Non-humanoid robot system for purifying and disinfecting drinking water

Abstract

The invention discloses a drinking water purification and disinfection non-humanoid robot system, which relates to the technical field of drinking water treatment, and comprises: a siphon water production module for pumping raw water into a membrane pool through a raw water pump, converting the raw water into purified water from the outside of ultrafiltration membrane filaments to the inside of the membrane filaments, flowing the purified water to a water production pipe through a water collection pipe, and conveying the purified water to a clean water pool through the water production pipe; the self-adaptive cleaning module is used for triggering gas washing operation when the membrane running flux is lower than a preset gas washing low threshold value, and triggering water washing operation under the condition that the gas washing operation cannot recover the membrane running flux to normal flux; the cleaning optimization module is used for calculating a membrane operation flux change rate and a stability coefficient in a gas washing period, constructing a membrane operation flux model based on a linear regression model, setting a minimum objective function and a constraint condition, determining an optimal gas washing time length and period by utilizing a genetic optimization algorithm, triggering gas washing when the optimal period is reached, and completing gas washing. Automatic cleaning and optimal maintenance of the membrane are realized, and the stability and the operation efficiency of the system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drinking water treatment, in particular to a non-humanoid robot system for purifying and disinfecting drinking water. Background Art

[0002] In the field of drinking water treatment, ensuring the safety and cleanliness of water quality is of vital importance. The traditional drinking water purification and disinfection process often relies on manual operation and large-scale mechanical equipment, which is not only inefficient, but also difficult to achieve real-time monitoring and precise control of water quality and purification process. With the advancement of science and technology and the development of automation technology, people have higher and higher requirements for drinking water purification and disinfection systems, hoping to achieve a more efficient, smarter and more energy-saving purification and disinfection process.

[0003] However, existing drinking water purification and disinfection technologies have many shortcomings. For example, some systems still rely on manual operation, which is not only time-consuming and labor-intensive, but also prone to operational errors due to human factors, affecting water quality safety. In addition, although some systems have achieved automation, the monitoring and control accuracy is not high enough, and they cannot reflect water quality changes and purification effects in real time, nor can they flexibly adjust purification and disinfection strategies according to water quality conditions.

[0004] In addition, the existing drinking water purification and disinfection systems also have certain problems in cleaning and maintenance. Since membrane technology is widely used in the drinking water purification process, the membrane is easily contaminated and blocked during operation, resulting in a decrease in flux and affecting the purification effect. Traditional cleaning methods often use high-pressure water washing or chemical cleaning, which not only easily damages the membrane structure and shortens the service life of the membrane, but also requires a large amount of water resources and chemicals, increasing operating costs and environmental burdens. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In view of the shortcomings of the prior art, the present invention provides a non-humanoid robot system for drinking water purification and disinfection, aiming to achieve a more efficient, intelligent and energy-saving drinking water purification and disinfection process, while solving the problems of membrane pollution and cleaning and maintenance. By adopting technical means such as siphon water production module, adaptive cleaning module and cleaning optimization module, the present invention can monitor water quality and purification effect in real time, flexibly adjust the purification and disinfection strategy according to the water quality, and realize automatic cleaning and optimized maintenance of the membrane, thereby improving the stability and operation efficiency of the system.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a non-humanoid robot system for purifying and disinfecting drinking water, comprising:

[0009] The siphon water production module pumps raw water into the membrane pool through the raw water pump, and realizes self-flowing water production through the siphon effect. The raw water flows from the outside of the ultrafiltration membrane to the inside of the membrane and is converted into clean water. It flows through the water collection pipe to the water production pipe, and the water production pipe transports the clean water to the clean water tank;

[0010] The adaptive cleaning module compares the membrane operating flux of the ultrafiltration membrane with a preset low threshold of air washing. When the membrane operating flux is lower than the preset low threshold of air washing, the air washing operation is triggered. When the air washing operation cannot restore the membrane operating flux to a normal flux, the water washing operation is triggered.

[0011] The cleaning optimization module collects historical operation data, calculates the membrane operation flux change rate and stability coefficient during the gas washing cycle, builds a membrane operation flux model based on the linear regression model, sets the minimum objective function and constraints, and uses the genetic optimization algorithm to determine the optimal gas washing duration and cycle, and triggers the gas washing when the optimal cycle is reached.

