A silt inductive self-cleaning method and device

Abstract

The application discloses a silt induction self-cleaning method and device, wherein the silt induction self-cleaning method comprises the following steps: obtaining a control instruction, controlling a self-cleaning execution unit to execute a corresponding working mode based on the control instruction, in a closed-loop control mode, the self-cleaning execution unit divides levels based on silt level information, and executes different self-cleaning feedback results based on different silt level grades. In the embodiment of the application, the self-cleaning feedback result of the self-cleaning execution unit is combined with real-time silt level information by using the above-mentioned silt induction self-cleaning method and device, self-cleaning failure caused by excessively high silt level is avoided, accurate cleaning of silt residues on the sensing end of the sensing unit by the self-cleaning execution unit is realized, energy loss is reduced on the one hand, and the intelligence and accuracy of self-cleaning execution are improved on the other hand, so that the overall self-cleaning effect is ensured.

Description

Technical Field

[0001] This invention relates to the field of dredging equipment technology, and in particular to a sludge sensing self-cleaning method and device. Background Technology

[0002] The water treatment process includes sedimentation treatment. When the sedimentation tank has too high a sedimentation level, it is necessary to remove the sediment to ensure the normal operation of the water treatment process.

[0003] To obtain accurate silt level data, a silt height detection device needs to be installed in the sedimentation tank. Most of these devices use infrared detection. However, when the silt level is too high, the sensing end of the detection device is in direct contact with the silt. After dredging, there is a risk that the silt may block the sensing end, leading to deviations in the detection results. This makes it difficult for operators to control the actual silt height in the sedimentation tank. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a silt-sensing self-cleaning method and apparatus for improving the accuracy of silt height detection.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0006] This application provides a sludge-sensing self-cleaning method, including:

[0007] Obtain control commands and control the self-cleaning execution unit to execute the corresponding working mode based on the control commands;

[0008] The self-cleaning actuator operates in a closed-loop control mode.

[0009] In the closed-loop control mode, the self-cleaning execution unit classifies levels based on mud level information and executes different self-cleaning feedback results based on different mud level levels.

[0010] Further specifying, in the above-mentioned sludge-sensing self-cleaning method, the closed-loop control mode includes:

[0011] Obtain silt height information and classify it into four levels: low, medium, high, and ultra-high based on the silt height information;

[0012] Based on four levels of silt height, different self-cleaning feedback results are achieved for each level.

[0013] Further specifying, in the above-mentioned sludge-sensing self-cleaning method, the different self-cleaning feedback results are as follows:

[0014] When the sludge height level is low, the self-cleaning execution unit does not perform the self-cleaning action and waits for the next sludge height information to be obtained.

[0015] When the sludge height level is medium, the self-cleaning execution unit performs a predetermined cleaning cycle. If the self-cleaning execution unit does not move for a long time during the cleaning process, it outputs an alarm message and waits for the next sludge height information to be obtained.

[0016] When the sludge height level is high, the self-cleaning execution unit does not perform the self-cleaning action and waits for sludge removal. If sludge removal is performed, the sensing stroke of the sensing unit is activated. If sludge removal is not performed, the unit waits for the next sludge height information to be acquired.

[0017] When the silt height level is extremely high, the self-cleaning execution unit does not perform the self-cleaning action and triggers a high-level alarm. The self-cleaning execution unit waits for silt removal. If silt removal is performed, the sensing stroke of the sensing unit is circulated. If silt removal is not performed, the unit waits for the next silt height information to be obtained.

[0018] Further specifying, the above-mentioned sludge-sensing self-cleaning method further includes, before acquiring the control command:

[0019] Control the initialization and calibration of the self-cleaning actuator;

[0020] Read the cleaning stroke and speed configuration information of the self-cleaning execution unit.

[0021] Furthermore, in the aforementioned sludge-sensing self-cleaning method, the working mode of the self-cleaning execution unit also includes an interrupt response mode;

[0022] The response interruption mode includes:

[0023] Obtain the self-cleaning execution parameters;

[0024] The self-cleaning action is performed on the sensing unit according to the self-cleaning execution parameters corresponding to the stroke.

