A control method and system for resource utilization of solid organic waste

Abstract

The invention relates to the technical field of control and regulation, and specifically to a control method and system for resource utilization of solid organic waste. Firstly, a microbial agent delivery device and an earthworm delivery device are controlled to successively deliver microbial agents and earthworms into a treatment pool, and the treatment pool is partitioned to obtain a plurality of sub-treatment areas. At a mid-term conversion time point, the mid-term conversion efficiency of each sub-treatment area is calculated based on an image, and whether the uniformity of the sub-treatment area meets the standard at the mid-term conversion is judged according to the comparison result with the mid-term variance threshold, so as to select whether to perform subsequent sludge conversion control adjustment operations. At a final conversion time point, whether to terminate resource utilization control or to perform different cost-saving conversion improvement control operations is selected according to the comparison result with the final conversion efficiency of each sub-treatment area and the final conversion rate threshold, so as to improve the flexibility and rationality of the control method, and improve the uniformity, efficiency and quality of sludge conversion.

Description

Technical Field

[0001] The present invention relates to the technical field of control and regulation, and in particular to a control method and system for resource utilization of solid organic waste. Background Art

[0002] At present, in order to reduce the cost of sludge treatment under environmentally friendly conditions, earthworms are often added to the sludge to quickly decompose the organic matter in the sludge. The physical and chemical properties of the sludge after earthworm treatment are significantly improved, and the sludge containing earthworm castings can also be applied to the soil as fertilizer, which is of great significance to the resource utilization of solid organic waste.

[0003] At present, in the process of earthworm treatment of sludge, the uniformity and efficiency of sludge conversion are often controlled and adjusted based on the results of manual field tests. However, the results of manual tests are highly subjective, and it is difficult to conduct an accurate quantitative analysis of the uniformity and efficiency of earthworm treatment of sludge, resulting in poor control of sludge conversion uniformity and efficiency, and ultimately poor sludge conversion quality. Moreover, when the area of ​​the sludge treatment pool is large, manual testing is also difficult to conduct comprehensive and detailed monitoring of the entire treatment area at the same time. Summary of the invention

[0004] The purpose of the present invention is to provide a control method and system for resource utilization of solid organic waste.

[0005] The technical solution of the present invention is as follows:

[0006] A control method for resource utilization of solid organic waste, comprising the following operations:

[0007] S1. According to the pH value of the sludge in the treatment pool, a microbial agent is selected; based on the volume, water content and oxygen content of the sludge in the treatment pool, the amount of the microbial agent is obtained, and the agent delivery device is controlled to evenly deliver a corresponding amount of the microbial agent into the treatment pool. After ventilation and fermentation to a fermentation time threshold, the earthworm delivery device is controlled to evenly deliver a corresponding amount of earthworms into the treatment pool, and the treatment pool is partitioned to obtain a plurality of sub-treatment areas;

[0008] S2, when the mid-term conversion time point arrives, according to the exposed surface image and the internal vertical image of each sub-treatment area, the exposed earthworm manure and the internal earthworm manure of each sub-treatment area are identified, and the mid-term exposed earthworm manure area ratio and the mid-term internal earthworm manure area ratio of each sub-treatment area are calculated; based on the mid-term exposed earthworm manure area ratio and the mid-term internal earthworm manure area ratio of each sub-treatment area, the respective sludge conversion efficiency is obtained as the respective mid-term conversion efficiency; the mid-term conversion efficiency variance of all sub-treatment areas is obtained, and it is determined whether the mid-term conversion efficiency variance is less than the mid-term variance threshold; if it is less, S3 is executed; if it is not less than, according to the corresponding mid-term conversion efficiency, the earthworm delivery device is controlled to deliver a corresponding amount of earthworms to the sub-treatment area whose mid-term conversion efficiency is less than the mid-term conversion efficiency threshold, and then S3 is executed;

[0009] S3, when the final conversion time point is reached, the sludge conversion efficiency of each sub-treatment area is obtained as the final conversion efficiency of each sub-treatment area; whether the final conversion efficiency of each sub-treatment area is less than the final conversion rate threshold is determined; if the final conversion efficiency of all sub-treatment areas is not less than the final conversion rate threshold, the resource utilization treatment process ends; if there is a sub-treatment area whose final conversion efficiency is less than the final conversion rate threshold, the sub-treatment area whose final conversion efficiency is less than the final conversion rate threshold is taken as the conversion area to be improved, and S4 is executed;

[0010] S4, judging whether the difference between the final conversion efficiency of the transformation zone to be promoted and the final conversion rate threshold is less than the conversion rate difference threshold; if so, executing S5; if not, judging whether all sub-processing zones within the neighborhood of the transformation zone to be promoted belong to the transformation zone to be promoted; if so, controlling the earthworm delivery device to deliver a corresponding amount of earthworms into the transformation zone, executing S5; if there is a situation that it does not belong to the transformation zone to be promoted, controlling the attractant delivery device to deliver an attractant into the transformation pool, executing S5;

[0011] S5. When the time point of upgrading and conversion is reached, the resource utilization process is completed.

[0012] The vertical image of the interior of the S2 neutron treatment area is obtained by vertically inserting a transparent hollow closed cylindrical tube with a lighting lamp at the top and a camera at the bottom into the sludge in the sub-treatment area and then acquiring the image with a camera.

[0013] The operation of identifying the internal earthworm manure of the sub-treatment area is specifically as follows: de-exposure the internal vertical image of the sub-treatment area to obtain the de-exposed internal vertical image; de-distortion the de-exposed internal vertical image based on the camera internal parameters, external parameters and distortion coefficient to obtain the de-distorted internal vertical image; according to the geometric shape of the transparent hollow closed cylindrical tube and the sludge insertion position, obtain the mapping relationship of converting the cylindrical coordinates of the transparent hollow closed cylindrical tube into plane rectangular coordinates; based on the mapping relationship, convert each pixel point in the de-distorted internal vertical image from cylindrical coordinates to plane coordinates to obtain an internal vertical plane coordinate image; set a sliding block of a fixed size, and in the process of traversing the internal vertical plane coordinate image with the sliding block width as the step length, classify and identify the image content in each sliding block until the sliding block traverses the internal vertical plane coordinate image to obtain the internal earthworm manure identification result.