[0012] Furthermore, the hardware used in the siphon water production module includes at least: a raw water pump, a water inlet check valve, a water inlet solenoid valve, a membrane pool, a membrane pool liquid level pressure gauge, a membrane pool exhaust valve, a water production pipe pressure gauge, a water production pipe flow meter, a water production dosing port, a backwash water tank inlet, a water production pipe solenoid valve, a water production pipe sampling valve, a clean water tank, a clean water tank level gauge and a clean water tank pH sensor.

[0013] Furthermore, the specific process of siphoning water production includes the following steps:

[0014] Collect the membrane pool liquid level. When the membrane pool liquid level is lower than the preset membrane pool liquid level threshold, collect the raw water pool liquid level. When the raw water pool liquid level is higher than the preset raw water pool liquid level threshold, open the water inlet solenoid valve to allow raw water to enter the membrane pool. Pump the raw water out of the raw water pool through the raw water pump and transport it to the membrane pool.

[0015] When the liquid level in the membrane pool reaches a preset membrane pool liquid level threshold, the membrane pool exhaust valve is opened to exhaust the water collecting pipe; when the exhaust time reaches a preset exhaust time threshold, the membrane pool exhaust valve is closed;

[0016] After the exhaust is completed, open the water production pipe solenoid valve to allow the water to flow out. After water is produced, determine whether the backwash water tank is full of water through the real-time data of the backwash water tank liquid level. If the backwash water tank is not full of water, close the water production pipe solenoid valve and the chlorine dioxide dosing pump, open the backwash water tank inlet pipe solenoid valve, and replenish water to the backwash water tank until the backwash water tank is full of water. Close the backwash water tank inlet pipe solenoid valve and open the water production pipe solenoid valve.

[0017] Furthermore, the water is produced by self-flow through the siphon effect. The raw water flows from the outside of the ultrafiltration membrane to the inside of the membrane and is converted into clean water. The raw water flows to the water production pipe through the water collection pipe, and the water production flow meter data is recorded. The chlorine dioxide dosing pump is turned on to extract the chlorine dioxide agent from the medicine box and transport it to the water production pipe through the dosing pipe. During the water production process, the membrane pool is aerated according to the preset time period, and the water in the membrane pool is stirred to make the attachments attached to the membrane fibers fall off.

[0018] Monitor the liquid level of the clean water tank in real time. When the liquid level of the clean water tank is higher than the preset clean water tank level threshold, stop water production, close the water production pipe solenoid valve, raw water pump and chlorine dioxide dosing pump, clean the dosing pipe, and end the siphon water production process.

[0019] Further, the specific process of adaptive cleaning includes the following steps:

[0020] Collect the membrane operation flux data of the ultrafiltration membrane in real time, compare the collected membrane operation flux with the preset gas washing low threshold, and trigger the gas washing operation when the membrane operation flux is lower than the preset gas washing low threshold;

[0021] When the air washing operation is triggered, the raw water pump and the water production pipe solenoid valve are closed, and the fan is started to introduce compressed gas into the membrane pool to stir the water in the membrane pool and remove the attachments attached to the membrane fibers. During the air washing process, the membrane operation flux data is collected in real time. When the membrane operation flux reaches the normal flux, the air washing operation is terminated. When the air washing time is greater than the preset air washing time threshold, the membrane operation flux still has not reached the normal flux, and the water washing operation is triggered.

[0022] Furthermore, when the water washing operation is triggered, the backwash outlet valve of the backwash water tank is opened, the backwash pump is started, the chlorine dioxide dosing pump is turned on, chlorine dioxide agent is added to the backwash water, and the water in the backwash water tank is pressurized and then flushed from the inside of the membrane to the outside of the membrane;

[0023] Monitor the backwash water tank level gauge. When the liquid level in the backwash water tank reaches 0, turn off the backwash pump, backwash outlet valve and chlorine dioxide dosing pump, clean the dosing pipeline, end the water washing operation, turn off the fan, stop the explosion, open the drain valve, monitor the membrane pool level gauge. When the liquid level in the membrane pool reaches 0, close the drain valve.

[0024] Furthermore, historical operation data were collected, including the gas washing cycle, gas washing duration, and the rate of change of membrane operation flux during the gas washing cycle, to obtain the actual power consumption in different gas washing cycles. Calculate the stability coefficient of membrane flux in different gas washing cycles, where MSE represents the stability coefficient, n represents the number of membrane flux data in the gas washing cycle, and y i represents the measured value of the flux of the ith membrane during the gas washing cycle, It represents the average value of membrane operation flux data during the gas washing cycle.