[0025] Further specifying, in the above-mentioned sludge-sensing self-cleaning method, when the sludge height level is low, a timed trigger mode is simultaneously executed.

[0026] Furthermore, in the above-mentioned sludge-sensing self-cleaning method, the working mode of the self-cleaning execution unit also includes a timed trigger mode;

[0027] The timed triggering mode includes:

[0028] The timing is executed, and when the predetermined time is reached, the self-cleaning action of the sensing unit is performed for a predetermined stroke.

[0029] The timer is reset after the self-cleaning action is completed, and the next timer cycle is executed.

[0030] Further specifying, in the above-mentioned sludge-sensing self-cleaning method, when the sludge height level is high or ultra-high, a response interruption mode is simultaneously executed.

[0031] This application also provides a sludge sensing self-cleaning device, which adopts the sludge sensing self-cleaning method described in any of the above claims, including an installation plate fixedly installed in a working pool, a sensing unit and a push rod motor fixedly installed on the installation plate, and a brush head fixedly connected to the telescopic end of the push rod motor;

[0032] The brush head can move synchronously with the extension and retraction of the push rod motor and wipe the sensing end of the sensing unit.

[0033] Further specifying, in the above-mentioned sludge sensing self-cleaning device, a sludge-clearing fork frame is fixedly connected to the telescopic end of the push rod motor, a mounting frame is fixedly provided on the mounting plate, and a guide rod parallel to the telescopic end of the push rod motor is fixedly provided on the mounting frame;

[0034] The dredging fork is slidably mounted on the guide rod, and the brush head is fixedly mounted on the dredging fork.

[0035] This invention has at least the following beneficial effects:

[0036] 1. By combining the self-cleaning feedback results of the self-cleaning execution unit with real-time mud level information, the self-cleaning failure caused by excessive mud level can be avoided, and the self-cleaning execution unit can accurately clean the sludge residue at the sensing end of the sensing unit, which greatly improves the intelligence level of the sensing unit self-cleaning system.

[0037] 2. Based on the mud level information, multiple levels are divided. When the mud level is low, the sensing unit is less affected by the sludge, so self-cleaning is not required. When the mud level is high, there is too much sludge in the working pool. Even if the sensing unit performs self-cleaning, it cannot get rid of the sludge's influence on the sensing unit's sensing end. Therefore, in conjunction with the sludge removal device, the self-cleaning of the sensing unit is only performed when the sludge in the working pool is discharged. On the one hand, this can reduce energy consumption. On the other hand, by combining the mud level information with the sewage discharge information, the intelligence and accuracy of the self-cleaning execution can be improved, ensuring the overall self-cleaning effect.

[0038] 3. The push rod motor extends and retracts to drive the brush head to clean the residual silt at the sensing end of the sensing unit, thereby avoiding deviations in the judgment of mud level caused by residual silt and improving the detection sensitivity and accuracy of the sensing unit.

[0039] 4. When the push rod motor starts and drives the dredging fork frame to move synchronously, the guide rod can guide the movement of the dredging fork frame, improve the stability of the movement of the dredging fork frame, and ensure the overall operational reliability of the device. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the automatic dredging system according to an embodiment of this application;

[0041] Figure 2 This is a schematic diagram of the structure of the "sensing unit 200" in the automatic dredging system of this application embodiment;

[0042] Figure 3 This is a schematic diagram of the structure of the "sensing unit 200" in the automatic dredging system of this application embodiment;

[0043] Figure 4 This is a schematic diagram of the structure of the "sensing unit 200" in the automatic dredging system of this application embodiment;

[0044] Figure 5 This is a flowchart illustrating the automatic dredging method according to an embodiment of this application;

[0045] Figure 6 This is a schematic diagram of the structure of the sludge sensing self-cleaning device according to an embodiment of this application;

[0046] Figure 7 This is a schematic diagram of the structure of the sludge sensing self-cleaning device according to an embodiment of this application;

[0047] Figure 8 This is a schematic flowchart of the sludge-sensing self-cleaning method according to an embodiment of this application;

[0048] Figure 9 This is a flowchart illustrating the "interruption response mode" in the sludge-sensing self-cleaning method of this application.