[0014] The de-exposure processing operation is specifically as follows: obtaining the internal vertical images of the sub-processing area at different exposure levels to obtain a number of exposed internal vertical images with different exposure levels; and performing a fusion process based on a neural network on the exposed internal vertical images with different exposure levels to obtain a de-exposure internal vertical image.

[0015] The mid-term internal earthworm castings area ratio of the sub-treatment area is the ratio of the number of pixels in the image within the sliding block with pixel values ​​greater than the pixel threshold to the number of all pixels in the internal vertical plane coordinate image in the internal earthworm castings identification result.

[0016] In S2, according to the corresponding mid-term conversion efficiency, the amount of earthworms released into the sub-treatment area whose mid-term conversion efficiency is less than the mid-term efficiency threshold is achieved by the following formula:

[0017] ,

[0018] N i For the i The amount of earthworms released in each treatment area, E m,s is the mid-term efficiency threshold, E m,i For the i The mid-term transformation efficiency of each sub-treatment area, V i For the i The volume of the sub-treatment area, k is the correlation coefficient of earthworm conversion efficiency, m is the weight of a single earthworm, G The average contribution of earthworm conversion.

[0019] The method for acquiring the internal vertical image of the S2 neutron treatment area is as follows: a lighting lamp is installed at the top of the interior, a camera is fixed in the middle, and the bottom of a transparent hollow closed cylindrical tube with the camera facing the tube wall is vertically inserted into the sludge in the sub-treatment area. After the camera acquires sludge images at different depths during the insertion of the transparent hollow closed cylindrical tube, the image is stitched to obtain the internal vertical image of the sub-treatment area.

[0020] A control system for resource utilization of solid organic waste, used to implement the above-mentioned control method for resource utilization of solid organic waste, comprising:

[0021] treatment tanks for storing sludge;

[0022] A microbial agent delivery device, used for delivering microbial agents into the treatment pool;

[0023] An earthworm placing device, used for placing earthworms;

[0024] An attractant delivery device for adding attractants to the treatment pool;

[0025] The calculation unit is used to select microbial agents according to the pH value of the sludge in the treatment tank; obtain the amount of microbial agents based on the volume, water content and oxygen content of the sludge in the treatment tank; and to partition the treatment tank to obtain a number of sub-treatment areas. The calculation unit is used to identify the exposed earthworm manure and the internal earthworm manure of each sub-treatment area based on the exposed surface image and the internal vertical image of the sub-treatment area in the image acquisition unit, and calculate the exposed earthworm manure area ratio and the internal earthworm manure area ratio of each sub-treatment area, and obtain the exposed earthworm manure area ratio and the internal earthworm manure area ratio of each sub-treatment area based on the exposed earthworm manure area ratio and the internal earthworm manure area ratio of each sub-treatment area. mid-term conversion efficiency and final conversion efficiency; used to calculate the earthworm release amount in the sub-treatment area whose mid-term conversion efficiency is less than the mid-term conversion efficiency threshold according to the mid-term conversion efficiency; and used to obtain the mid-term conversion efficiency variance of all sub-treatment areas, and determine whether the mid-term conversion efficiency variance is less than the mid-term variance threshold; used to determine whether the difference between the final conversion efficiency of the transformation area to be improved and the final conversion rate threshold is less than the conversion rate difference threshold; used to determine whether all sub-treatment areas within the eight neighborhoods of the transformation area to be improved belong to the transformation area to be improved; the sub-treatment area whose final conversion efficiency is less than the final conversion rate threshold to be improved;

[0026] A control unit, for controlling the microbial agent delivery device, the earthworm delivery device and the attractant delivery device to deliver corresponding amounts of microbial agent, earthworm and attractant into the treatment pool respectively according to the signal transmitted from the calculation unit;

[0027] The image acquisition unit is used to obtain the exposed surface image and internal vertical image of the sub-processing area.

[0028] The beneficial effects of the present invention are:

[0029] The present invention provides a control method for resource utilization of solid organic waste. First, based on the volume of sludge in the treatment pool and the environment, a microbial agent delivery device is controlled to deliver a corresponding amount of microbial agent to the treatment pool to accelerate the efficiency of subsequent delivery of earthworms to treat the sludge. Then, after the earthworm delivery device is controlled to deliver earthworms to the treatment pool, the treatment pool is partitioned to obtain a plurality of sub-treatment areas, so as to facilitate subsequent comprehensive and detailed control analysis of each sub-treatment area. Then, at the mid-term conversion time point, based on the exposed surface image and the internal vertical image that can fully reflect the actual distribution of earthworm castings, the area proportion of earthworm castings is quickly identified to obtain the distribution of each sub-treatment area. The mid-term conversion efficiency of the zone is determined, and based on the comparison result with the mid-term variance threshold, it is determined whether the uniformity of the sub-treatment zone meets the standard in the mid-term of the conversion, so as to choose whether to perform subsequent sludge conversion control adjustment operations; then, at the final conversion time point, based on the comparison result of the final conversion efficiency of each sub-treatment zone with the final conversion rate threshold, the sludge conversion quality is detected, and it is chosen whether to end the resource utilization control, or to perform different cost-saving sludge conversion improvement operations on the sub-treatment zone whose final conversion efficiency is less than the final conversion rate threshold, so as to improve the flexibility and rationality of the entire control method, and improve the uniformity, efficiency and quality of sludge conversion. DETAILED DESCRIPTION

