Automatic sewage suction ship based on ultrasonic ranging

Abstract

The invention relates to an automatic sewage suction boat based on ultrasonic ranging, and relates to the technical field of aquaculture. A dirt conveying opening is formed in the top surface of the dirt collecting bin; the invention discloses a conveyor belt type dirt filter pressing device. A sewage receiving bin; a sewage treatment bin; the microbial agent drip irrigation device is arranged above the sewage treatment opening; the traveling devices are arranged on two sides of the bottom surface of the sewage suction boat main body; the distance measuring device is arranged on the bottom surface of the suction dredger main body; a negative-pressure sewage suction disc is arranged at the bottom end of the sewage suction automatic telescopic pipe, and a negative-pressure fan is configured; a GPS (Global Positioning System) module is arranged in the control device. By means of cooperation of multiple components, on the premise that daily residual feed and excrement cleaning is met, timely early warning treatment is effectively conducted on the self-blocking condition and the pond bottom sludge accumulation condition, the aquaculture water quality is guaranteed, aquaculture biological diseases are reduced, powerful technical support is provided for production and income increasing of farmers, and wide market application prospects are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of aquaculture, and in particular to an automatic sewage suction boat based on ultrasonic ranging. Background Art

[0002] In the current aquaculture field, especially the treatment of waste such as residual bait and feces at the bottom of the pond. At present, the pond cleaning treatment after the harvest period is mostly adopted, that is, the pond water is drained first, and then the bottom waste is dug out and transported away mechanically (such as excavators, etc.) or manually. The above traditional technical means are cumbersome to operate, and need to wait for the pond to drain, which is time-consuming and laborious, and may cause damage to the anti-leakage facilities at the bottom of the pond. Therefore, there is an urgent need for a sewage suction and sewage treatment technology to meet the current aquaculture needs.

[0003] Therefore, in order to meet actual needs, an automatic sewage suction boat based on ultrasonic ranging is provided. Summary of the invention

[0004] The present application provides an automatic sewage suction boat based on ultrasonic ranging. It utilizes the collaborative cooperation of multiple components to effectively provide timely warning for its own blockage and sludge accumulation at the bottom of the pond while meeting the daily cleaning of residual bait and feces, thereby ensuring the quality of aquaculture water, reducing manpower and time costs, reducing the accumulation of pollutants such as nitrogen and phosphorus in the water, and the occurrence of aquaculture biological diseases, providing strong technical support for farmers to increase production and income, and has broad market application prospects.

[0005] The present application provides an automatic sewage suction boat based on ultrasonic ranging, and the automatic sewage suction boat comprises: The main body of the sewage suction vessel; A waste collection bin is arranged inside the main body of the waste suction boat, and a waste delivery port is arranged on the top surface of the waste collection bin; A conveyor-type sewage filter press device is obliquely arranged above the sewage collection bin, the lowest side of the conveyor-type sewage filter press device extends into the sewage conveying port, and the conveying direction of the conveyor-type sewage filter press device is from the highest side to the lowest side; A sewage receiving bin disposed below the highest side of the conveyor-type sewage filter press device and located above the sewage collecting bin; A sewage treatment tank is arranged inside the main body of the sewage suction ship, the top surface of the sewage treatment tank is provided with a sewage treatment opening, the sewage receiving tank is connected with the sewage treatment tank through a sewage inlet pipe, the bottom surface height of the sewage receiving tank is higher than the height of the highest point of the sewage treatment tank, a sewage outlet pipe is arranged on one side of the sewage treatment tank, and the sewage outlet pipe is equipped with a sewage pump; A microbial agent drip irrigation device disposed above the sewage treatment opening; A traveling device is arranged on both sides of the bottom surface of the sewage suction ship body, and the traveling device is a rotatable turbine propulsion device; A distance measuring device is arranged on the bottom surface of the sewage suction boat body, and the distance measuring device is an ultrasonic distance measuring device; An automatic sewage suction telescopic pipe is arranged on the bottom surface of the sewage suction boat body, the top of the automatic sewage suction telescopic pipe is located above the highest side of the conveyor belt type sewage filter press device, the bottom end of the automatic sewage suction telescopic pipe is provided with a negative pressure sewage suction plate, and the automatic sewage suction telescopic pipe is equipped with a negative pressure fan; A control device is arranged on the main body of the sewage suction boat, and a GPS module is arranged inside the control device; wherein, The control device is signal-connected to the conveyor-type sewage filter press device, the sewage pump, the microbial agent drip irrigation device, the traveling device, the distance measuring device, the sewage suction automatic telescopic pipe and the negative pressure fan; The control device is used to receive set control instructions to control the start or stop of the conveyor belt type sewage filter press device, the sewage pump, the microbial agent drip irrigation device, the traveling device, the distance measuring device and the negative pressure fan.

[0006] On the basis of the above technical solution, the control device is used to respond to the set dynamic anti-blocking process execution instruction and execute the dynamic anti-blocking process. In the dynamic anti-blocking process, the distance measuring device is controlled to perform ultrasonic distance measurement to obtain the first interval distance between the bottom surface of the sewage suction boat body and the top surface of the sewage at the bottom of the pool; In the dynamic anti-blocking process, the control device is used to obtain the corresponding actual telescopic range of the telescopic tube based on the first spacing distance, in combination with a preset standard telescopic range of the telescopic tube and the corresponding standard spacing distance of the telescopic tube; In the dynamic anti-blocking process, the control device is used to control the automatic sewage suction telescopic tube to perform a telescopic action within the actual telescopic range of the telescopic tube at a preset first telescopic rate.

[0007] On the basis of the above technical solution, in the dynamic anti-blocking process, the control device is further used to obtain a second spacing distance between the bottom of the negative pressure suction tray and the top surface of the sewage at the bottom of the pool based on the first spacing distance and the real-time length of the telescopic tube of the automatic telescopic tube for suctioning sewage; In the dynamic anti-blocking process, the control device is further used to obtain the corresponding actual suction power adjustment range of the negative pressure suction disc based on the second spacing distance, combined with the preset standard suction power adjustment range of the negative pressure suction disc and the corresponding standard spacing distance of the negative pressure suction disc; In the dynamic anti-blocking process, the control device is used to control the negative pressure fan to perform a reciprocating power adjustment action within the actual sewage suction power adjustment range of the negative pressure sewage suction plate at a preset first power adjustment rate.

[0008] On the basis of the above technical solution, in the dynamic anti-blocking process, the control device is further used to obtain a first actual telescopic rate based on the second spacing distance, in combination with a preset negative pressure suction pan safety spacing distance and the first telescopic rate; In the dynamic anti-blocking process, the control device is used to control the automatic sewage suction telescopic tube to perform telescopic action within the actual telescopic range of the telescopic tube at the first actual telescopic rate.

[0009] On the basis of the above technical solution, in the dynamic anti-blocking process, the control device is further used to obtain a first actual power adjustment rate based on the second spacing distance, combined with a preset negative pressure suction plate safety spacing distance and the first power adjustment rate; In the dynamic anti-blocking process, the control device is used to control the negative pressure fan to perform reciprocating power adjustment action within the actual sewage suction power adjustment range of the negative pressure sewage suction plate at the first actual power adjustment rate.