[0025] Furthermore, based on the linear regression model, the gas washing duration and gas washing cycle were used as independent variables, and the membrane operation flux change rate during the gas washing cycle was used as the dependent variable to construct the membrane operation flux model: Y = β 0 +β 1 X 1 +β 2 X 2 +ε, where Y represents the rate of change of membrane flux during the air washing period, X 1 Indicates the duration of air washing, X 2 represents the air washing cycle, β 0 is the intercept term, β 1 , β 2 is the regression coefficient and ε is the error term.

[0026] Furthermore, the minimum objective function is set according to the formula min(α*MSE+β*APC), and the constraints are set: Among them, α and β represent weight coefficients, MSE represents stability coefficient, APC represents actual power consumption, and X 1 _min and X 1 _max represents the minimum and maximum value of the air washing time, X 2 _min and X 2 _max indicates the minimum and maximum value of the air washing cycle.

[0027] Furthermore, a genetic optimization algorithm is used to optimize the membrane operation flux model with the objective function and constraints as input to determine the optimal gas washing duration and the optimal gas washing cycle. When the membrane operation flux is not lower than the preset gas washing low threshold but reaches the optimal gas washing cycle, the gas washing operation is triggered.

[0028] (III) Beneficial effects

[0029] The present invention provides a non-humanoid robot system for purifying and disinfecting drinking water, which has the following beneficial effects:

[0030] (1) Impurities and microorganisms in the raw water are effectively retained by the filtration of ultrafiltration membranes. By integrating a variety of sensors and solenoid valves, water quality and liquid level parameters are monitored in real time, and the workflow is automatically adjusted according to preset thresholds and conditions, achieving a high degree of automation and intelligence, reducing manual intervention, and improving work efficiency. The siphon effect is used to achieve self-flowing water without the need for additional power support, thereby reducing energy consumption.

[0031] (2) By introducing high-pressure gas into the membrane pool instead of directly exploding gas from the inside of the membrane fibers, the risk of damage to the membrane fibers due to the impact of high-pressure gas is effectively avoided. This cleaning method can gently stir the water in the membrane pool, achieving the cleaning effect while ensuring the integrity and service life of the membrane fibers. The stirring effect of high-pressure gas in the membrane pool can more effectively remove impurities and contaminants attached to the membrane fibers. This cleaning method is more uniform and thorough than the traditional method of exploding gas from the inside of the membrane fibers, which helps to improve the cleaning efficiency and restore the normal flux of the membrane.

[0032] (3) When the air washing effect is insufficient, the water washing operation is started to avoid direct high-pressure flushing of the membrane filaments, thereby protecting the integrity and service life of the membrane filaments. By performing air washing first, the membrane flux can be restored in many cases and unnecessary water washing operations can be avoided, which not only saves water resources, but also reduces energy consumption and improves the resource utilization efficiency of the entire cleaning process.

[0033] (4) By collecting historical operating data and analyzing the changes in membrane operating flux during the air washing cycle, the downward trend of membrane performance can be discovered in a timely manner. Before the membrane operating flux is significantly reduced to the preset air washing low threshold, the air washing operation is triggered according to the optimal air washing cycle determined by the optimization algorithm, which effectively prevents membrane blockage and contamination, reduces unnecessary air washing and water washing operations, and reduces the consumption of disinfectants, water, and electricity. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the water production operation control flow of the equipment of the present invention;

[0035] Figure 2 This is a schematic diagram of the backwash operation control flow of the equipment of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of the non-humanoid robot system for purifying and disinfecting drinking water according to the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1-Figure 3 The present invention provides a non-humanoid robot system for purifying and disinfecting drinking water, including: a siphon water production module, an adaptive cleaning module and a cleaning optimization module; wherein,

[0039] The hardware used in the siphon water production module includes at least: raw water pump, water inlet check valve, water inlet solenoid valve, membrane pool, membrane pool liquid level pressure gauge, membrane pool exhaust valve, water production pipe pressure gauge, water production pipe flow meter, water production dosing port, backwash water tank water inlet, water production pipe solenoid valve, water production pipe sampling valve, clean water tank, clean water tank liquid level gauge and clean water tank pH sensor. The raw water is pumped into the membrane pool by the raw water pump, and the self-flowing water is produced by the siphon effect. The raw water flows from the outside of the ultrafiltration membrane to the inside of the membrane to be converted into clean water, and flows to the water production pipe through the water collection pipe. The water production pipe transports the clean water to the clean water tank;