[0030] This embodiment provides a control system for resource utilization of solid organic waste, which is used to implement a control method for resource utilization of solid organic waste, including:

[0031] treatment tanks for storing sludge;

[0032] The bacterial agent delivery device is used to deliver microbial agents into the treatment pool. For solid bacterial agents, a hopper-type or crawler-type feeding device can be used, and for liquid bacterial agents, a pipeline-type feeding device can be used; for example, the bacterial agent delivery device is composed of an upper storage chamber and a plurality of vertical through pipes at the bottom, an electrically controlled spacer is provided between the storage chamber and the through pipe, and a gravity sensor is provided at the bottom of the storage chamber; when the bacterial agent delivery device receives a delivery instruction from the control unit, it moves the spacer to allow the microbial agent in the storage chamber to enter the treatment pool through the vertical through pipe, and the gravity sensor stores the weight data of the chamber in real time and transmits it to the control unit. When the weight data of the storage chamber received by the control unit is equal to the preset weight of the storage chamber after the bacterial agent is delivered, the control unit sends a stop delivery signal to the bacterial agent delivery device, and the bacterial agent delivery device moves the spacer to prevent the microbial agent in the storage chamber from entering the vertical through pipe, thereby stopping the delivery of the bacterial agent; the above-mentioned device structure is a prior art, and is not described in detail here to save space. The above-mentioned bacterial agent delivery device includes but is not limited to being realized by the liquid delivery shunt pipe in the application number CN201220454274.4;

[0033] The earthworm delivery device is used to deliver earthworms, and a hopper type or crawler type feeding device can be used; the structural principle of the earthworm delivery device is similar to that of the microbial agent delivery device, and will not be described in detail here to save space;

[0034] The attractant delivery device is used to add attractants to the treatment pool. The attractants are all liquid, so the attractant delivery device can adopt a pipeline feeding device, which only needs to connect an extension tube at the end of the pipeline. When in use, the extension tube is inserted into the sludge in the treatment pool to directly pass the attractant into the sludge;

[0035] The calculation unit is used to select microbial agents according to the pH value of the sludge in the treatment tank; obtain the amount of microbial agents based on the volume, water content and oxygen content of the sludge in the treatment tank; and to partition the treatment tank to obtain a number of sub-treatment areas. The calculation unit is used to identify the exposed earthworm manure and the internal earthworm manure of each sub-treatment area based on the exposed surface image and the internal vertical image of the sub-treatment area in the image acquisition unit, and calculate the exposed earthworm manure area ratio and the internal earthworm manure area ratio of each sub-treatment area, and obtain the exposed earthworm manure area ratio and the internal earthworm manure area ratio of each sub-treatment area based on the exposed earthworm manure area ratio and the internal earthworm manure area ratio of each sub-treatment area. mid-term conversion efficiency and final conversion efficiency; used to calculate the earthworm release amount in the sub-treatment area whose mid-term conversion efficiency is less than the mid-term conversion efficiency threshold according to the mid-term conversion efficiency; and used to obtain the mid-term conversion efficiency variance of all sub-treatment areas, and determine whether the mid-term conversion efficiency variance is less than the mid-term variance threshold; used to determine whether the difference between the final conversion efficiency of the transformation area to be improved and the final conversion rate threshold is less than the conversion rate difference threshold; used to determine whether all sub-treatment areas within the eight neighborhoods of the transformation area to be improved belong to the transformation area to be improved; the sub-treatment area whose final conversion efficiency is less than the final conversion rate threshold to be improved;

[0036] A control unit, for controlling the microbial agent delivery device, the earthworm delivery device and the attractant delivery device to deliver corresponding amounts of microbial agent, earthworm and attractant into the treatment pool respectively according to the signal transmitted from the calculation unit;

[0037] The image acquisition unit is used to obtain the exposed surface image and internal vertical image of the sub-processing area.

[0038] A control method for resource utilization of solid organic waste, the specific operations are as follows.

[0039] S1. According to the pH value of the sludge in the treatment pool, the microbial agent is selected; based on the sludge volume, water content and oxygen content information in the treatment pool, the amount of microbial agent added is obtained, and the agent adding device is controlled to evenly add a corresponding amount of microbial agent into the treatment pool. After ventilation and fermentation to the fermentation time threshold, the earthworm adding device is controlled to evenly add a corresponding amount of earthworms into the treatment pool, and the treatment pool is partitioned to obtain a number of sub-treatment areas.

[0040] The composition of urban domestic sludge is complex, including livestock manure, rich organic matter, diverse inorganic matter, and high microbial content. If it is discharged directly without treatment, it will not only easily rot and stink, but the heavy metal elements in the sludge will also cause environmental pollution to the soil, water bodies and other environments, and the pathogens therein may also cause the spread of diseases. In order to solve the above technical problems, this embodiment first controls the corresponding amount of microbial agents to be put into the treatment pool based on the sludge volume and environment in the treatment pool to accelerate the efficiency of subsequent earthworm treatment of sludge. After the earthworms are put in, the treatment pool is partitioned to obtain several sub-treatment areas, which is convenient for subsequent comprehensive and detailed control analysis of each sub-treatment area to ensure the quality of sludge treatment and conversion.

[0041] First, according to the pH value information of the sludge in the treatment pool, the corresponding microbial agent is selected. Based on the volume, water content and oxygen content information of the sludge in the treatment pool, the amount of microbial agent added is obtained, and the agent addition device is controlled to evenly add the corresponding amount of microbial agent into the treatment pool. Adding the microbial agent in advance can allow the microorganisms to establish a certain population advantage in the sludge, decompose some organic matter in the sludge, reduce the viscosity and compactness of the sludge, improve the air permeability and water permeability of the sludge, and create a better living and activity environment for earthworms.