[0010] On the basis of the above technical solution, in the dynamic anti-blocking process, the control device is further used to construct a first interval distance change curve based on each of the first interval distances within a preset first pool bottom monitoring period; In the dynamic anti-blocking process, the control device is further used to obtain a first interval distance change rate based on the first interval distance change curve; In the dynamic anti-blocking process, the control device is also used to issue an abnormal pool bottom dirt thickness alarm when the first interval distance change rate is greater than a preset first interval distance change rate threshold.

[0011] On the basis of the above technical solution, in the dynamic anti-blocking process, the control device is further used to replace the value of the standard telescopic range of the telescopic tube based on the value of the preset shortened standard telescopic range of the telescopic tube within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold; In the dynamic anti-blocking process, the control device is further used to replace the value of the first telescopic rate with the value of the preset slowed version of the first telescopic rate within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold; The value of the standard telescopic range of the shortened telescopic tube is smaller than the value of the standard telescopic range of the telescopic tube; The value of the slowed-down version of the first expansion and contraction rate is smaller than the value of the first expansion and contraction rate.

[0012] On the basis of the above technical solution, a negative pressure monitoring device is arranged inside the automatic telescopic sewage suction pipe; The control device is signal-connected to the negative pressure monitoring device; The control device is provided with a table of correspondence between the actual suction power of the negative pressure suction disk and the negative pressure in the pipe, and a numerical range of theoretical negative pressure in the automatic suction telescopic pipe corresponding to the actual suction power of the negative pressure suction disk; In the dynamic anti-blocking process, the control device is also used to receive the real-time negative pressure in the pipe monitored by the negative pressure monitoring device, and obtain the actual suction power of the negative pressure suction plate of the negative pressure fan; In the dynamic anti-blocking process, if the real-time negative pressure in the pipe is less than the minimum value of the theoretical negative pressure value range in the pipe corresponding to the actual suction power of the negative pressure suction disc, it is determined that the automatic suction telescopic pipe is blocked; In the dynamic anti-blocking process, the control device is used to temporarily increase or temporarily reduce the actual suction power of the negative pressure suction plate within a preset blocking adjustment time, at a preset blocking power adjustment frequency, at a preset blocking-specific power increase amplitude and a blocking-specific power reduction amplitude; In the dynamic anti-blocking process, the control device is used to temporarily extend or temporarily shorten the sewage suction automatic telescopic pipe within a preset blocking adjustment time, at a preset blocking length adjustment frequency, at a preset blocking special length extension amplitude and a blocking special length shortening amplitude; The automatic sewage suction telescopic pipe is provided with a pipe wall vibration device inside; The control device is connected to the pipe wall vibration device by signal; In the dynamic anti-blocking process, the control device is used to control the pipe wall vibration device to vibrate the automatic sewage suction telescopic pipe at a preset first pipe wall vibration frequency within a preset blockage adjustment time.

[0013] On the basis of the above technical solution, a negative pressure monitoring device is arranged inside the automatic telescopic sewage suction pipe; The control device is signal-connected to the negative pressure monitoring device; The control device is provided with a table of correspondence between the actual suction power of the negative pressure suction disk and the negative pressure in the pipe, and a numerical range of theoretical negative pressure in the automatic suction telescopic pipe corresponding to the actual suction power of the negative pressure suction disk; In the dynamic anti-blocking process, the control device is also used to receive the real-time negative pressure in the pipe monitored by the negative pressure monitoring device, and obtain the actual suction power of the negative pressure suction plate of the negative pressure fan; In the dynamic anti-blocking process, if the real-time negative pressure in the pipe is less than the minimum value of the theoretical negative pressure value range in the pipe corresponding to the actual suction power of the negative pressure suction disc, it is determined that the automatic suction telescopic pipe is blocked; In the dynamic anti-blocking process, the control device is used to control the negative pressure fan to work in reverse at a preset standard negative pressure suction plate sewage discharge power within a preset blockage adjustment time, and to temporarily increase or temporarily reduce the standard negative pressure suction plate sewage discharge power at a preset blockage power adjustment frequency, a preset blockage-specific power increase amplitude and a blockage-specific power reduction amplitude; In the dynamic anti-blocking process, the control device is used to temporarily extend or temporarily shorten the sewage suction automatic telescopic pipe within a preset blocking adjustment time, at a preset blocking length adjustment frequency, at a preset blocking special length extension amplitude and a blocking special length shortening amplitude; The automatic sewage suction telescopic pipe is provided with a pipe wall vibration device inside; The control device is connected to the pipe wall vibration device by signal; In the dynamic anti-blocking process, the control device is used to control the pipe wall vibration device to vibrate the automatic sewage suction telescopic pipe at a preset first pipe wall vibration frequency within a preset blockage adjustment time.

[0014] On the basis of the above technical solution, the inner wall of the top surface of the dirt collection bin is provided with a dirt thickness ultrasonic detection device; The dirt thickness ultrasonic detection device is connected to the control device by signal; The control device is used to control the dirt thickness ultrasonic detection device to monitor the dirt thickness at the bottom of the dirt collection bin to obtain the real-time dirt thickness in the collection bin; The control device is also used to obtain a corresponding adjusted collection bin cleaning cycle based on the real-time thickness of the dirt in the collection bin, in combination with a preset collection bin dirt thickness threshold and a corresponding collection bin cleaning cycle; The control device is also used to issue a collection bin cleaning date reminder based on the last collection bin cleaning date in combination with the corresponding collection bin cleaning adjusted cycle; The control device is also used to count the real-time thickness of the dirt in the collecting bin, obtain the real-time thickness change curve of the dirt in the collecting bin, and then obtain the real-time thickness change acceleration of the dirt in the collecting bin; The control device is also used to issue a reminder of abnormal accumulation of dirt in the collection bin when the value of the acceleration of the real-time thickness change of dirt in the collection bin is greater than a preset threshold value of the acceleration of the real-time thickness change of dirt in the collection bin.

[0015] The beneficial effects of the technical solution provided by this application include: Reduce the occurrence of diseases in aquaculture organisms: By promptly handling waste such as residual bait and feces at the bottom of the pond, the accumulation of nutrients such as nitrogen and phosphorus in the water can be reduced, thereby reducing the reproduction of harmful microorganisms and the probability of diseases in aquaculture organisms, thereby promoting increased production and income for farmers.

[0016] Precise processing: Utilizing the collaborative cooperation of multiple components, while meeting the daily cleaning of residual bait and feces, it can effectively provide timely warnings for blockages and sludge accumulation at the bottom of the pond, ensure aquaculture water quality, and reduce manpower and time costs.

[0017] Improve treatment efficiency: Compared with traditional sludge treatment methods such as drainage and silt removal, this application does not need to wait for the pond to be drained, etc., and can continuously treat the bottom dirt of the pond during the breeding cycle, greatly saving time.