[0040] Among them, the raw water pump is used to pump raw water from the raw water tank and transport it to the membrane tank;

[0041] The water inlet check valve is used to prevent water from flowing back to the raw water tank after the raw water pump stops running, ensuring the single direction of water flow;

[0042] The water inlet solenoid valve is used to prevent water backflow and close the water inlet solenoid valve during backwashing. It should be noted that the water inlet solenoid valve can be closed only after the raw water pump is turned off to prevent the pipeline from bursting due to excessive pressure in the pipeline;

[0043] Membrane pool, raw water enters the membrane pool and contacts the outer surface of the membrane fibers of the ultrafiltration membrane. The raw water is filtered by the ultrafiltration membrane, flows from the outside of the membrane fibers to the inside of the membrane fibers, and then flows to the water production pipe through the water collection pipe;

[0044] Membrane pool liquid level pressure gauge: used to record the liquid level of the membrane pool and the pressure inside the membrane pool;

[0045] Membrane pool exhaust valve: before water production, open the membrane pool exhaust valve to remove the air in the water collecting pipe to ensure the normal functioning of the siphon effect, thereby achieving full pipe water production;

[0046] Water production pipe pressure gauge, used to record the pressure in the water production pipe;

[0047] The water production pipe flow meter is a bidirectional flow meter used to record the flow values ​​during water production and backwashing;

[0048] During the water production process, chlorine dioxide disinfectant is added to the water production pipe through the water production dosing port. During backwashing, chlorine dioxide is added, but the dosage is usually more than that during water production;

[0049] At the water inlet of the backwash water tank, when the solenoid valve of the water production pipe is closed, water flows to the backwash water tank due to pressure. After the backwash water tank level gauge detects that the water tank is full, it notifies the control board to close the water inlet solenoid valve and open the solenoid valve of the water production pipe;

[0050] The water production pipe solenoid valve, when closed, allows water to flow to the backwash water tank. During the water production process, open the water production pipe solenoid valve to achieve formal water production;

[0051] The water pipe sampling valve is manually operated and is used to take samples from the water pipe for water quality testing;

[0052] Clean water tank, where the produced water eventually flows to for subsequent use;

[0053] Clean water tank level gauge, used to monitor the liquid level of the clean water tank;

[0054] Clean water tank pH sensor, used to monitor the pH value and water temperature of the clean water tank to ensure that the water quality meets the drinking water standards;

[0055] The specific process of siphon water production includes the following steps:

[0056] Step 101: collecting the membrane pool liquid level. When the membrane pool liquid level is lower than a preset membrane pool liquid level threshold, collecting the raw water pool liquid level. When the raw water pool liquid level is higher than the preset raw water pool liquid level threshold, opening the water inlet solenoid valve to allow raw water to enter the membrane pool. The raw water is pumped out of the raw water pool by a raw water pump and transported to the membrane pool.

[0057] It should be noted that the low threshold of the membrane pool liquid level is usually set above the lowest liquid level that can ensure the normal functioning of the siphon effect, so as to avoid siphon failure due to too low liquid level. The threshold of the raw water pool liquid level is set below the highest liquid level that can ensure sufficient raw water to supply the membrane pool, so as to prevent raw water overflow.

[0058] Step 102: When the liquid level in the membrane pool reaches a preset membrane pool liquid level threshold, the membrane pool exhaust valve is opened to exhaust the water collecting pipe to ensure the normal occurrence of the siphon effect. When the exhaust time reaches a preset exhaust time threshold, the membrane pool exhaust valve is closed;

[0059] It should be noted that the exhaust time threshold is set according to the amount of air in the water collecting pipe and the exhaust speed to ensure that the air in the water collecting pipe is completely exhausted, thereby ensuring the normal occurrence of the siphon effect. When the exhaust time reaches the preset exhaust time threshold, the membrane pool exhaust valve should be closed to prevent excessive water from flowing out of the exhaust valve, causing the membrane pool liquid level to drop too quickly;