[0042] When the sludge pH value is ≤6.5, the microbial agent will give priority to Lactobacillus acidophilus, which can grow well in an acidic environment and can use organic matter such as sugars to produce lactic acid, thereby lowering the sludge pH value and decomposing complex organic compounds. When the sludge pH value is ≤6.5 and the heavy metal content in the sludge exceeds the heavy metal content threshold, the microbial agent will be Thiobacillus, which can oxidize heavy metal sulfides under acidic conditions, reduce the toxicity of heavy metals, and is beneficial to the subsequent healthy survival of earthworms.

[0043] When the pH value of sludge is between 6.5 and 7.5, the preferred microbial agent is Bacillus subtilis or Bacillus licheniformis. Bacillus subtilis can secrete a variety of hydrolytic enzymes, such as amylase, protease, etc., to decompose organic components such as starch and protein in sludge. Bacillus licheniformis can form a synergistic effect with other microorganisms to jointly promote the mineralization of organic matter in sludge and improve the stability and fertilizer efficiency of sludge.

[0044] When the sludge pH value is ≥7.5, the microbial agent, Bacillus alcalophilus, can utilize the organic carbon source in the sludge to decompose complex organic matter into simple small molecules.

[0045] In addition, the amount of microbial agent added can be determined by the agent addition control curve obtained through historical experimental data; the uniform addition of microbial agent can be achieved by multi-point sludge injection using an agent addition device.

[0046] Then, after the microbial agent evenly enters the treatment pool and is ventilated and fermented to the fermentation time threshold, the earthworm delivery device is controlled to evenly deliver the corresponding amount of earthworms into the treatment pool according to the requirement of delivering 0.2-2kg of earthworms per cubic meter of sludge.

[0047] Finally, after the earthworms are evenly placed into the treatment pool, the treatment pool is divided into several areas to obtain several sub-treatment areas, which facilitates subsequent comprehensive and detailed control analysis of each sub-treatment area to ensure the quality of sludge treatment and conversion.

[0048] S2. At the mid-term conversion time point, the exposed earthworm manure and internal earthworm manure of each sub-treatment area are identified according to the exposed surface image and the internal vertical image of the sub-treatment area, and the mid-term exposed earthworm manure area ratio and the mid-term internal earthworm manure area ratio of each sub-treatment area are calculated; based on the mid-term exposed earthworm manure area ratio and the mid-term internal earthworm manure area ratio of each sub-treatment area, the respective sludge conversion efficiency is obtained as the respective mid-term conversion efficiency; the mid-term conversion efficiency variance of all sub-treatment areas is obtained, and it is determined whether the mid-term conversion efficiency variance is less than the mid-term variance threshold; if it is less, S3 is executed; if not, according to the corresponding mid-term conversion efficiency, the earthworm delivery device is controlled to deliver the corresponding amount of earthworms to the sub-treatment area whose mid-term conversion efficiency is less than the mid-term conversion efficiency threshold, and then S3 is executed. The mid-term variance threshold can be set according to actual control needs.

[0049] When the mid-term conversion time point is reached, the area proportion of earthworm manure is quickly identified based on the exposed surface image and internal vertical image that can fully reflect the true distribution of earthworm manure in the entire treatment pool, and the accurate and objective mid-term conversion efficiency is obtained for mid-term detection of sludge conversion uniformity. That is, based on the comparison result of the mid-term conversion efficiency variance of the sub-treatment area and the mid-term variance threshold, it is chosen whether to perform subsequent sludge conversion control adjustments to improve the flexibility of the control method and ensure the quality of the entire sludge treatment conversion.

[0050] First, at the mid-transformation time point, the exposed vermicompost and internal vermicompost of each sub-treatment area were identified based on the exposed surface images and internal vertical images of the sub-treatment areas.

[0051] Among them, the exposed surface image of the sub-treatment area is obtained by segmenting the overall exposed surface image of the treatment pool obtained by photographing the surface of the treatment pool through a camera installed above the treatment pool (the camera range can cover the entire treatment pool); or it is obtained by photographing the surface of the corresponding sub-treatment area through a camera installed above each sub-treatment area (the camera range can cover the entire treatment pool).

[0052] Based on the exposed surface image of the sub-processing area, the operation of identifying the exposed earthworm castings in the sub-processing area is specifically as follows: a sliding block of a fixed size is set, and the sliding block traverses the exposed surface image with the sliding block width as a step length, and the image content in each sliding block is classified and identified until the sliding block traverses the exposed surface image to obtain the exposed earthworm castings identification result.

[0053] At the same time, the internal vertical image of the sub-treatment area (the image of the sludge in the sub-treatment area in the vertical direction) is obtained by vertically inserting a transparent hollow closed cylindrical tube with a lighting lamp at the top (the lighting direction faces inward) and a camera at the bottom into the sludge in the sub-treatment area. The camera is facing the lighting lamp, and the lighting lamp above the transparent hollow closed cylindrical tube is used for lighting, so that the bottom camera can capture clear internal images of the sludge in the sludge under poor lighting conditions.

[0054] In this case, the operation of identifying the internal vermicompost of the sub-treatment area is as follows.

[0055] The first step is to de-exposure the internal vertical image of the sub-processing area to solve the problem of unclear sludge image details at the top caused by the top lighting being too bright, and obtain a de-exposed internal vertical image.

[0056] The de-exposure process is specifically as follows: obtaining internal vertical images of the sub-treatment area at different exposures to obtain a number of exposed internal vertical images at different exposures; fusing the exposed internal vertical images at different exposures through a neural network to obtain a de-exposure internal vertical image. The internal vertical images of the sub-treatment area at different exposures can be obtained by taking internal images of the sludge under different lighting conditions using a camera.