[0018] Reduce damage to the pond structure: This application works on the water surface and only sucks in feces and leftover bait through components such as straws without causing physical damage to the bottom of the pond, which is beneficial to protecting the integrity of the pond. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic diagram of the structure of an automatic sewage suction boat based on ultrasonic ranging provided in an embodiment of the present application; Figure 2 A flow chart of dynamic adjustment of an automatic sewage suction telescopic pipe in a dynamic anti-blocking process of an automatic sewage suction ship based on ultrasonic ranging provided in an embodiment of the present application; Figure 3 A flowchart of dynamic regulation of sewage suction power in a dynamic anti-blocking process of an automatic sewage suction ship based on ultrasonic ranging provided in an embodiment of the present application; Figure 4 A flowchart of an abnormal alarm for the thickness of sewage at the bottom of a pool in a dynamic anti-blocking process of an automatic sewage suction boat based on ultrasonic ranging provided in an embodiment of the present application; Figure 5 A flowchart of telescopic pipe blockage warning based on sewage suction power-tube negative pressure monitoring of an automatic sewage suction ship based on ultrasonic ranging provided in an embodiment of the present application; Figure 6 A sewage suction workflow diagram of an automatic sewage suction boat based on ultrasonic ranging provided in an embodiment of the present application; Figure 7A working principle diagram of an automatic sewage suction boat based on ultrasonic ranging provided in an embodiment of the present application; In the figure: 1. Main body of sewage suction boat; 2. Sewage collection chamber; 20. Sewage delivery port; 21. Ultrasonic detection device for sewage thickness; 3. Conveyor belt sewage filter press device; 4. Sewage receiving chamber; 40. Sewage inlet pipe; 5. Sewage treatment chamber; 50. Sewage treatment opening; 51. Sewage outlet pipe; 52. Sewage pump; 53. Microbial agent drip irrigation device; 6. Traveling device; 7. Distance measuring device; 8. Automatic sewage suction telescopic pipe; 80. Negative pressure sewage suction disc; 81. Negative pressure fan; 82. Negative pressure monitoring device; 83. Pipe wall vibration device; 9. Control device; A. Top end of automatic sewage suction telescopic pipe; B. Bottom end of automatic sewage suction telescopic pipe. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0022] The embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0023] The embodiment of the present application provides an automatic sewage suction boat based on ultrasonic ranging. It utilizes the collaborative cooperation of multiple components to effectively provide timely warning for its own blockage and sludge accumulation at the bottom of the pond while meeting the daily cleaning of residual bait and feces, thereby ensuring the water quality of aquaculture, reducing manpower and time costs, reducing the accumulation of pollutants such as nitrogen and phosphorus in the water and the occurrence of aquaculture biological diseases, providing strong technical support for farmers to increase production and income, and has broad market application prospects.

[0024] In order to achieve the above technical effects, the overall idea of ​​this application is as follows: An automatic sewage suction boat based on ultrasonic ranging, the automatic sewage suction boat comprising: The main body of the sewage suction boat 1; A waste collection chamber 2 is arranged inside the sewage suction boat body 1, and a waste delivery port 20 is arranged on the top surface of the waste collection chamber 2; A conveyor-type sewage filter press device 3 is obliquely arranged above the sewage collection bin 2, the lowest side of the conveyor-type sewage filter press device 3 extends into the sewage conveying port 20, and the conveying direction of the conveyor-type sewage filter press device 3 is from the highest side to the lowest side; A sewage receiving bin 4 is disposed below the highest side of the conveyor-type sewage filter press device 3 and located above the sewage collecting bin 2; A sewage treatment tank 5 is arranged inside the sewage suction boat body 1, and a sewage treatment opening 50 is arranged on the top surface of the sewage treatment tank 5. The sewage receiving tank 4 is connected with the sewage treatment tank 5 through a sewage inlet pipe 40. The bottom surface height of the sewage receiving tank 4 is higher than the height of the highest point of the sewage treatment tank 5. A sewage outlet pipe 51 is arranged on one side of the sewage treatment tank 5, and the sewage outlet pipe 51 is equipped with a sewage pump 52; A microbial agent drip irrigation device 53 disposed above the sewage treatment opening 50; A traveling device 6 is arranged on both sides of the bottom surface of the sewage suction boat body 1, and the traveling device 6 is a rotatable turbine propulsion device; A distance measuring device 7 is arranged on the bottom surface of the sewage suction boat body 1, and the distance measuring device 7 is an ultrasonic distance measuring device; An automatic sewage suction telescopic pipe 8 is arranged on the bottom surface of the sewage suction boat body 1, the top of the automatic sewage suction telescopic pipe 8 is located above the highest side of the conveyor belt type sewage filter press device 3, the bottom end of the automatic sewage suction telescopic pipe 8 is provided with a negative pressure sewage suction plate 80, and the automatic sewage suction telescopic pipe 8 is equipped with a negative pressure fan 81; A control device 9 is provided on the sewage suction boat body 1, and a GPS module is configured inside the control device 9; wherein, The control device 9 is connected to the conveyor-type sewage filter press device 3, the sewage pump 52, the microbial agent drip irrigation device 53, the traveling device 6, the distance measuring device 7, the sewage suction automatic telescopic pipe 8 and the negative pressure fan 81 by signal; The control device 9 is used to receive set control instructions to control the start or stop of the conveyor belt type sewage filter press device 3, the sewage pump 52, the microbial agent drip irrigation device 53, the traveling device 6, the distance measuring device 7 and the negative pressure fan 81.

[0025] The embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0026] See also Figures 1 to 7 As shown, an embodiment of the present application provides an automatic sewage suction boat based on ultrasonic ranging, and the automatic sewage suction boat includes: The main body of the sewage suction boat 1; A waste collection chamber 2 is arranged inside the sewage suction boat body 1, and a waste delivery port 20 is arranged on the top surface of the waste collection chamber 2; A conveyor-type sewage filter press device 3 is obliquely arranged above the sewage collection bin 2, the lowest side of the conveyor-type sewage filter press device 3 extends into the sewage conveying port 20, and the conveying direction of the conveyor-type sewage filter press device 3 is from the highest side to the lowest side; A sewage receiving bin 4 is disposed below the highest side of the conveyor-type sewage filter press device 3 and located above the sewage collecting bin 2; A sewage treatment tank 5 is arranged inside the sewage suction boat body 1, and a sewage treatment opening 50 is arranged on the top surface of the sewage treatment tank 5. The sewage receiving tank 4 is connected with the sewage treatment tank 5 through a sewage inlet pipe 40. The bottom surface height of the sewage receiving tank 4 is higher than the height of the highest point of the sewage treatment tank 5. A sewage outlet pipe 51 is arranged on one side of the sewage treatment tank 5, and the sewage outlet pipe 51 is equipped with a sewage pump 52; A microbial agent drip irrigation device 53 disposed above the sewage treatment opening 50; A traveling device 6 is arranged on both sides of the bottom surface of the sewage suction boat body 1, and the traveling device 6 is a rotatable turbine propulsion device; A distance measuring device 7 is arranged on the bottom surface of the sewage suction boat body 1, and the distance measuring device 7 is an ultrasonic distance measuring device; An automatic sewage suction telescopic pipe 8 is arranged on the bottom surface of the sewage suction boat body 1, the top of the automatic sewage suction telescopic pipe 8 is located above the highest side of the conveyor belt type sewage filter press device 3, the bottom end of the automatic sewage suction telescopic pipe 8 is provided with a negative pressure sewage suction plate 80, and the automatic sewage suction telescopic pipe 8 is equipped with a negative pressure fan 81; A control device 9 is provided on the sewage suction boat body 1, and a GPS module is configured inside the control device 9; wherein, The control device 9 is connected to the conveyor-type sewage filter press device 3, the sewage pump 52, the microbial agent drip irrigation device 53, the traveling device 6, the distance measuring device 7, the sewage suction automatic telescopic pipe 8 and the negative pressure fan 81 by signal; The control device 9 is used to receive set control instructions to control the start or stop of the conveyor belt type sewage filter press device 3, the sewage pump 52, the microbial agent drip irrigation device 53, the traveling device 6, the distance measuring device 7 and the negative pressure fan 81.