[0049] Figure 10 This is a flowchart illustrating the "timed trigger mode" in the sludge-sensing self-cleaning method of this application embodiment;

[0050] Figure 11 This is a flowchart illustrating the "closed-loop control mode" in the sludge sensing self-cleaning method of this application.

[0051] Figure Labels

[0052] Control unit-100, sensing unit-200, infrared emitting tube-210, infrared output terminal-211, infrared receiving tube-220, infrared sensing terminal-221, capacitive sensing tube-230, diffuse reflection sensing tube-240, ultrasonic output terminal-241, ultrasonic receiving terminal-242, connecting tube-250, outgoing tube-260, first transition tube-271, second transition tube-272, sludge sensing self-cleaning device-300, mounting plate-310, first clamping component-320, second clamping component-330, sludge dredging fork frame-340, push rod motor-350, fixing block-351, mounting bracket-360, guide rod-370, brush head fixing seat-380, sludge dredging device-400, siphon tube-410. Detailed Implementation

[0053] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0054] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0055] The sludge-sensing self-cleaning method and apparatus provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0056] like Figures 1 to 4 As shown, this application provides an automatic dredging system, including a control unit 100, a sensing unit 200 connected to the control unit 100, and a dredging device 400.

[0057] The sensing unit 200 is used to acquire the sludge height information in the working pool and send the sludge height information to the control unit 100. The control unit 100 controls the sludge removal device 400 to perform sludge removal in the working pool based on the sludge height information.

[0058] In this embodiment, an automatic sludge removal system as described above is used. A high-precision sensing unit 200 monitors the changes in the mud-water interface in real time. The monitored sludge height information is transmitted to the control unit 100. The control unit 100 automatically adjusts the start and stop of the sludge removal device 400 according to the sludge height information, thereby realizing automatic sludge discharge control. This not only ensures a stable sludge level and avoids the risk of substandard effluent water quality, but also eliminates the inefficient working mode of frequent manual monitoring of sludge level and sludge discharge. It opens up a new and efficient working mode for managers and operations engineers, and helps realize the new concept of unmanned / reduced manpower water plants.

[0059] Understandably, this automatic sludge removal system can also be applied to areas such as intelligent management of returned sludge, intelligent monitoring of sludge deposition behavior, and prevention of sludge loss.

[0060] In a preferred embodiment, the device also includes an online suspended solids monitoring sensor connected to the control unit 100. The online suspended solids monitoring sensor is installed in the sludge discharge pipe of the dredging device 400 and is capable of acquiring sludge concentration information of the sludge discharge pipe.

[0061] In this embodiment, an automatic sludge removal system as described above is used. Through the cooperation of the sensing unit 200 and the online monitoring sensor for suspended matter, two real-time changing signals, namely sludge height information and sludge concentration information, are transmitted to the control unit 100. Based on the logical relationship between the two, the control unit 100 can more accurately determine the time and duration of sludge discharge, and automatically turn the sludge removal device 400 on or off, thus achieving more precise intelligent sludge discharge control.

[0062] In a preferred embodiment, the control unit 100 is connected to the sensing unit 200 and the dredging device 400 via a cable to transmit information.

[0063] It is understandable that if the structure lacks power supply support or is troubled by tangled cables, the control unit 100 can also use wireless transmission with the sensing unit 200 and the dredging device 400, as long as information exchange between the control unit 100 and the sensing unit 200 and the dredging device 400 can be achieved, which will not be elaborated here.

[0064] In a preferred embodiment, such as Figures 2 to 4 As shown, the sensing unit 200 is located in the lower part of the working pool, the control unit 100 is located in the central control room outside the working pool, and the dredging device 400 includes a pump valve assembly and a siphon pipe 410 connected to the pump valve assembly.

[0065] Understandably, the end of the siphon pipe 410 furthest from the pump and valve assembly is located at the bottom of the working pool, and the control unit 100 can control the opening and closing of the pump and valve assembly, thereby cleaning the sludge at the bottom of the working pool through the siphon pipe 410.