[0060] Step 103: After the exhaust is completed, the water production pipe solenoid valve is opened to allow the water production to flow out. After the water is produced, the real-time data of the backwash water tank liquid level is used to determine whether the backwash water tank is full of water. If the backwash water tank is not full of water, the water production pipe solenoid valve and the chlorine dioxide dosing pump are closed (if the chlorine dioxide dosing pump is in the on state), and the backwash water tank inlet pipe solenoid valve is opened to replenish water to the backwash water tank until the backwash water tank is full of water, and the backwash water tank inlet pipe solenoid valve is closed, and the water production pipe solenoid valve is opened;

[0061] Step 104: realize self-flowing water production through siphon effect, raw water flows from the outside of the ultrafiltration membrane to the inside of the membrane to be converted into clean water, flows to the water production pipe through the water collection pipe, records the water production flow meter data, turns on the chlorine dioxide dosing pump, extracts the chlorine dioxide agent from the medicine box, and delivers it to the water production pipe through the dosing pipe to disinfect the clean water. During the water production process, gas is exploded into the membrane pool according to a preset time period, and the water in the membrane pool is stirred to make the attachments attached to the membrane fibers fall off, so as to increase the water production;

[0062] Step 105: Monitor the liquid level of the clean water tank in real time. When the liquid level of the clean water tank is higher than the preset clean water tank level threshold, stop water production, close the water production pipe solenoid valve, raw water pump and chlorine dioxide dosing pump, clean the dosing pipeline to prevent chemical residue, and end the siphon water production process.

[0063] It should be noted that the time period of the explosion should be set according to the actual situation. Usually, the accumulation speed of the attachments on the membrane fibers and the change of the water production need to be considered. The threshold of the clear water tank level is set according to the subsequent use needs. When the clear water tank level is higher than this threshold, it means that the clear water tank has stored enough water. At this time, water production can be stopped to avoid waste.

[0064] Through the filtering effect of the ultrafiltration membrane, impurities, microorganisms, etc. in the raw water are effectively intercepted. By integrating a variety of sensors and solenoid valves, parameters such as water quality and liquid level are monitored in real time, and the work process is automatically adjusted according to preset thresholds and conditions, achieving a high degree of automation and intelligence, reducing human intervention, and improving work efficiency. The siphon effect is used to achieve self-flowing water, without the need for additional power support, reducing energy consumption.

[0065] The adaptive cleaning module compares the membrane operating flux of the ultrafiltration membrane with a preset low threshold of air washing. When the membrane operating flux is lower than the preset low threshold of air washing, the air washing operation is triggered. When the air washing operation cannot restore the membrane operating flux to a normal flux, the water washing operation is triggered.

[0066] The specific process of adaptive cleaning includes the following steps:

[0067] Step 201: collecting membrane operation flux data of the ultrafiltration membrane in real time, presetting a low gas washing threshold, comparing the collected membrane operation flux with the preset low gas washing threshold, and triggering the gas washing operation when the membrane operation flux is lower than the preset low gas washing threshold;

[0068] It should be noted that the low threshold of gas washing is a value preset according to actual needs and operating experience, and is used to determine when the gas washing operation needs to be started to restore the membrane flux. The low threshold of gas washing is usually determined based on factors such as the initial flux of the membrane, operating time and water quality;

[0069] Step 202: When the air washing operation is triggered, the raw water pump and the solenoid valve of the water production pipe are closed, and the fan is started to introduce compressed gas into the membrane pool, so that the water in the membrane pool is stirred and the attachments attached to the membrane fibers are removed. During the air washing process, the membrane operation flux data is collected in real time. When the membrane operation flux reaches the normal flux, the air washing operation is terminated. When the air washing time is greater than the preset air washing time threshold, the membrane operation flux still does not reach the normal flux, and the water washing operation is triggered;

[0070] It should be noted that the normal flux refers to the flux level that the membrane can achieve in a clean state, and the air washing time threshold is a preset time limit used to determine when the water washing operation needs to be started when the air washing operation cannot restore the membrane operating flux to the normal flux. The normal flux and air washing time thresholds are determined based on historical data and operating experience;

[0071] Step 203: When the water washing operation is triggered, the backwash outlet valve of the backwash water tank is opened, the backwash pump is started, and at the same time, the chlorine dioxide dosing pump is turned on to add chlorine dioxide agent to the backwash water. After the water in the backwash water tank is pressurized, it is flushed from the inside of the membrane to the outside of the membrane to remove the blockage;

[0072] Step 204: monitor the backwash tank level gauge. When the liquid level gauge value of the backwash tank is 0, it indicates that there is no water in the backwash tank. Turn off the backwash pump, the backwash outlet valve and the chlorine dioxide dosing pump, clean the dosing pipeline, end the water washing operation, turn off the fan, stop the explosion, open the drain valve, monitor the membrane pool level gauge. When the liquid level gauge value of the membrane pool is 0, it indicates that the sewage in the membrane pool has been completely discharged. Close the drain valve.