[0027] It should be noted that the technical solution of the embodiment of the present application can be specifically applied to the cleaning of the bottom dirt of the breeding pond; The specific structure of the breeding pond is as follows: The bottom is the bottom of the breeding pond, above which is the bottom sludge, and above that are the leftover bait and feces. The bottom dirt referred to in the embodiments of the present application specifically includes bottom sludge and leftover bait and feces. This is because in the actual operation process, leftover bait and feces will be sucked in during sewage suction. At the same time, due to the influence of power and distance during operation, bottom sludge will be sucked in to a certain extent. Bottom sludge is often one of the reasons for the blockage of the automatic telescopic sewage suction tube 8. The many operating processes in the embodiments of the present application are intended to suck in leftover bait and feces as much as possible while avoiding blockage caused by sucking in too much bottom sludge.

[0028] In addition, it should be noted that since the main purpose of the embodiment of the present application is to suck in leftover bait and feces rather than the sludge at the bottom of the pool, and since the inhalation of the sludge at the bottom of the pool is difficult to avoid, when setting the working parameters, the specific values ​​of the working parameters can be adaptively adjusted according to actual working experience or the actual working environment, in order to inhale as little sludge as possible.

[0029] Furthermore, the control device 9 has various control methods for the automatic sewage suction telescopic tube 8, the negative pressure sewage suction plate 80 and the negative pressure fan 81; For example, the automatic sewage suction telescopic tube 8 is set to a specific length, and the negative pressure fan 81 is set to a specific power to perform sewage suction work. At this time, a specific dynamic anti-blocking process can also be used to avoid blockage.

[0030] In the embodiment of the present application, multiple components are used to work together to effectively provide timely warnings for blockages and sludge accumulation at the bottom of the pond while meeting the daily cleaning of residual bait and feces, thereby ensuring the quality of aquaculture water, reducing manpower and time costs, reducing the accumulation of pollutants such as nitrogen and phosphorus in the water, and the occurrence of aquaculture biological diseases, providing strong technical support for farmers to increase production and income, and has broad market application prospects.

[0031] Further, as shown in the accompanying drawings of the specification Figure 2 As shown, Figure 2 What is shown is a flow chart of dynamic adjustment of the automatic telescopic pipe for sewage suction in the dynamic anti-blocking process; The control device 9 is used to respond to the set dynamic anti-blocking process execution instruction and execute the dynamic anti-blocking process. In the dynamic anti-blocking process, the distance measuring device 7 is controlled to perform ultrasonic distance measurement to obtain the first interval distance between the bottom surface of the sewage suction boat body 1 and the top surface of the sewage at the bottom of the pool; In the dynamic anti-blocking process, the control device 9 is used to obtain the corresponding actual telescopic range of the telescopic tube based on the first spacing distance, combined with the preset standard telescopic range of the telescopic tube and the corresponding standard spacing distance of the telescopic tube; In the dynamic anti-blocking process, the control device 9 is used to control the automatic sewage suction telescopic tube 8 to perform a telescopic action within the actual telescopic range of the telescopic tube at a preset first telescopic rate.

[0032] It should be noted that the control device 9 pre-stores the horizontal height of the bottom of the breeding pond in the non-polluted state, which can be specifically the altitude. Based on the current bottom horizontal height of the sewage suction ship body 1, or the altitude of the bottom of the sewage suction ship body 1, the non-polluted state interval distance in the non-polluted state can be known. At this time, the non-polluted state interval distance minus the first interval distance is the thickness of the sewage in the corresponding area. In the above manner, by monitoring the first interval distance, the distance between the bottom surface of the sewage suction boat body 1 and the sewage at the bottom of the pool can be known at the same time, and the distance between the bottom surface of the sewage suction boat body 1 and the bottom of the pool, that is, the interval distance in the sewage-free state, can also be known.

[0033] Specifically, the value of the first spacing distance is divided by the value of the standard spacing distance of the telescopic tube, and then multiplied by the standard telescopic range of the telescopic tube, so as to obtain the actual telescopic range of the telescopic tube.

[0034] Further, as shown in the accompanying drawings of the specification Figure 3 As shown, Figure 3 What is shown is a flow chart of dynamic regulation of sewage suction power in a dynamic anti-blocking process; In the dynamic anti-blocking process, the control device 9 is also used to obtain a second spacing distance between the bottom of the negative pressure suction plate 80 and the top surface of the sewage at the bottom of the pool based on the first spacing distance and the real-time length of the telescopic tube of the automatic sewage suction telescopic tube 8; In the dynamic anti-blocking process, the control device 9 is further used to obtain the corresponding actual suction power adjustment range of the negative pressure suction disc based on the second spacing distance, combined with the preset standard suction power adjustment range of the negative pressure suction disc and the corresponding standard spacing distance of the negative pressure suction disc; In the dynamic anti-blocking process, the control device 9 is used to control the negative pressure fan 81 to perform a reciprocating power adjustment action within the actual sewage suction power adjustment range of the negative pressure sewage suction disc at a preset first power adjustment rate.

[0035] Specifically, the value of the second spacing distance is divided by the value of the standard spacing distance of the negative pressure suction pad, and then multiplied by the standard suction power adjustment range of the negative pressure suction pad to obtain the actual suction power adjustment range of the negative pressure suction pad.

[0036] Furthermore, in the dynamic anti-blocking process, the control device 9 is further used to obtain a first actual telescopic rate based on the second spacing distance, in combination with a preset negative pressure suction pan safety spacing distance and the first telescopic rate; In the dynamic anti-blocking process, the control device 9 is used to control the automatic sewage suction telescopic tube 8 to perform telescopic action within the actual telescopic range of the telescopic tube at the first actual telescopic rate.

[0037] It should be noted that during the adjustment process, the specific core logic is: The closer the negative pressure suction plate is to the top surface of the dirt at the bottom of the pool, the smaller the value of the first actual expansion and contraction rate, and the smaller the actual expansion and contraction range of the expansion tube, thereby avoiding approaching the bottom of the pool, causing stirring and diffusion of the bottom sludge and collision with the bottom structure.

