on the lower silt image to obtain a preprocessed lower silt image, wherein the image preprocessing includes: image edge enhancement, image thresholding segmentation, and image binarization. The determining module is used to perform image feature analysis on the preprocessed lower silt image to obtain feature analysis results; The determining module is used to input the feature analysis results into the mathematical calculation model to determine the amount of sludge in the lower part of the clarification tank.

6. The automatic sludge scraper control device based on protection according to claim 4, characterized in that, The early warning module is specifically used for: The early warning module is used to determine the amount of sludge ΔA at the bottom of the clarification tank and the time ΔT for the chain gear to rotate one revolution; The early warning module is used to determine the corresponding lower sludge threshold Δa and the chain gear rotation time threshold Δt based on the lower sludge volume ΔA of the clarification tank and the time ΔT for the chain gear to rotate one revolution. When ΔA≤Δa and ΔT≥Δt, the early warning module is used to issue a first early warning signal, wherein the first early warning signal is used to characterize the fault state of the sludge scraper; When ΔA>Δa and ΔT≥Δt, the early warning module is used to issue a second early warning signal, wherein the second early warning signal is used to control the sludge scraper to stop automatically.

Images