[0066] In a preferred embodiment, such as Figure 2 As shown, the sensing unit 200 is specifically configured as an infrared beam sensor device. The infrared beam sensor device includes an infrared emitting tube 210 disposed in the working pool and an infrared receiving tube 220 disposed at intervals from the infrared emitting tube 210. The infrared emitting tube 210 is provided with multiple infrared output terminals 211 arranged in a vertical direction, and the infrared receiving tube 220 is provided with multiple infrared sensing terminals 221 arranged in a vertical direction.

[0067] Multiple infrared sensing terminals 221 are positioned corresponding to each other. The infrared rays emitted by the infrared sensing terminals 221 can be received by the infrared sensing terminals 221 at the corresponding positions. The infrared receiving tube 220 determines the mud level based on the infrared ray acquisition information obtained by the multiple infrared sensing terminals 221 and transmits the mud height information to the sensing unit 200.

[0068] It is understandable that when the infrared output terminal 211 emits infrared light, if there is silt between the infrared output terminal 211 and the corresponding infrared sensing terminal 221, the intensity of the infrared light obtained by the corresponding infrared sensing terminal 221 will be reduced or it will be unable to obtain infrared light. This allows the sensing unit 200 to determine the position of the mud-water interface based on the infrared light obtained by multiple infrared sensing terminals 221.

[0069] In a preferred embodiment, such as Figure 3 As shown, the sensing unit 200 is specifically configured as a capacitive sensor. The capacitive sensor includes a capacitive sensing tube 230 disposed in the working pool. Multiple electrode plates are arranged in an array along the vertical direction on the capacitive sensing tube 230. The electrode plates can obtain the dielectric constant of the medium at the corresponding position. The capacitive sensing tube 230 can determine the mud level height through the dielectric constant obtained by the multiple electrode plates, thereby transmitting the mud height information to the control unit 100.

[0070] It is understandable that if there is silt at the corresponding position of the electrode plate on the capacitive sensing tube 230, the dielectric constant obtained by the corresponding electrode plate will change, thereby enabling the sensing unit 200 to determine the position of the mud-water interface based on the change of dielectric constant of multiple electrode plates.

[0071] In a preferred embodiment, such as Figure 4As shown, the sensing unit 200 is specifically configured as a diffuse reflection sensor. The diffuse reflection sensor includes a diffuse reflection induction tube 240 disposed in the working pool. Multiple ultrasonic output ends 241 and ultrasonic receiving ends 242 are arranged in an array along the vertical direction on the diffuse reflection induction tube 240. The multiple ultrasonic output ends 241 and multiple ultrasonic receiving ends 242 are arranged at intervals.

[0072] It is understandable that the ultrasonic output end 241 is used to emit ultrasonic waves, and the ultrasonic receiver end 242 can receive the ultrasonic waves output by the ultrasonic output end 241 and reflected back. By comparing the intensity difference of the ultrasonic signal received by the ultrasonic receiver end 242 at different positions through the principle of diffuse reflection, the position of the mud-water interface can be determined.

[0073] Specifically, ultrasonic waves are emitted through the ultrasonic output terminal 241. When the ultrasonic waves encounter an obstacle, they are reflected completely or partially, and the intensity of the reflection is determined by the density of the obstacle (such as water, sludge, or the bottom of a pool). Thus, ultrasonic waves with different reflection intensities produced by different substances are reflected back to the ultrasonic receiver 242, and the distance between the sludge interface and the probe can be calculated by the reflection interval.

[0074] In a preferred embodiment, the sensing unit 200 adopts a modular assembly structure. The sensing unit 200 is configured as an assembly structure of multiple infrared beam sensors along the vertical direction. The multiple infrared beam sensors are respectively connected to the control unit 100, or the multiple infrared beam sensors are connected to the control unit 100 through a central controller.

[0075] Alternatively, the sensing unit 200 may be configured as an assembly structure of multiple capacitive sensors along the vertical direction, with the multiple capacitive sensors respectively connected to the control unit 100, or the multiple capacitive sensors connected to the control unit 100 through a central controller.

[0076] Alternatively, the sensing unit 200 may be configured as an assembly structure of multiple diffuse reflection sensors along the vertical direction, with the multiple diffuse reflection sensors respectively connected to the control unit 100, or the multiple diffuse reflection sensors may be connected to the control unit 100 through a central controller.