[0057] The above-mentioned neural network-based fusion processing operation is specifically as follows: a number of exposed internal vertical images with different exposures are processed by the channel attention mechanism and the spatial attention mechanism in turn to obtain a number of weighted feature maps; each exposed internal vertical image is weighted with its own weighted feature map, and then fused by element-by-element multiplication to obtain a first exposed fused image; the first exposed fused image and the number of exposed internal vertical images with different exposures form a first exposed image set; the first exposed image set performs the above-mentioned channel attention mechanism processing, spatial attention mechanism processing, weighted processing and fusion processing to obtain a second exposed image set. fusing the image; determining whether the peak signal-to-noise ratio loss value of the second exposure fusion image and the first exposure fusion image is less than the loss threshold; if so, outputting the second exposure fusion image as the de-exposed internal vertical image; if not, the second exposure fusion image and the first exposure image set form a second exposure image set for performing channel attention mechanism processing, spatial attention mechanism processing, weighted processing, fusion processing and peak signal-to-noise ratio loss value determination operations; repeating the last operation until the peak signal-to-noise ratio loss value of the current exposure fusion image and the previous exposure fusion image is less than the loss threshold, and outputting the current exposure fusion image as the de-exposed internal vertical image.

[0058] In the second step, based on the camera's internal parameters, external parameters and distortion coefficients, the de-exposed internal vertical image is de-distorted to solve the problem of distortion of some graphic content caused by the non-planar shooting angle of the camera and the influence of underwater light from the sludge, and a de-distorted internal vertical image is obtained.

[0059] The third step is to obtain the mapping relationship of the cylindrical coordinates of the transparent hollow closed cylindrical tube into plane rectangular coordinates according to the geometric shape of the transparent hollow closed cylindrical tube and the sludge insertion position; based on the mapping relationship, each pixel point in the dedistorted internal vertical image is converted from cylindrical coordinates to plane coordinates to obtain the internal vertical plane coordinate image under the plane perspective.

[0060] Among them, in order to prevent the uneven distribution of pixel points in the internal vertical plane coordinate image of the image on the plane, which affects the subsequent internal earthworm castings recognition results, after obtaining the internal vertical plane coordinate image, it also includes performing bilinear interpolation processing on the internal vertical plane coordinate image, filling the vacant positions in the figure to generate a complete internal vertical plane coordinate image, and obtaining an optimized internal vertical plane coordinate image for performing the operation of identifying internal earthworm castings.

[0061] In addition, when the color of the earthworm castings in the sludge is close to that of the sludge, in order to accurately identify the earthworm castings in the internal vertical plane coordinate image or optimize the internal vertical plane coordinate image, before the operation of identifying the internal earthworm castings, it also includes performing Canny edge detection on the internal vertical plane coordinate image or the optimized internal vertical plane coordinate image, identifying and marking the boundary between the earthworm castings and the sludge with a relatively obvious difference, and obtaining a first earthworm castings contour enhanced image or a second earthworm castings contour enhanced image, which is used to perform the operation of identifying the internal earthworm castings.

[0062] Or according to the difference between sludge and vermicompost in different color spaces, the RGB color space of the internal vertical plane coordinate image or the optimized internal vertical plane coordinate image is converted into the HSV color space. In the HSV color space, the hue channel can distinguish different color categories. Vermicompost tends to be brown in hue and has a small hue channel range. However, due to the complex composition of sludge, the hue channel range is wide. Pixels whose hue channels are smaller than the hue channels of standard vermicompost are marked as vermicompost to obtain a first labeled image or a second labeled image; the first labeled image or the second labeled image is binarized so that the vermicompost and the sludge are different binary areas, respectively, to obtain a first binarized image or a second binarized image for performing an operation of identifying the internal vermicompost.

[0063] Step 4: As with the vermicompost recognition operation in the exposed surface image, a fixed-size sliding block is set, and the sliding block traverses the internal vertical plane coordinate image, or optimizes the internal vertical plane coordinate image, or the first vermicompost contour enhancement image, or the second vermicompost contour enhancement image, or the first binarization image, or the second binarization image with the sliding block width as the step length, and classifies and recognizes the image content in each sliding block until the sliding block traverses the internal vertical plane coordinate image or optimizes the internal vertical plane coordinate image to obtain the internal vermicompost recognition result. The classification and recognition operation can be realized by a neural network trained with several standard sludge internal vermicompost images, and the neural network includes but is not limited to the existing CNN, Fast R-CNN, Faster R-CNN and other networks.

[0064] In addition, the method for obtaining the internal vertical image of the sub-treatment area can also be: a lighting lamp is installed at the top of the interior (the lighting direction faces inward), a camera is fixed in the middle, and the bottom of the transparent hollow closed cylindrical tube facing the tube wall is gradually inserted vertically into the sludge in the sub-treatment area. After the camera obtains sludge images at different depths during the insertion of the transparent hollow closed cylindrical tube, the image is stitched to obtain the internal vertical image of the sub-treatment area. In the process of stitching, the pixels of the repeated area between the two pictures can be mixed. In this case, the operation of identifying the internal earthworm castings is similar to the above, so it will not be repeated here to save space.

[0065] Then, according to the identification results of exposed earthworm manure and internal earthworm manure in each sub-treatment area, the medium-term exposed earthworm manure area ratio and medium-term internal earthworm manure area ratio of each sub-treatment area are calculated. Among them, the medium-term internal earthworm manure area ratio of the sub-treatment area is the ratio of the number of pixel points in the image within the sliding block whose pixel value is greater than the pixel threshold in the internal earthworm manure identification result to the number of all pixel points in the internal vertical plane coordinate image. Similarly, the medium-term exposed earthworm manure area ratio of the sub-treatment area is the ratio of the number of pixel points in the image within the sliding block whose pixel value is greater than the pixel threshold in the exposed earthworm manure identification result to the number of all pixel points in the exposed surface image.