[0073] It should be noted that during the dosing process, the instructions for use and safe operating procedures of the chemicals should be strictly followed, and the operating status of equipment such as dosing pumps, dosing pipelines and chlorine dioxide containers should be checked regularly to ensure their normal operation. The dosage and dosing frequency should be adjusted in a timely manner according to changes in water quality and the actual situation of membrane operation flux.

[0074] By real-time monitoring of the membrane operating flux of the ultrafiltration membrane and comparing it with the preset air washing low threshold, the decline in membrane performance can be detected in time and the air washing or water washing operation can be automatically triggered, which helps to remove attachments attached to the membrane fibers in time and prevent clogging of the membrane pores, thereby maintaining the membrane's efficient filtration performance.

[0075] By introducing high-pressure gas into the membrane pool instead of directly exploding gas from the inside of the membrane filaments, the risk of damage to the membrane filaments due to the impact of high-pressure gas is effectively avoided. This cleaning method can gently stir the water in the membrane pool to achieve the cleaning effect while ensuring the integrity and service life of the membrane filaments. The stirring effect of high-pressure gas in the membrane pool can more effectively remove impurities and contaminants attached to the membrane filaments. This cleaning method is more uniform and thorough than the traditional method of exploding gas from the inside of the membrane filaments, which helps to improve the cleaning efficiency and restore the normal flux of the membrane.

[0076] When the air washing effect is insufficient, the water washing operation is started to avoid direct high-pressure flushing of the membrane filaments, thereby protecting the integrity and service life of the membrane filaments. By performing air washing first, the membrane flux can be restored in many cases and unnecessary water washing operations can be avoided, which not only saves water resources, but also reduces energy consumption and improves the resource utilization efficiency of the entire cleaning process.

[0077] Cleaning optimization module, which collects historical operation data, calculates the membrane operation flux change rate and stability coefficient during the gas washing cycle, builds a membrane operation flux model based on a linear regression model, sets the minimum objective function and constraints, and uses a genetic optimization algorithm to determine the optimal gas washing duration and cycle, and triggers gas washing when the optimal cycle is reached;

[0078] Step 301: collect historical operation data, including the gas washing cycle (i.e., the time interval between two gas washings), the gas washing duration, and the rate of change of the membrane operating flux in the gas washing cycle, and calculate the rate of change of the membrane operating flux in the gas washing cycle according to the formula ΔJ=(JN-J0) / T, wherein ΔJ represents the rate of change of the membrane operating flux in the gas washing cycle, J0 represents the membrane operating flux at the beginning of the gas washing cycle, JN represents the membrane operating flux at the end of the gas washing cycle, and T represents the gas washing duration;

[0079] Step 302: Obtain the actual power consumption in different air washing cycles, according to the formula Calculate the stability coefficient of membrane flux in different gas washing cycles, where MSE represents the stability coefficient, n represents the number of membrane flux data in the gas washing cycle, and y i represents the measured value of the flux of the ith membrane during the gas washing cycle, It represents the average value of membrane operation flux data during the gas washing period;

[0080] Step 303: Based on the linear regression model, the air washing duration and the air washing cycle are used as independent variables, and the membrane operation flux change rate during the air washing cycle is used as the dependent variable to construct a membrane operation flux model: Y = β 0 +β 1 X 1 +β 2 X 2 +ε, where Y represents the rate of change of membrane flux during the air washing period, X 1 Indicates the duration of air washing, X 2 represents the air washing cycle, β 0 is the intercept term, β 1 , β 2 is the regression coefficient, ε is the error term;

[0081] Step 304: Set the minimum objective function according to the formula min(α*MSE+β*APC) and set constraints: Among them, α and β represent weight coefficients, MSE represents stability coefficient, APC represents actual power consumption, and X 1 _min and X 1 _max represents the minimum and maximum value of the air washing time, X 2 _min and X 2 _max indicates the minimum and maximum value of the air washing cycle;