[0077] Understandably, by using the modular assembly structure of the sensing unit 200, the detection depth range of the sensing unit 200 can be flexibly adjusted based on the working pool of different depths, to meet the usage requirements under different conditions and improve the overall applicability of the automatic sludge removal system.

[0078] In a preferred embodiment, such as Figure 1As shown, it also includes a sludge sensing self-cleaning device 300 connected to the control unit 100 and the sensing unit 200 respectively. The control unit 100 can control the sludge sensing self-cleaning device 300 to automatically clean the sludge remaining on the sensing end of the sensing unit 200, thereby ensuring the sensing sensitivity and accuracy of the sensing unit 200.

[0079] like Figure 5 As shown, this application provides an automatic dredging method applicable to the aforementioned automatic dredging system, comprising:

[0080] S1, periodically acquire information on the sludge height in the working pool;

[0081] S2, a judgment result is formed by comparing the acquired silt height information with the preset cleaning threshold. If the silt height is greater than or equal to the cleaning threshold, cleaning is performed. If the silt height is less than the cleaning threshold, the system waits for the next acquisition cycle of silt height information.

[0082] It is understandable that the judgment result formed by comparing the silt height information with the preset cleaning threshold is not limited to the above one. For example, it can be set to perform cleaning if the silt height is greater than the cleaning threshold, and wait for the next acquisition cycle of silt height information if the silt height is less than or equal to the cleaning threshold. As long as automatic cleaning control can be achieved, it will not be elaborated here.

[0083] In a preferred embodiment, step S2 further includes:

[0084] During the cleaning process, the sludge concentration information of the discharged sludge is periodically acquired;

[0085] Sludge discharge parameters are generated and executed based on sludge height information and sludge concentration information of discharged sludge.

[0086] Understandably, the degree of automatic cleaning of the working pool can be determined by the sludge concentration information of the discharged sludge, and more precise intelligent sludge discharge control can be achieved by combining the sludge height information with the sludge concentration information of the discharged sludge.

[0087] like Figure 6 , Figure 7 As shown in the figure, this application provides a sludge sensing self-cleaning device 300, including a mounting plate 310 fixedly installed in a working pool, a sensing unit 200 fixedly installed on the mounting plate 310, a push rod motor 350 fixedly installed on the mounting plate 310, and a brush head fixedly installed on the telescopic end of the push rod motor 350.

[0088] The brush head can move synchronously with the extension and retraction of the push rod motor 350 and wipe the sensing end of the sensing unit 200, thereby cleaning the residual sludge at the sensing end of the sensing unit 200.

[0089] In this embodiment, the above-mentioned silt sensing self-cleaning device 300 is used. The push rod motor 350 extends and retracts to drive the brush head to clean the silt remaining at the sensing end of the sensing unit 200, thereby avoiding deviations in the judgment of silt level caused by residual silt and improving the detection sensitivity and accuracy of the sensing unit 200.

[0090] In a preferred embodiment, such as Figure 6 , Figure 7 As shown, a brush head fixing seat 380 is fixedly provided on the mounting plate 310, a push rod motor 350 is fixedly provided on the brush head fixing seat 380, a fixing block 351 is fixedly provided on the telescopic end of the push rod motor 350, a dredging fork frame 340 is fixedly provided on the fixing block 351, and the brush head is fixedly provided on the dredging fork frame 340.

[0091] In a preferred embodiment, such as Figure 6 , Figure 7 As shown, a mounting bracket 360 is also fixedly mounted on the mounting plate 310, and a guide rod 370 parallel to the telescopic end of the push rod motor 350 is fixedly mounted on the mounting bracket 360.

[0092] The dredging fork 340 is slidably mounted on the guide rod 370.

[0093] Understandably, when the push rod motor 350 starts and drives the dredging fork 340 to move synchronously, the guide rod 370 can guide the movement of the dredging fork 340, thereby improving the stability of the movement of the dredging fork 340 and ensuring the overall operational reliability of the device.

[0094] In a preferred embodiment, such as Figure 6 , Figure 7 As shown, a clamping assembly for fixing the sensing unit 200 is also fixed on the mounting plate 310.