[0066] Next, based on the mid-term exposed earthworm manure area ratio and mid-term internal earthworm manure area ratio of each sub-treatment area, the respective sludge conversion efficiency is obtained as the respective mid-term conversion efficiency. Specifically, the mid-term conversion efficiency of the sub-treatment area is the product of the mid-term exposed earthworm manure area ratio and the mid-term internal earthworm manure area ratio of the sub-treatment area, which corresponds to the product of the horizontal area ratio and the vertical area ratio of the earthworm manure in the three-dimensional environment of the sub-treatment area corresponding to the sludge in the actual environment, reflecting the ratio of the earthworm manure volume in the three-dimensional environment of the sub-treatment area to the total sludge volume of the sub-treatment area, thereby reflecting the earthworm manure content in the sub-treatment area.

[0067] Finally, in order to facilitate the control of sludge conversion quality in the later stage, the sludge conversion uniformity is tested in the mid-term to facilitate timely adjustment according to the test results. Specifically, the mid-term conversion efficiency variance of all sub-treatment areas is obtained to determine whether the mid-term conversion efficiency variance is less than the mid-term variance threshold.

[0068] If it is less than , it proves that the differences between the sub-treatment areas are small and the uniformity of sludge conversion is good, and the sludge conversion treatment in S3 can be directly executed.

[0069] If it is not less than, there are large differences between the sub-treatment areas. Therefore, it is necessary to select the sub-treatment areas with weaker conversion capacity for conversion improvement to ensure the uniformity of sludge conversion in the entire treatment pool. Therefore, according to the corresponding mid-term conversion efficiency, the earthworm placing device is controlled to place the earthworms in the sub-treatment area where the mid-term conversion efficiency is less than the mid-term conversion efficiency threshold. Only after the corresponding amount of earthworms are placed can the sludge conversion treatment of S3 be continued.

[0070] The amount of earthworms released is achieved through the following formula:

[0071] ,

[0072] N i For the i The amount of earthworms released in each treatment area, E m,s is the mid-term conversion efficiency threshold,E m,i For the i The mid-term transformation efficiency of each sub-treatment area, V i For the i The volume of the sub-treatment area, k is the correlation coefficient of earthworm conversion efficiency, m is the weight of a single earthworm, G is the average contribution value of earthworm transformation. The correlation coefficient of earthworm transformation efficiency and the average contribution value of earthworm transformation can be determined through historical experimental results.

[0073] S3. When the final conversion time point is reached, the sludge conversion efficiency of each sub-treatment area is obtained as the final conversion efficiency of each sub-treatment area; whether the final conversion efficiency of each sub-treatment area is less than the final conversion rate threshold is determined; if the final conversion efficiency of all sub-treatment areas is not less than the final conversion rate threshold, the resource utilization control ends; if there is a treatment pool whose final conversion efficiency is less than the final conversion rate threshold, the sub-treatment area whose final conversion efficiency is less than the final conversion rate threshold is taken as the conversion area to be improved, and S4 is executed.

[0074] At the final conversion time point, in order to detect the final sludge conversion quality, the sludge conversion efficiency of each sub-treatment area is obtained (also obtained based on the image processing control method) as the final conversion efficiency of each sub-treatment area, and it is determined whether the final conversion efficiency of each sub-treatment area is less than the final conversion rate threshold.

[0075] If the final conversion efficiency of all sub-treatment areas is not less than the final conversion rate threshold, it proves that the sludge conversion degree of the entire treatment pool has reached the standard, resource utilization control has ended, and sludge conversion has been stopped.

[0076] If there are sub-treatment areas whose final conversion efficiency is lower than the final conversion rate threshold, it means that due to the influence of earthworm species, quantity, or environment, there are some sub-treatment areas whose conversion quality does not meet the standard, and the sludge treatment quality of the entire treatment pool is not guaranteed. The sub-treatment areas whose final conversion efficiency is lower than the final conversion rate threshold shall be regarded as the conversion areas to be upgraded, and further conversion upgrading treatment in S4 shall be executed.

[0077] S4. Determine whether the difference between the final conversion efficiency of the transformation zone to be upgraded and the final conversion rate threshold is less than the conversion rate difference threshold; if so, execute S5; if not, determine whether all sub-treatment zones within the neighborhood of the transformation zone to be upgraded belong to the transformation zone to be upgraded; if they all do, control the earthworm delivery device to deliver a corresponding amount of earthworms into the transformation zone to be upgraded, and execute S5; if there are sub-treatment zones that do not belong to the transformation zone to be upgraded, control the attractant delivery device to deliver attractant into the transformation zone to be upgraded, and execute S5.

[0078] In the later stage of sludge conversion, when there is a sub-treatment area (conversion area to be upgraded) whose final conversion efficiency is lower than the final conversion rate threshold, in order to improve the flexibility of the conversion control method and control the sludge conversion cost, it is necessary to judge whether the difference between the final conversion efficiency of the conversion area to be upgraded and the final conversion rate threshold is lower than the conversion rate difference threshold, so as to select different sludge conversion treatment upgrading operations.

[0079] If it is less than, it means that although the final conversion efficiency of the zone to be upgraded is small, the gap with the final conversion rate threshold is small and it is about to reach the standard. The reason is probably that the earthworms are affected by the environment of the zone to be upgraded (for example, the sub-treatment area has more light time, or the sludge moisture in the sub-treatment area is relatively low, etc.), which leads to weaker earthworm activity. Therefore, in order to save costs, the conversion time of the zone to be upgraded can be extended, and the continued conversion processing operation in S5 can be directly executed.

[0080] If it is not less than, it is necessary to determine whether all sub-processing areas within the neighborhood of the to-be-upgraded transformation area (within the four neighborhoods) belong to the to-be-upgraded transformation area to determine the location of the to-be-upgraded transformation area.