[0082] It should be noted that the weight coefficient is used to balance the relationship between stability and energy consumption, and is determined by expert judgment, historical data analysis or experimental methods. The maximum and minimum values ​​of the gas washing time and gas washing cycle are determined by the maximum and minimum values ​​in the historical data;

[0083] Step 305: using a genetic optimization algorithm, taking the objective function and the constraint conditions as input, optimizing the membrane operation flux model, determining the optimal gas washing duration and the optimal gas washing cycle, and triggering the gas washing operation when the membrane operation flux is not lower than the preset gas washing low threshold but reaches the optimal gas washing cycle;

[0084] By collecting historical operating data and analyzing the changes in membrane operating flux during the air washing cycle, the downward trend of membrane performance can be discovered in a timely manner. Before the membrane operating flux is significantly reduced to the preset air washing low threshold, the air washing operation is triggered according to the optimal air washing cycle determined by the optimization algorithm, which effectively prevents membrane blockage and contamination, reduces unnecessary air washing and water washing operations, and reduces the consumption of disinfectants, water and electricity.

[0085] In the application, the several formulas involved are all calculated by removing dimensions and taking their numerical values. The formula is a formula of the most recent real situation obtained by collecting a large amount of data and performing software simulation. The coefficients in the formula are set by technicians in this field according to actual conditions.

[0086] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented by software, the above embodiments may be implemented in whole or in part in the form of a computer program product. A person of ordinary skill in the art may appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein may be implemented in combination with electronic hardware, computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution.

[0087] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0088] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A non-humanoid robot system for drinking water purification and disinfection, characterized by: include: The siphon water production module pumps raw water into the membrane pool through the raw water pump, and realizes self-flowing water production through the siphon effect. The raw water flows from the outside of the ultrafiltration membrane to the inside of the membrane and is converted into clean water. It flows through the water collection pipe to the water production pipe, and the water production pipe transports the clean water to the clean water tank; The adaptive cleaning module compares the membrane operating flux of the ultrafiltration membrane with a preset low threshold of air washing. When the membrane operating flux is lower than the preset low threshold of air washing, the air washing operation is triggered. When the air washing operation cannot restore the membrane operating flux to a normal flux, the water washing operation is triggered. The cleaning optimization module collects historical operation data, calculates the membrane operation flux change rate and stability coefficient during the gas washing cycle, builds a membrane operation flux model based on the linear regression model, sets the minimum objective function and constraints, and uses the genetic optimization algorithm to determine the optimal gas washing duration and cycle, and triggers the gas washing when the optimal cycle is reached.

2. The non-humanoid robot system for purifying and disinfecting drinking water according to claim 1, characterized in that: The hardware used in the siphon water production module includes at least: raw water pump, water inlet check valve, water inlet solenoid valve, membrane pool, membrane pool liquid level pressure gauge, membrane pool exhaust valve, water production pipe pressure gauge, water production pipe flow meter, water production dosing port, backwash water tank inlet, water production pipe solenoid valve, water production pipe sampling valve, clean water tank, clean water tank level gauge and clean water tank pH sensor.

3. The non-humanoid robot system for purifying and disinfecting drinking water according to claim 2, characterized in that: The specific process of siphon water production includes the following steps: Collect the membrane pool liquid level. When the membrane pool liquid level is lower than the preset membrane pool liquid level threshold, collect the raw water pool liquid level. When the raw water pool liquid level is higher than the preset raw water pool liquid level threshold, open the water inlet solenoid valve to allow raw water to enter the membrane pool. Pump the raw water out of the raw water pool through the raw water pump and transport it to the membrane pool. When the liquid level in the membrane pool reaches a preset membrane pool liquid level threshold, the membrane pool exhaust valve is opened to exhaust the water collecting pipe; when the exhaust time reaches a preset exhaust time threshold, the membrane pool exhaust valve is closed; After the exhaust is completed, open the water production pipe solenoid valve to allow the water to flow out. After water is produced, determine whether the backwash water tank is full of water through the real-time data of the backwash water tank liquid level. If the backwash water tank is not full of water, close the water production pipe solenoid valve and the chlorine dioxide dosing pump, open the backwash water tank inlet pipe solenoid valve, and replenish water to the backwash water tank until the backwash water tank is full of water. Close the backwash water tank inlet pipe solenoid valve and open the water production pipe solenoid valve.