[0038] Specifically, the second spacing distance is divided by the value of the safety spacing distance of the negative pressure suction tray, and then multiplied by the first expansion and contraction rate to obtain the first actual expansion and contraction rate.

[0039] Furthermore, in the dynamic anti-blocking process, the control device 9 is further used to obtain a first actual power adjustment rate based on the second spacing distance, in combination with a preset negative pressure suction plate safety spacing distance and the first power adjustment rate; In the dynamic anti-blocking process, the control device 9 is used to control the negative pressure fan 81 to perform a reciprocating power adjustment action within the actual sewage suction power adjustment range of the negative pressure sewage suction plate at the first actual power adjustment rate.

[0040] It should be noted that during the adjustment process, the specific core logic is: The closer the negative pressure suction plate is to the top surface of the sewage at the bottom of the pool, the greater the value of the first actual power adjustment rate, and the larger the range of actual sewage suction power adjustment of the negative pressure suction plate, thereby avoiding sewage suction blockage.

[0041] Specifically, the second spacing distance is divided by the value of the safety spacing distance of the negative pressure suction plate to obtain a ratio coefficient, and then the ratio coefficient is subtracted from 1 and multiplied by the first power adjustment rate to obtain the first actual extension and retraction rate.

[0042] Further, as shown in the accompanying drawings of the specification Figure 4 As shown, Figure 4 The figure shows the abnormal alarm flow chart of the thickness of the bottom dirt in the dynamic anti-blocking process; In the dynamic anti-blocking process, the control device 9 is also used to construct a first interval distance change curve based on each of the first interval distances within a preset first pool bottom monitoring period; In the dynamic anti-blocking process, the control device 9 is further used to obtain a first interval distance change rate based on the first interval distance change curve; In the dynamic anti-blocking process, the control device 9 is also used to issue an abnormal pool bottom dirt thickness alarm when the first interval distance change rate is greater than a preset first interval distance change rate threshold.

[0043] Furthermore, in the dynamic anti-blocking process, the control device 9 is further configured to replace the value of the standard telescopic range of the telescopic tube based on the value of the preset shortened standard telescopic range of the telescopic tube within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold; In the dynamic anti-blocking process, the control device 9 is further used for replacing the value of the first telescopic rate with the value of the preset slowed version of the first telescopic rate within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold; The value of the standard telescopic range of the shortened telescopic tube is smaller than the value of the standard telescopic range of the telescopic tube; The value of the slowed-down version of the first expansion and contraction rate is smaller than the value of the first expansion and contraction rate.

[0044] It should be noted that the maximum value of the range of the standard telescopic range of the shortened telescopic tube is smaller than the maximum value of the range of the standard telescopic range of the telescopic tube; The minimum value of the range value of the standard telescopic range of the shortened telescopic tube is greater than the minimum value of the range value of the standard telescopic range of the telescopic tube; The value of the slowed-down version of the first expansion and contraction rate is smaller than the value of the first expansion and contraction rate; Furthermore, after the first safety insurance time has passed, the standard telescopic range of the telescopic tube and the value of the first telescopic rate are restored.

[0045] Furthermore, a negative pressure monitoring device 82 is provided inside the automatic sewage suction telescopic tube 8; The control device 9 is connected to the negative pressure monitoring device 82 by signal; The control device 9 is provided with a table of correspondence between the actual suction power of the negative pressure suction disk and the negative pressure in the pipe, and the numerical range of the theoretical negative pressure in the pipe in the automatic suction telescopic pipe 8 corresponding to the actual suction power of the negative pressure suction disk; As shown in the attached figure of the specification Figure 5 As shown, Figure 5 The figure shows a flow chart of telescopic pipe blockage warning based on sewage suction power-negative pressure monitoring in the dynamic anti-blocking process; In the dynamic anti-blocking process, the control device 9 is also used to receive the real-time negative pressure in the pipe monitored by the negative pressure monitoring device 82, and obtain the actual suction power of the negative pressure suction plate of the negative pressure fan 81; In the dynamic anti-blocking process, if the real-time negative pressure in the pipe is less than the minimum value of the theoretical negative pressure value range in the pipe corresponding to the actual suction power of the negative pressure suction disc, it is determined that the automatic suction telescopic pipe 8 is blocked; In the dynamic anti-blocking process, the control device 9 is used to temporarily increase or temporarily reduce the actual suction power of the negative pressure suction disk within a preset blocking adjustment time, at a preset blocking power adjustment frequency, at a preset blocking-specific power increase amplitude and a blocking-specific power reduction amplitude; In the dynamic anti-blocking process, the control device 9 is used to temporarily extend or temporarily shorten the sewage suction automatic telescopic tube 8 within a preset blocking adjustment time, at a preset blocking length adjustment frequency, at a preset blocking special length extension amplitude and a blocking special length shortening amplitude; The automatic sewage suction telescopic pipe 8 is provided with a pipe wall vibration device 83; The control device 9 is connected to the pipe wall vibration device 83 by signal; In the dynamic anti-blocking process, the control device 9 is used to control the pipe wall vibrating device 83 to vibrate the automatic sewage suction telescopic pipe 8 at a preset first pipe wall vibration frequency within a preset blockage adjustment time.

[0046] It should be noted that, since the actual suction power of the negative pressure suction disk is temporarily increased or temporarily decreased, the automatic suction telescopic tube 8 is temporarily extended or temporarily shortened; Therefore, after the dynamic anti-blocking process is completed, the actual suction power of the negative pressure suction disk and the automatic suction telescopic tube 8 before the dynamic anti-blocking process are restored; The specific criteria for completing the dynamic anti-blocking process include, but are not limited to: The process execution time corresponding to the dynamic anti-blocking process execution instruction; The moment when the dynamic anti-blocking process stop instruction is received.

[0047] Furthermore, a negative pressure monitoring device 82 is provided inside the automatic sewage suction telescopic tube 8; The control device 9 is connected to the negative pressure monitoring device 82 by signal; The control device 9 is provided with a table of correspondence between the actual suction power of the negative pressure suction disk and the negative pressure in the pipe, and the numerical range of the theoretical negative pressure in the pipe in the automatic suction telescopic pipe 8 corresponding to the actual suction power of the negative pressure suction disk; In the dynamic anti-blocking process, the control device 9 is also used to receive the real-time negative pressure in the pipe monitored by the negative pressure monitoring device 82, and obtain the actual suction power of the negative pressure suction plate of the negative pressure fan 81; In the dynamic anti-blocking process, if the real-time negative pressure in the pipe is less than the minimum value of the theoretical negative pressure value range in the pipe corresponding to the actual suction power of the negative pressure suction disc, it is determined that the automatic suction telescopic pipe 8 is blocked; In the dynamic anti-blocking process, the control device 9 is used to control the negative pressure fan 81 to work in reverse at a preset standard negative pressure suction plate sewage discharge power within a preset blockage adjustment time, and to temporarily increase or temporarily reduce the standard negative pressure suction plate sewage discharge power at a preset blockage power adjustment frequency, a preset blockage-specific power increase amplitude and a blockage-specific power reduction amplitude; In the dynamic anti-blocking process, the control device 9 is used to temporarily extend or temporarily shorten the sewage suction automatic telescopic tube 8 within a preset blocking adjustment time, at a preset blocking length adjustment frequency, at a preset blocking special length extension amplitude and a blocking special length shortening amplitude; The automatic sewage suction telescopic pipe 8 is provided with a pipe wall vibration device 83; The control device 9 is connected to the pipe wall vibration device 83 by signal; In the dynamic anti-blocking process, the control device 9 is used to control the pipe wall vibrating device 83 to vibrate the automatic sewage suction telescopic pipe 8 at a preset first pipe wall vibration frequency within a preset blockage adjustment time.