[0095] In a preferred embodiment, such as Figure 6 , Figure 7 As shown, the sensing unit 200 is specifically configured as an infrared beam sensor, which includes an infrared emitting tube 210 and an infrared receiving tube 220 arranged parallel to the infrared emitting tube 210.

[0096] The clamping assembly includes a first clamping member 320 fixedly mounted on the mounting plate 310. The first clamping member 320 has multiple clamping members that clamp the end positions of the infrared emitting tube 210 and the infrared receiving tube 220 respectively.

[0097] In a preferred embodiment, such as Figure 6 , Figure 7As shown, the infrared emitting tube 210 and the infrared receiving tube 220 are respectively fixedly connected to the first transition tube 271 at the ends away from the ground, and the outgoing tube 260 is fixedly provided between the two first transition tubes 271.

[0098] It is understandable that the wiring of the infrared emitting tube 210 and the infrared receiving tube 220 passes through the first transition tube 271 and the output tube 260 and is connected to the control unit 100.

[0099] In a preferred embodiment, such as Figure 6 , Figure 7 As shown, the infrared emitting tube 210 and the infrared receiving tube 220 are respectively fixedly connected to the second transition tube 272 at the end near the ground, and a connecting tube 250 is fixedly provided between the two second transition tubes 272.

[0100] The clamping assembly also includes a second clamping member 330 that is fixedly mounted on the mounting plate 310 and clamps the connecting tube 250.

[0101] It is understandable that by cooperating with the connecting tube 250 and the output tube 260, the infrared emitting tube 210 and the infrared receiving tube 220 can be completely sealed, thereby ensuring the working stability of the sensing unit 200.

[0102] It is understood that the configuration of the sensing unit 200 is not limited to the one mentioned above. For example, the sensing unit 200 can also be configured as a capacitive sensor or a diffuse reflection sensor, as long as it can enable the brush head to clean the residual sludge at the sensing end of the sensing unit 200. This will not be elaborated here.

[0103] like Figures 8 to 11 As shown, this application embodiment provides a sludge-sensing self-cleaning method, applicable to the aforementioned sludge-sensing self-cleaning device 300, comprising:

[0104] S1. Initialize and calibrate the self-cleaning actuator.

[0105] S2. Read the cleaning stroke and speed configuration information of the self-cleaning execution unit;

[0106] S3. Obtain control commands and control the self-cleaning execution unit to execute the corresponding working mode based on the control commands;

[0107] The self-cleaning actuator has a working mode including a closed-loop control mode. In the closed-loop control mode, the self-cleaning actuator classifies the mud level based on the mud level information and executes different self-cleaning feedback results based on different mud level levels.

[0108] In this embodiment of the application, the above-mentioned automatic sludge removal method is adopted, which combines the self-cleaning feedback result of the self-cleaning execution unit with the real-time mud level information to avoid self-cleaning failure caused by excessive mud level, and realizes the accurate cleaning of sludge residue at the sensing end of the sensing unit 200 by the self-cleaning execution unit, which greatly improves the intelligence level of the self-cleaning system of the sensing unit 200.

[0109] In a preferred embodiment, in step S1, the initial calibration of the self-cleaning execution unit is mainly used to eliminate zero-point error, avoid errors in the cleaning stroke during the self-cleaning process of the execution sensing unit 200, and ensure the self-cleaning effect.

[0110] In a preferred embodiment, in step S2, the parameter configuration information of the self-cleaning execution unit is input by the operator, wherein the cleaning stroke configuration information is based on the specification settings of the sensing unit 200.

[0111] It is understandable that the cleaning stroke of the self-cleaning actuator should include the sensing stroke of the sensing unit 200, so as to ensure the complete removal of residual sludge within the sensing stroke of the sensing unit 200 when the self-cleaning action of the sensing unit 200 is performed.

[0112] It is understandable that the cleaning stroke of the self-cleaning actuator only represents the maximum cleaning stroke range, which includes at least one marker point. In closed-loop control mode, the self-cleaning actuator can execute self-cleaning feedback results at different marker points based on different mud level levels.