4. The non-humanoid robot system for purifying and disinfecting drinking water according to claim 3, characterized in that: The water is produced by self-flow through the siphon effect. The raw water flows from the outside of the ultrafiltration membrane to the inside of the membrane and is converted into clean water. The raw water flows through the water collecting pipe to the water production pipe. The water production flow meter data is recorded. The chlorine dioxide dosing pump is turned on to extract the chlorine dioxide agent from the medicine box and transport it to the water production pipe through the dosing pipe. During the water production process, the membrane pool is aerated according to the preset time period to stir the water in the membrane pool to make the attachments attached to the membrane fibers fall off. Monitor the liquid level of the clean water tank in real time. When the liquid level of the clean water tank is higher than the preset clean water tank level threshold, stop water production, close the water production pipe solenoid valve, raw water pump and chlorine dioxide dosing pump, clean the dosing pipe, and end the siphon water production process.

5. The non-humanoid robot system for purifying and disinfecting drinking water according to claim 1, characterized in that: The specific process of adaptive cleaning includes the following steps: Collect the membrane operation flux data of the ultrafiltration membrane in real time, compare the collected membrane operation flux with the preset gas washing low threshold, and trigger the gas washing operation when the membrane operation flux is lower than the preset gas washing low threshold; When the air washing operation is triggered, the raw water pump and the water production pipe solenoid valve are closed, and the fan is started to introduce compressed gas into the membrane pool to stir the water in the membrane pool and remove the attachments attached to the membrane fibers. During the air washing process, the membrane operation flux data is collected in real time. When the membrane operation flux reaches the normal flux, the air washing operation is terminated. When the air washing time is greater than the preset air washing time threshold, the membrane operation flux still has not reached the normal flux, and the water washing operation is triggered.

6. The non-humanoid robot system for purifying and disinfecting drinking water according to claim 5, characterized in that: When the water washing operation is triggered, the backwash outlet valve of the backwash water tank is opened, the backwash pump is started, the chlorine dioxide dosing pump is turned on, and chlorine dioxide agent is added to the backwash water. After the water in the backwash water tank is pressurized, it is flushed from the inside of the membrane to the outside of the membrane. Monitor the backwash water tank level gauge. When the liquid level in the backwash water tank reaches 0, turn off the backwash pump, backwash outlet valve and chlorine dioxide dosing pump, clean the dosing pipeline, end the water washing operation, turn off the fan, stop the explosion, open the drain valve, monitor the membrane pool level gauge. When the liquid level in the membrane pool reaches 0, close the drain valve.

7. The non-humanoid robot system for purifying and disinfecting drinking water according to claim 1, characterized in that: Collect historical operation data, including the gas washing cycle, gas washing duration, and the rate of change of membrane operation flux during the gas washing cycle, and obtain the actual power consumption in different gas washing cycles. Calculate the stability coefficient of membrane flux in different gas washing cycles, where MSE represents the stability coefficient, n represents the number of membrane flux data in the gas washing cycle, and y i represents the measured value of the flux of the ith membrane during the gas washing cycle, It represents the average value of membrane operation flux data during the gas washing cycle.

8. The non-humanoid robot system for purifying and disinfecting drinking water according to claim 7, characterized in that: Based on the linear regression model, the gas washing duration and gas washing cycle were taken as independent variables, and the membrane operation flux change rate within the gas washing cycle was taken as the dependent variable to construct the membrane operation flux model: Y = β0 + β1X1 + β2X2 + ε, where Y represents the membrane operation flux change rate within the gas washing cycle, X1 represents the gas washing duration, X2 represents the gas washing cycle, β0 is the intercept term, β1 and β2 are regression coefficients, and ε is the error term.

9. The non-humanoid robot system for purifying and disinfecting drinking water according to claim 8, characterized in that: Set the minimum objective function according to the formula min(α*MSE+β*APC) and set the constraints: Among them, α and β represent weight coefficients, MSE represents stability coefficient, APC represents actual power consumption, X1_min and X1_max represent minimum and maximum values ​​of air washing duration, and X2_min and X2_max represent minimum and maximum values ​​of air washing cycle.

10. The non-humanoid robot system for purifying and disinfecting drinking water according to claim 9, characterized in that: Using the genetic optimization algorithm, the objective function and constraints are used as input to optimize the membrane operation flux model and determine the optimal gas washing duration and the optimal gas washing cycle. When the membrane operation flux is not lower than the preset gas washing low threshold but reaches the optimal gas washing cycle, the gas washing operation is triggered.

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