[0048] It should be noted that controlling the negative pressure fan 81 to work in reverse at a preset standard negative pressure suction disk sewage discharge power specifically means that originally it was sucking sewage, that is, suction was applied, but at this time, the power value remains unchanged and sewage is discharged, that is, thrust is applied to alleviate the blockage.

[0049] Furthermore, a dirt thickness ultrasonic detection device 21 is provided on the inner wall of the top surface of the dirt collection bin 2; The dirt thickness ultrasonic detection device 21 is connected to the control device 9 by signal; The control device 9 is used to control the dirt thickness ultrasonic detection device 21 to monitor the dirt thickness at the bottom of the dirt collection bin 2 to obtain the real-time dirt thickness in the collection bin; The control device 9 is also used to obtain a corresponding adjusted collection bin cleaning cycle based on the real-time thickness of the dirt in the collection bin, in combination with a preset collection bin dirt thickness threshold and a corresponding collection bin cleaning cycle; The control device 9 is also used to issue a collection bin cleaning date reminder based on the last collection bin cleaning date in combination with the corresponding collection bin cleaning adjusted cycle; The control device 9 is also used to count the real-time thickness of the dirt in the collecting bin, obtain the real-time thickness variation curve of the dirt in the collecting bin, and then obtain the real-time thickness variation acceleration of the dirt in the collecting bin; The control device 9 is also used to issue a reminder of abnormal accumulation of dirt in the collection bin when the value of the acceleration of the real-time thickness change of dirt in the collection bin is greater than a preset threshold value of the acceleration of the real-time thickness change of dirt in the collection bin.

[0050] It should be noted that the thicker the real-time thickness of the dirt in the collection bin is, the shorter the cycle of the collection bin cleaning adjustment period is; Specifically, the real-time dirt thickness in the collecting bin is divided by the dirt thickness threshold in the collecting bin to obtain an intermediate coefficient, which is subtracted from 1 and multiplied by the collecting bin cleaning cycle to obtain the corresponding adjusted collecting bin cleaning cycle.

[0051] It should be noted that the conveyor-type dirt filter press device 3 can adopt a conventional belt-type dirt filter press conveyor device, and specifically can refer to the prior art of patent number CN213708089U, which is named as an inclined screen solid-liquid separator with a primary screening separation device; That is, at least the waste conveying port 20 is used to bring the waste together with the sewage in the waste collecting bin 2 into the conveyor type waste filter press device 3, and in the process of conveying from high to low, the sewage is conveyed and squeezed at the same time, so that the sewage flows into the sewage receiving bin 4, and then the control device 9 controls the sewage pumping pump 52 to pump the sewage in the sewage receiving bin 4 into the sewage treatment bin 5 through the sewage outlet pipe 51; Or refer to the existing technology in the same technical field that can achieve the corresponding function.

[0052] Furthermore, the microbial agent drip irrigation device 53 can refer to existing drip irrigation devices, such as patent number CN111630999A, entitled a nutrient solution quantitative drip irrigation device and method for vegetable seedling cultivation, or patent number CN219679331U, entitled a seedling box with a quantitative drip irrigation structure; In this way, the microbial agent drip irrigation device 53 is provided with a drip irrigation function component and a liquid containing component, and the microbial agent drip irrigation work is performed by controlling the microbial agent drip irrigation device 53 through the control device 9; Or refer to the existing technology in the same technical field that can achieve the corresponding function.

[0053] In addition, the distance measuring device 7 can refer to patent number CN214333950U, which is named as a water depth measuring device or other ultrasonic distance measuring devices; The traveling device 6 can refer to patent number CN208585397U, which is called an automatic steering drive device for an outboard motor, or other underwater propulsion devices; The automatic sewage suction telescopic pipe 8 and the negative pressure sewage suction plate 80 can refer to the equipment corresponding to the channel slope deep cleaning algae mud negative pressure recovery system of patent number CN217128345U, or other underwater sewage suction equipment.

[0054] The automatic sewage suction telescopic pipe 8 cooperates with the negative pressure sewage suction plate 80 and the negative pressure fan 81 to suck sewage, and the microbial agent drip irrigation device 53 controls the negative pressure sewage suction plate 80 and the negative pressure fan 81; For the specific working method or working principle, please refer to patent number CN217128345U, named channel slope deep cleaning algae mud negative pressure recovery system, or refer to the existing technology in the same technical field that can achieve the corresponding function.

[0055] Based on the technical solution of the embodiment of the present application, during the specific implementation, the situation is as follows: The traveling device 6 is arranged on both sides of the hull, and includes a turbine and a steering shaft; The distance measuring device 7 is provided at the front and rear of the bottom of the sewage suction boat body 1, and each device includes a transducer for transmitting ultrasonic waves and a receiver for receiving ultrasonic waves; The sewage suction device of the embodiment of the present application is located directly below the sewage suction boat body 1, and includes an automatic sewage suction telescopic pipe 8 and a negative pressure sewage suction pan 80, and the negative pressure sewage suction pan 80 is provided with a 10 mm particle size filter screen; The control device 9 is above the sewage suction boat body 1; The sewage treatment device of the embodiment of the present application comprises the conveyor belt type sewage filter press device 3, the microbial agent drip irrigation device 53, the sewage treatment tank 5, the sewage collection tank 2, the sewage receiving tank 4 and the sewage inlet pipe 40, wherein the sewage collection tank 2 is inside the sewage suction boat body 1.

[0056] The technical solution of the embodiment of the present application detects the distance of the pond bottom based on ultrasound; when the distance measuring module detects the bottom target distance, the control module feeds back and controls the length of the automatic telescopic tube for automatic sewage suction, and automatically starts the sewage suction work, and the negative pressure sewage suction disc with a 10mm particle size filter only sucks in feces and residual bait without causing agitation at the bottom of the pond and sludge diffusion, thereby improving the growth environment of organisms in the pond and reducing the occurrence of diseases. The present invention can achieve the effect of fully automatic and continuous cleaning of the bottom, promote the increase of production and income of farmers, and has a good application scenario.

[0057] Driven by the negative pressure fan 81 and the necessary motor, the sewage and water are sucked up by the automatic telescopic sewage suction pipe 8, and then pass through the conveyor belt sewage filter press device 3. The sewage after filtration and dehydration is conveyed to the sewage collection tank 2 at the bottom of the cabin. The sewage flows into the sewage treatment tank 5 through the sewage receiving tank 4 and the sewage inlet pipe 40 by its own gravity. The sewage is dripped with microbial agents through the microbial agent drip irrigation device 53, and then returned to the breeding pond through the sewage outlet pipe 51.