[0081] If they are all, it means that the sludge treatment quality around the transformation area to be promoted is poor. Therefore, in order to ensure the transformation quality, the earthworm delivery device can be controlled to deliver a corresponding amount of earthworms into the transformation area to be promoted, and then the continued transformation treatment operation in S5 is performed. The calculation method of the earthworm delivery amount is the same as that in S2, which can be obtained based on the difference between the final transformation efficiency of the transformation area to be promoted and the final transformation rate threshold, as well as the volume of the transformation area to be promoted.

[0082] If there is a sub-processing area that does not belong to the transformation area to be promoted, it means that the location of the transformation area to be promoted is special, and some earthworms can be added appropriately. Therefore, in order to save costs, the attractant delivery device is controlled to deliver the attractant to the transformation area to be promoted, and then the continuous transformation process operation in S5 is performed. The amount of attractant delivered can be obtained based on the difference between the final conversion efficiency of the transformation area to be promoted and the final conversion rate threshold.

[0083] Among them, the operation of controlling the attractant delivery device to introduce the earthworms in the sub-treatment area that does not belong to the area to be upgraded and transformed into the area to be upgraded and transformed can be achieved by controlling the attractant delivery device to inject attractants (such as high-concentration brown sugar water, rice soup, earthworm pheromones, etc., which can be injected according to actual needs) at multiple points in the adjacent area between the sub-treatment area that does not belong to the area to be upgraded and transformed and the area to be upgraded and transformed (the range of the adjacent area can be set according to actual needs), or in the area to be upgraded and transformed, so as to attract the earthworms in the sub-treatment area that does not belong to the area to be upgraded and transformed to the area to be upgraded and transformed, thereby quickly enhancing the subsequent sludge conversion quality in the area to be upgraded and transformed on the basis of reducing costs.

[0084] S5. When the time point of upgrading and conversion is reached, resource utilization control ends.

[0085] The present embodiment provides a control method for resource utilization of solid organic waste. First, based on the volume of sludge in the treatment pool and the environment, the microbial agent delivery device is controlled to deliver a corresponding amount of microbial agent to the treatment pool to accelerate the efficiency of subsequent delivery of earthworms to treat the sludge. Then, after the earthworm delivery device is controlled to deliver earthworms to the treatment pool, the treatment pool is partitioned to obtain a plurality of sub-treatment areas, so as to facilitate a comprehensive and detailed control analysis of each sub-treatment area. Then, at the mid-term conversion time point, based on the exposed surface image and the internal vertical image that can fully reflect the actual distribution of earthworm castings, the area proportion of earthworm castings is quickly identified to obtain the distribution of each sub-treatment area. The mid-term conversion efficiency of the zone is determined, and based on the comparison result with the mid-term variance threshold, it is determined whether the uniformity of the sub-treatment zone meets the standard in the mid-term of the conversion, so as to choose whether to perform subsequent sludge conversion control adjustment operations; then, at the final conversion time point, based on the comparison result of the final conversion efficiency of each sub-treatment zone with the final conversion rate threshold, the sludge conversion quality is detected, and it is chosen whether to end the resource utilization control, or to perform different cost-saving sludge conversion improvement operations on the sub-treatment zone whose final conversion efficiency is less than the final conversion rate threshold, so as to improve the flexibility and rationality of the entire control method, and improve the uniformity, efficiency and quality of sludge conversion.

Claims

1. A control method for resource utilization of solid organic waste, characterized in that: The following operations are included: S1. According to the pH value of the sludge in the treatment pool, a microbial agent is selected; based on the volume, water content and oxygen content of the sludge in the treatment pool, the amount of the microbial agent is obtained, and the agent delivery device is controlled to evenly deliver a corresponding amount of the microbial agent into the treatment pool. After ventilation and fermentation to a fermentation time threshold, the earthworm delivery device is controlled to evenly deliver a corresponding amount of earthworms into the treatment pool, and the treatment pool is partitioned to obtain a plurality of sub-treatment areas; S2. At the mid-term conversion time point, the exposed earthworm castings and the internal earthworm castings of each sub-treatment area are identified according to the exposed surface image and the internal vertical image of the sub-treatment area, and the mid-term exposed earthworm castings area ratio and the mid-term internal earthworm castings area ratio of each sub-treatment area are calculated; based on the mid-term exposed earthworm castings area ratio and the mid-term internal earthworm castings area ratio of each sub-treatment area, the respective sludge conversion efficiencies are obtained as the respective mid-term conversion efficiencies; Obtain the variance of the mid-term conversion efficiency of all sub-treatment areas, and determine whether the variance of the mid-term conversion efficiency is less than the mid-term variance threshold; if it is less than, execute S3; if it is not less than, according to the corresponding mid-term conversion efficiency, control the earthworm delivery device to deliver a corresponding amount of earthworms to the sub-treatment area whose mid-term conversion efficiency is less than the mid-term conversion efficiency threshold, and then execute S3; S3. When the final conversion time point is reached, the sludge conversion efficiency of each sub-treatment area is obtained as the final conversion efficiency of each sub-treatment area; and it is determined whether the final conversion efficiency of each sub-treatment area is less than the final conversion rate threshold; If the final conversion efficiency of all sub-processing areas is not less than the final conversion rate threshold, the resource utilization process ends; If there is a sub-processing area whose final conversion efficiency is less than the final conversion rate threshold, the sub-processing area whose final conversion efficiency is less than the final conversion rate threshold is taken as the conversion area to be improved, and S4 is executed; S4, determining whether the difference between the final conversion efficiency of the conversion zone to be improved and the final conversion rate threshold is less than the conversion rate difference threshold; If it is less, execute S5; If it is not less than, determine whether all sub-processing areas within the neighborhood of the to-be-elevated transformation area belong to the to-be-elevated transformation area; if all belong to, control the earthworm delivery device to deliver a corresponding amount of earthworms into the to-be-elevated transformation area, and execute S5; if there is a situation that it does not belong to the to-be-elevated transformation area, control the attractant delivery device to deliver attractants into the to-be-elevated transformation pool, and execute S5; S5. When the time point of upgrading and conversion is reached, the resource utilization process is completed.