[0113] In a preferred embodiment, such as Figure 11 As shown, the closed-loop control modes include:

[0114] Read the silt height information acquired by the sensing unit 200;

[0115] Based on the silt height information, it is divided into four levels: low, medium, high, and ultra-high.

[0116] Different self-cleaning feedback results are achieved based on different sludge height levels.

[0117] In a preferred embodiment, different self-cleaning feedback results are executed based on different sludge height levels, specifically as follows:

[0118] When the sludge height level is low, the self-cleaning unit does not perform the self-cleaning action and waits for the next reading of the sludge height information obtained by the sensing unit 200.

[0119] When the sludge height level is medium, the self-cleaning execution unit performs a predetermined cleaning cycle. If the self-cleaning execution unit encounters an obstacle during the predetermined cleaning cycle, causing it to remain inactive for a long time, it outputs an alarm message and waits for the next reading of the sludge height information obtained by the sensing unit 200.

[0120] When the sludge height level is high, the self-cleaning execution unit does not perform the self-cleaning action and waits for the sludge removal device 400 to perform sludge removal. If the sludge removal device 400 performs sludge removal, the self-cleaning execution unit performs the brush stroke sensing the travel of the sensing unit 200. If the sludge removal device 400 does not perform sludge removal, the self-cleaning execution unit waits for the next reading of the sludge height information obtained by the sensing unit 200.

[0121] When the sludge height level is extremely high, the self-cleaning execution unit does not perform the self-cleaning action and triggers a high-level alarm, waiting for the sludge removal device 400 to perform sludge removal. If the sludge removal device 400 performs sludge removal, the self-cleaning execution unit performs the brushing of the sensing stroke of the sensing unit 200. If the sludge removal device 400 does not perform sludge removal, the self-cleaning execution unit waits for the next reading of the sludge height information obtained by the sensing unit 200.

[0122] It is understandable that when the self-cleaning execution unit performs cleaning of a predetermined stroke, the predetermined stroke is the preset mark point in the cleaning stroke of the self-cleaning execution unit, or the predetermined stroke can also be set as the actual stroke of the self-cleaning execution unit at a predetermined speed and time.

[0123] In this embodiment, the above-mentioned automatic sludge removal method is adopted, which divides the mud level into multiple levels based on the mud level information. When the mud level is low, the influence of the mud on the sensing end of the sensing unit 200 is small, so self-cleaning is not required. When the mud level is high, there is too much mud in the working pool, so even if the self-cleaning of the sensing unit 200 is performed, the influence of the mud on the sensing end of the sensing unit 200 cannot be eliminated. Therefore, in conjunction with the sludge removal device 400, the self-cleaning of the sensing unit 200 is only performed when the mud in the working pool is discharged. On the one hand, energy consumption can be reduced, and on the other hand, the combination of mud level information and sewage discharge information can improve the intelligence and accuracy of self-cleaning execution, ensuring the overall self-cleaning effect.

[0124] In a preferred embodiment, such as Figure 8 , Figure 9 As shown, the self-cleaning execution unit also includes an interrupt response mode.

[0125] Interruption response modes include:

[0126] Obtain the self-cleaning execution parameters;

[0127] The self-cleaning action is performed on the corresponding stroke of the sensing unit 200 based on the self-cleaning execution parameters.

[0128] Understandably, in this mode, the self-cleaning execution parameters are manually configured by the operator, and the self-cleaning execution unit executes these manually configured parameters independently, making it suitable for scenarios with sudden self-cleaning needs.

[0129] In a preferred embodiment, such as Figure 8 , Figure 10 As shown, the self-cleaning execution unit also includes a timed trigger mode.

[0130] The timed trigger modes include:

[0131] The timing is executed, and when the predetermined time is reached, the self-cleaning action of the sensing unit 200 is performed for a predetermined stroke.

[0132] The timer is reset after the self-cleaning action is completed, and the next timer cycle is executed.

[0133] Understandably, the scheduled time and travel parameters are manually configured by the operator, which is suitable for working scenarios where the sludge accumulation rate in the working pool is relatively stable.