[0058] The control device 9 controls the movement and steering of the hull, controls the sewage suction action and the related dynamic anti-blocking process, and can also control the start / end of the conveyor belt type sewage filter press device 3 and the microbial agent drip irrigation device 53.

[0059] like Figure 6 As shown, the control device 9 sets the hull's travel route through the GPS module, and the traveling device 6 controls the hull to travel and turn along the route. At the same time, the distance measuring device 7 collects the depth of the negative pressure suction plate 80 from the bottom of the pond, and feeds back the ultrasonic receiving signal to the control device 9. After the control device 9 compares the position of the bottom of the pond with the actual position of the negative pressure suction plate 80, the control device 9 sends an adjustment suction pipe extension / contraction instruction to the automatic suction telescopic pipe 8, so that the position difference between the bottom of the pond and the negative pressure suction plate 80 is 10 cm, and then the control device 9 sends an opening instruction to the negative pressure suction plate 80, and cooperates with the negative pressure fan 81 to perform sewage suction work.

[0060] If necessary, a gravity sensor can be configured on the conveyor belt type sewage filter press device 3. When the sewage is sucked into and collected in the conveyor belt type sewage filter press device 3, the gravity sensor of the conveyor belt type sewage filter press device 3 collects the signal and feeds it back to the control device 9. The control device 9 then sends a start instruction to the conveyor belt type sewage filter press device 3 and the microbial agent drip irrigation device 53. When the gravity sensor cannot collect the signal, the conveyor belt type sewage filter press device 3 and the microbial agent drip irrigation device 53 remain closed.

[0061] It should be noted that in order to ensure that the technical solutions of the embodiments of the present application can be implemented normally, common equipment or technical solutions or other technologies of the prior art can be used to cooperate with the technical solutions of the embodiments of the present application to realize corresponding technical functions.

[0062] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0063] The above is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. An automatic sewage suction ship based on ultrasonic ranging, characterized in that: The automatic sewage suction boat comprises: The main body of the sewage suction vessel (1); A waste collection bin (2) is arranged inside the sewage suction boat body (1), and a waste transfer port (20) is provided on the top surface of the waste collection bin (2); a conveyor-type sewage filter press device (3) arranged obliquely above the sewage collection bin (2), the lowest side of the conveyor-type sewage filter press device (3) extending into the sewage transfer port (20), and the conveying direction of the conveyor-type sewage filter press device (3) being from the highest side to the lowest side; A sewage receiving bin (4) disposed below the highest side of the conveyor-type sewage filter press device (3) and located above the sewage collection bin (2); A sewage treatment tank (5) is arranged inside the sewage suction boat body (1), the top surface of the sewage treatment tank (5) is provided with a sewage treatment opening (50), the sewage receiving tank (4) is connected to the sewage treatment tank (5) via a sewage inlet pipe (40), the bottom surface height of the sewage receiving tank (4) is higher than the height of the highest point of the sewage treatment tank (5), a sewage outlet pipe (51) is arranged on one side of the sewage treatment tank (5), and the sewage outlet pipe (51) is equipped with a sewage pump (52); A microbial agent drip irrigation device (53) disposed above the sewage treatment opening (50); A traveling device (6) is arranged on both sides of the bottom surface of the sewage suction boat body (1), and the traveling device (6) is a rotatable turbine propulsion device; a distance measuring device (7) arranged on the bottom surface of the sewage suction boat body (1), wherein the distance measuring device (7) is an ultrasonic distance measuring device; an automatic sewage suction telescopic pipe (8) disposed on the bottom surface of the sewage suction boat body (1), the top end of the automatic sewage suction telescopic pipe (8) being located above the highest side of the conveyor belt type sewage filter press device (3), a negative pressure sewage suction plate (80) being disposed at the bottom end of the automatic sewage suction telescopic pipe (8), and the automatic sewage suction telescopic pipe (8) being equipped with a negative pressure fan (81); A control device (9) is arranged on the sewage suction boat body (1), wherein a GPS module is configured inside the control device (9); wherein: The control device (9) is signal-connected to the conveyor-type sewage filter press device (3), the sewage pump (52), the microbial agent drip irrigation device (53), the traveling device (6), the distance measuring device (7), the sewage suction automatic telescopic pipe (8), and the negative pressure fan (81); The control device (9) is used to receive set control instructions to control the start or stop of the conveyor-type sewage filter press device (3), the sewage pump (52), the microbial agent drip irrigation device (53), the traveling device (6), the distance measuring device (7), and the negative pressure fan (81).

2. The automatic sewage suction boat based on ultrasonic ranging as claimed in claim 1 is characterized in that: The control device (9) is used to respond to a set dynamic anti-blocking process execution instruction and execute the dynamic anti-blocking process. In the dynamic anti-blocking process, the distance measuring device (7) is controlled to perform ultrasonic distance measurement to obtain a first spacing distance between the bottom surface of the sewage suction boat body (1) and the top surface of the sewage at the bottom of the pool; In the dynamic anti-blocking process, the control device (9) is used to obtain the corresponding actual telescopic range of the telescopic tube based on the first spacing distance, in combination with a preset standard telescopic range of the telescopic tube and the corresponding standard spacing distance of the telescopic tube; In the dynamic anti-blocking process, the control device (9) is used to control the automatic sewage suction telescopic tube (8) to perform a telescopic action within the actual telescopic range of the telescopic tube at a preset first telescopic rate.

3. The automatic sewage suction boat based on ultrasonic ranging as claimed in claim 2 is characterized in that: In the dynamic anti-blocking process, the control device (9) is further used to obtain a second spacing distance between the bottom of the negative pressure suction plate (80) and the top surface of the sewage at the bottom of the pool based on the first spacing distance and the real-time length of the telescopic tube of the automatic sewage suction tube (8); In the dynamic anti-blocking process, the control device (9) is further used to obtain a corresponding negative pressure suction disc actual suction power adjustment range based on the second spacing distance, in combination with a preset negative pressure suction disc standard suction power adjustment range and a corresponding negative pressure suction disc standard spacing distance; In the dynamic anti-blocking process, the control device (9) is used to control the negative pressure fan (81) to perform a reciprocating power adjustment action within the actual sewage suction power adjustment range of the negative pressure sewage suction disc at a preset first power adjustment rate.

4. The automatic sewage suction boat based on ultrasonic ranging as claimed in claim 3 is characterized by: In the dynamic anti-blocking process, the control device (9) is further used to obtain a first actual expansion and contraction rate based on the second spacing distance, in combination with a preset negative pressure suction disk safety spacing distance and the first expansion and contraction rate; In the dynamic anti-blocking process, the control device (9) is used to control the automatic sewage suction telescopic tube (8) to perform a telescopic action within the actual telescopic range of the telescopic tube at the first actual telescopic rate.