2. The control method for resource utilization of solid organic waste according to claim 1, characterized in that: In S2, the internal vertical image of the sub-treatment area is obtained by vertically inserting a transparent hollow closed cylindrical tube with a lighting lamp at the top and a camera at the bottom into the sludge in the sub-treatment area and collecting it with a camera.

3. The control method for resource utilization of solid organic waste according to claim 2, characterized in that: The specific operations for identifying the internal vermicompost of the sub-treatment area are: De-exposure the internal vertical image of the sub-processing area to obtain a de-exposed internal vertical image; Based on the camera internal parameters, external parameters and distortion coefficients, the de-exposed internal vertical image is de-distorted to obtain a de-distorted internal vertical image; According to the geometric shape of the transparent hollow closed cylindrical tube and the sludge insertion position, a mapping relationship of converting the cylindrical coordinates of the transparent hollow closed cylindrical tube into plane rectangular coordinates is obtained; Based on the mapping relationship, each pixel point in the dedistorted internal vertical image is converted from cylindrical coordinates to plane coordinates to obtain an internal vertical plane coordinate image; A sliding block of a fixed size is set. When the sliding block traverses the internal vertical plane coordinate image with the sliding block width as the step length, the image content in each sliding block is classified and identified until the sliding block traverses the internal vertical plane coordinate image to obtain the internal earthworm castings identification result.

4. The control method for resource utilization of solid organic waste according to claim 3, characterized in that: The specific operations of de-exposure processing are: The internal vertical images of the sub-processing area at different exposures are obtained to obtain a plurality of exposed internal vertical images at different exposures; the exposed internal vertical images at different exposures are fused based on a neural network to obtain a de-exposed internal vertical image.

5. The control method for resource utilization of solid organic waste according to claim 3, characterized in that: The mid-term internal earthworm castings area ratio of the sub-treatment area is the ratio of the number of pixels in the image within the sliding block with pixel values ​​greater than the pixel threshold to the number of all pixels in the internal vertical plane coordinate image in the internal earthworm castings identification result.

6. The control method for resource utilization of solid organic waste according to claim 1, characterized in that: In S2, according to the corresponding mid-term conversion efficiency, the amount of earthworms released into the sub-treatment area whose mid-term conversion efficiency is less than the mid-term efficiency threshold is achieved by the following formula: ， N i For the i The amount of earthworms released in each treatment area, E m,s is the mid-term efficiency threshold, E m,i For the i The mid-term transformation efficiency of each sub-treatment area, V i For the i The volume of the sub-treatment area, k is the correlation coefficient of earthworm conversion efficiency, m is the weight of a single earthworm, G The average contribution of earthworm conversion.

7. The control method for resource utilization of solid organic waste according to claim 1, characterized in that: In S2, the method for acquiring the internal vertical image of the sub-treatment area is as follows: a lighting lamp is provided at the internal top, a camera is fixedly provided in the middle, and the bottom of a transparent hollow closed cylindrical tube with the camera facing the tube wall is vertically inserted into the sludge in the sub-treatment area. After the camera acquires sludge images at different depths during the insertion of the transparent hollow closed cylindrical tube, the image is stitched to obtain the internal vertical image of the sub-treatment area.

8. A control system for resource utilization of solid organic waste, characterized in that: The control method for realizing the resource utilization of solid organic waste according to claim 1 comprises: treatment tanks for storing sludge; A microbial agent delivery device, used for delivering microbial agents into the treatment pool; An earthworm placing device, used for placing earthworms; An attractant delivery device for adding attractants to the treatment pool; The calculation unit is used to select microbial agents according to the pH value of the sludge in the treatment tank; obtain the amount of microbial agents based on the volume, water content and oxygen content of the sludge in the treatment tank; and to partition the treatment tank to obtain a number of sub-treatment areas. The calculation unit is used to identify the exposed earthworm manure and the internal earthworm manure of each sub-treatment area based on the exposed surface image and the internal vertical image of the sub-treatment area in the image acquisition unit, and calculate the exposed earthworm manure area ratio and the internal earthworm manure area ratio of each sub-treatment area, and obtain the exposed earthworm manure area ratio and the internal earthworm manure area ratio of each sub-treatment area based on the exposed earthworm manure area ratio and the internal earthworm manure area ratio of each sub-treatment area. mid-term conversion efficiency and final conversion efficiency; used to calculate the earthworm release amount in the sub-treatment area whose mid-term conversion efficiency is less than the mid-term conversion efficiency threshold according to the mid-term conversion efficiency; and used to obtain the mid-term conversion efficiency variance of all sub-treatment areas, and determine whether the mid-term conversion efficiency variance is less than the mid-term variance threshold; used to determine whether the difference between the final conversion efficiency of the transformation area to be improved and the final conversion rate threshold is less than the conversion rate difference threshold; used to determine whether all sub-treatment areas within the eight neighborhoods of the transformation area to be improved belong to the transformation area to be improved; the sub-treatment area whose final conversion efficiency is less than the final conversion rate threshold to be improved; A control unit, for controlling the microbial agent delivery device, the earthworm delivery device and the attractant delivery device to deliver corresponding amounts of microbial agent, earthworm and attractant into the treatment pool respectively according to the signal transmitted from the calculation unit; The image acquisition unit is used to obtain the exposed surface image and internal vertical image of the sub-processing area.

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