[0134] In a preferred embodiment, such as Figure 11 As shown, when the silt height level is low, a timed trigger mode can be executed simultaneously to avoid errors in silt height level classification caused by incorrect silt level information acquisition. Self-checking can be achieved by executing the timed trigger mode.

[0135] In a preferred embodiment, such as Figure 11 As shown, when the sludge height level is high or ultra-high, the response interrupt mode can be executed simultaneously. When the operator obtains the high-level alarm information and drains the sludge, the self-cleaning action of the sensing unit 200 can be directly executed by executing the response interrupt mode, thereby reducing the gap period of waiting to read the sludge level information.

[0136] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0137] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A sludge-sensing self-cleaning method, characterized in that, include; Obtain control commands and control the self-cleaning execution unit to execute the corresponding working mode based on the control commands; The self-cleaning actuator operates in a closed-loop control mode. In the closed-loop control mode, the self-cleaning execution unit classifies levels based on mud level information and executes different self-cleaning feedback results based on different mud level levels; The closed-loop control modes include: Obtain silt height information and classify it into four levels: low, medium, high, and ultra-high based on the silt height information; Based on four levels of silt height, different self-cleaning feedback results are achieved for each level. The specific results of executing different self-cleaning feedback are as follows: When the sludge height level is low, the self-cleaning execution unit does not perform the self-cleaning action and waits for the next sludge height information to be obtained. When the sludge height level is medium, the self-cleaning execution unit performs a predetermined cleaning cycle. If the self-cleaning execution unit does not move for a long time during the cleaning process, it outputs an alarm message and waits for the next sludge height information to be obtained. When the sludge height level is high, the self-cleaning execution unit does not perform the self-cleaning action and waits for sludge removal. If sludge removal is performed, the sensing stroke of the sensing unit is activated. If sludge removal is not performed, the unit waits for the next sludge height information to be acquired. When the silt height level is extremely high, the self-cleaning execution unit does not perform the self-cleaning action and triggers a high-level alarm. The self-cleaning execution unit waits for silt removal. If silt removal is performed, the sensing stroke of the sensing unit is circulated. If silt removal is not performed, the unit waits for the next silt height information to be obtained.

2. The sludge-sensing self-cleaning method according to claim 1, characterized in that, Before obtaining control commands, the following steps are also included: Control the initialization and calibration of the self-cleaning actuator; Read the cleaning stroke and speed configuration information of the self-cleaning execution unit.

3. The sludge-sensing self-cleaning method according to claim 1, characterized in that, The self-cleaning execution unit also includes an interrupt response mode. The response interruption mode includes: Obtain the self-cleaning execution parameters; The self-cleaning action is performed on the sensing unit according to the self-cleaning execution parameters corresponding to the stroke.

4. A sludge-sensing self-cleaning method according to claim 1 or 3, characterized in that, When the silt height level is low, a timed trigger mode is executed simultaneously.

5. The sludge-sensing self-cleaning method according to claim 1, characterized in that, The self-cleaning execution unit also includes a timed trigger mode. The timed triggering mode includes: The timing is executed, and when the predetermined time is reached, the self-cleaning action of the sensing unit is performed for a predetermined stroke. The timer is reset after the self-cleaning action is completed, and the next timer cycle is executed.

6. A sludge-sensing self-cleaning method according to claim 1 or 5, characterized in that, When the silt height level is high or ultra-high, the response interruption mode is executed simultaneously.

7. A sludge-sensing self-cleaning device, characterized in that, The sludge sensing self-cleaning method according to any one of claims 1 to 6 includes an installation plate fixedly installed in a working pool, a sensing unit and a push rod motor fixedly installed on the installation plate, and a brush head fixedly connected to the telescopic end of the push rod motor; The brush head can move synchronously with the extension and retraction of the push rod motor and wipe the sensing end of the sensing unit.

8. A sludge-sensing self-cleaning device according to claim 7, characterized in that, A sludge-removing fork bracket is fixedly connected to the telescopic end of the push rod motor, and a mounting bracket is fixedly provided on the mounting plate. A guide rod parallel to the telescopic end of the push rod motor is fixedly provided on the mounting bracket. The dredging fork is slidably mounted on the guide rod, and the brush head is fixedly mounted on the dredging fork.

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