5. The automatic sewage suction boat based on ultrasonic ranging as claimed in claim 3 is characterized by: In the dynamic anti-blocking process, the control device (9) is further used to obtain a first actual power adjustment rate based on the second spacing distance, in combination with a preset negative pressure suction plate safety spacing distance and the first power adjustment rate; In the dynamic anti-blocking process, the control device (9) is used to control the negative pressure fan (81) to perform a reciprocating power adjustment action at the first actual power adjustment rate within the actual sewage suction power adjustment range of the negative pressure sewage suction disc.

6. The automatic sewage suction boat based on ultrasonic ranging as claimed in claim 2 is characterized in that: In the dynamic anti-blocking process, the control device (9) is further used to construct a first interval distance change curve based on each of the first interval distances within a preset first pool bottom monitoring cycle; In the dynamic anti-blocking process, the control device (9) is further used to obtain a first interval distance change rate based on the first interval distance change curve; In the dynamic anti-blocking process, the control device (9) is also used to issue an abnormal pool bottom dirt thickness alarm when the first interval distance change rate is greater than a preset first interval distance change rate threshold.

7. The automatic sewage suction boat based on ultrasonic ranging as claimed in claim 6 is characterized by: In the dynamic anti-blocking process, the control device (9) is further used to replace the value of the standard telescopic range of the telescopic tube based on the value of the preset shortened standard telescopic range of the telescopic tube within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold; In the dynamic anti-blocking process, the control device (9) is further configured to replace the value of the first telescopic rate with the value of the preset slowed version of the first telescopic rate within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold; The value of the standard telescopic range of the shortened telescopic tube is smaller than the value of the standard telescopic range of the telescopic tube; The value of the slowed-down version of the first expansion and contraction rate is smaller than the value of the first expansion and contraction rate.

8. The automatic sewage suction boat based on ultrasonic ranging as claimed in claim 6 is characterized by: The automatic sewage suction telescopic tube (8) is provided with a negative pressure monitoring device (82) inside; The control device (9) is signal-connected to the negative pressure monitoring device (82); The control device (9) is provided with a table of correspondence between the actual suction power of the negative pressure suction disk and the negative pressure in the pipe, and a numerical range of theoretical negative pressure in the automatic suction telescopic pipe (8) corresponding to the actual suction power of the negative pressure suction disk; In the dynamic anti-blocking process, the control device (9) is also used to receive the real-time negative pressure in the pipe monitored by the negative pressure monitoring device (82), and obtain the actual suction power of the negative pressure suction plate of the negative pressure fan (81); In the dynamic anti-blocking process, if the real-time negative pressure in the pipe is less than the minimum value of the theoretical negative pressure value range in the pipe corresponding to the actual suction power of the negative pressure suction disc, it is determined that the automatic suction telescopic pipe (8) is blocked; In the dynamic anti-blocking process, the control device (9) is used to temporarily increase or temporarily decrease the actual sewage suction power of the negative pressure sewage suction disc within a preset blocking adjustment time, at a preset blocking power adjustment frequency, at a preset blocking special power increase amplitude and a blocking special power reduction amplitude; In the dynamic anti-blocking process, the control device (9) is used to temporarily extend or temporarily shorten the sewage suction automatic telescopic pipe (8) within a preset blocking adjustment time, at a preset blocking length adjustment frequency, and at a preset blocking special length extension amplitude and a blocking special length shortening amplitude; The automatic sewage suction telescopic pipe (8) is provided with a pipe wall vibration device (83) inside; The control device (9) is signal-connected to the pipe wall vibration device (83); In the dynamic anti-blocking process, the control device (9) is used to control the pipe wall vibration device (83) to vibrate the sewage suction automatic telescopic pipe (8) at a preset first pipe wall vibration frequency within a preset blockage adjustment time.

9. The automatic sewage suction boat based on ultrasonic ranging as claimed in claim 6, characterized in that: The automatic sewage suction telescopic tube (8) is provided with a negative pressure monitoring device (82) inside; The control device (9) is signal-connected to the negative pressure monitoring device (82); The control device (9) is provided with a table of correspondence between the actual suction power of the negative pressure suction disk and the negative pressure in the pipe, and a numerical range of theoretical negative pressure in the automatic suction telescopic pipe (8) corresponding to the actual suction power of the negative pressure suction disk; In the dynamic anti-blocking process, the control device (9) is also used to receive the real-time negative pressure in the pipe monitored by the negative pressure monitoring device (82), and obtain the actual suction power of the negative pressure suction plate of the negative pressure fan (81); In the dynamic anti-blocking process, if the real-time negative pressure in the pipe is less than the minimum value of the theoretical negative pressure value range in the pipe corresponding to the actual suction power of the negative pressure suction disc, it is determined that the automatic suction telescopic pipe (8) is blocked; In the dynamic anti-blocking process, the control device (9) is used to control the negative pressure fan (81) to work in reverse at a preset standard negative pressure suction plate sewage discharge power within a preset blockage adjustment time, and to temporarily increase or temporarily decrease the standard negative pressure suction plate sewage discharge power at a preset blockage power adjustment frequency, a preset blockage-specific power increase amplitude, and a blockage-specific power decrease amplitude; In the dynamic anti-blocking process, the control device (9) is used to temporarily extend or temporarily shorten the sewage suction automatic telescopic pipe (8) within a preset blocking adjustment time, at a preset blocking length adjustment frequency, and at a preset blocking special length extension amplitude and a blocking special length shortening amplitude; The automatic sewage suction telescopic pipe (8) is provided with a pipe wall vibration device (83) inside; The control device (9) is signal-connected to the pipe wall vibration device (83); In the dynamic anti-blocking process, the control device (9) is used to control the pipe wall vibration device (83) to vibrate the sewage suction automatic telescopic pipe (8) at a preset first pipe wall vibration frequency within a preset blockage adjustment time.

10. The automatic sewage suction boat based on ultrasonic ranging as claimed in claim 1, characterized in that: The inner wall of the top surface of the waste collection bin (2) is provided with a waste thickness ultrasonic detection device (21); The dirt thickness ultrasonic detection device (21) is signal-connected to the control device (9); The control device (9) is used to control the dirt thickness ultrasonic detection device (21) to monitor the dirt thickness at the bottom of the dirt collection bin (2) to obtain the real-time dirt thickness in the collection bin; The control device (9) is further used to obtain a corresponding adjusted collection bin cleaning cycle based on the real-time thickness of the dirt in the collection bin, in combination with a preset collection bin dirt thickness threshold and a corresponding collection bin cleaning cycle; The control device (9) is also used to issue a collection bin cleaning date reminder based on the last collection bin cleaning date and in combination with the corresponding collection bin cleaning adjusted cycle; The control device (9) is also used to count the real-time thickness of the dirt in the collection bin, obtain a real-time thickness variation curve of the dirt in the collection bin, and further obtain the real-time thickness variation acceleration of the dirt in the collection bin; The control device (9) is also used to issue a reminder of abnormal accumulation of waste in the collection bin when the value of the acceleration of the real-time thickness change of waste in the collection bin is greater than a preset threshold value of the acceleration of the real-time thickness change of waste in the collection bin.

Images