Water quality parameter detection method and system based on micro-motion three-dimensional space scanning

Abstract

The invention relates to the technical field of sewage treatment water quality detection, and discloses a water quality parameter detection method and system based on micro-motion three-dimensional space scanning, which optimizes and solves a sewage treatment distribution strategy and a water quality parameter detection strategy by constructing a constraint condition set determined by sewage treatment demand and state attribute information and constructing an optimization target. Therefore, sewage conveying control and water quality parameter detection control are executed. The water quality parameter detection equipment based on micro-motion three-dimensional space scanning is arranged, the axial motion control assembly is used for controlling the laser scanning assembly to achieve layer-by-layer scanning of the three-dimensional space of the sewage pool, and comprehensive optical water quality detection can be conducted on the whole water quality detection space area; different sewage treatment requirements of a plurality of sewage discharge main bodies and state attribute information of each piece of water quality parameter detection equipment are considered, the laser scanning speed during detection execution is controlled, and the treatment efficiency and the water quality detection accuracy are improved as much as possible while the influence caused by vortex disturbance is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of sewage treatment water quality detection, and particularly to a water quality parameter detection method and system based on three-dimensional space scanning of micro-movement. Background Art

[0002] In the field of sewage treatment, most water plants still adopt a control strategy based on the influent water flow, and combine manual observation of the floc form and the turbidity at the outlet of the sedimentation tank to evaluate the dosing effect, mainly relying on the flow ratio to control the dosing amount of the coagulant. However, this method cannot achieve precise control and real-time monitoring of water quality. For a fixed-programmed flow ratio automatic control system, its test results only reflect the water quality condition at the sampling moment, and the determined coagulant dosage has discontinuity and hysteresis, making it difficult to achieve optimization and precise control.

[0003] The coagulation effect has a decisive impact on the subsequent process control. Achieving effective coagulant dosing control can minimize the consumption of chemicals and improve the effluent water quality on the basis of ensuring the optimal dosing amount. However, as the core link of water treatment, coagulant dosing has always been a major challenge in the water production field due to its inherent large lag and non-linear characteristics. Traditional control methods, such as the mathematical model method, the flowing current method, the simulated filter tank method, etc., have not been widely used due to their respective defects and insufficient reliability.

[0004] Currently, the method of using underwater shooting devices and underwater optical detection devices to detect underwater turbidity, UVCOD, and floc characteristics in sewage tanks has gradually become popular in this industry due to its advantage of solving hysteresis. However, in actual applications, this method still has many defects. Specifically, the underwater shooting device has high requirements for the clarity of the image itself and the image processing ability of the device, and its use effect in actual applications is not good. The underwater optical detection device usually adopts a single-point fixed detection method, with limited storage space, and can only collect and analyze local data, making it difficult to capture the three-dimensional space turbidity gradient changes caused by the sedimentation of suspended particles, turbulent disturbance, or pollutant diffusion in the water body. Although dynamically adjusting the position of the underwater optical detection device can solve the above problems to a certain extent, in some scenarios, the movement of the underwater optical detection device will cause additional vortex disturbances in the sewage tank, affecting the accuracy of optical water quality detection, and it is very difficult in the actual dynamic adjustment process.

[0005] Therefore, how to achieve comprehensive detection of the water quality of the sewage tank into which the coagulant is put during the sewage treatment process, while reducing the impact of vortex disturbance and improving the treatment efficiency and water quality detection accuracy of the sewage treatment tasks for multiple sewage discharge entities as much as possible, is a technical problem that urgently needs to be solved. Summary of the Invention

[0006] The main object of the present invention is to provide a water quality parameter detection method and system based on three-dimensional space scanning of micro-movements, aiming to solve at least one of the above technical problems.

[0007] To achieve the above object, the present invention provides a water quality parameter detection method based on three-dimensional space scanning of micro-movements, including the following steps: Obtain historical sewage treatment information, and use a sewage treatment prediction model to predict the sewage treatment requests of each pollutant discharging entity during the target period, and generate sewage treatment tasks; Based on the sewage treatment requests in the sewage treatment tasks, determine the sewage treatment volume and the detection frequency requirement per unit volume of sewage for each pollutant discharging entity during each treatment cycle in the target period; Invoke several water quality parameter detection devices from the water quality parameter detection device resources; wherein, each water quality parameter detection device is configured with a laser scanning component and an axial movement control component, and the axial movement control component is configured to drive the laser scanning component to perform three-dimensional space axial micro-movements, and the laser scanning component is configured to perform three-dimensional space layer-by-layer scanning on the water quality detection spatial area of the sewage tank when performing three-dimensional space axial micro-movements; Extract the status attribute information of each water quality parameter detection device in the water quality parameter detection device resources; wherein, the status attribute information includes the idle period of each water quality parameter detection device, the laser scanning movement speed range, and the three-dimensional axial scanning distance information of the sewage tank to which the water quality parameter detection device belongs; Construct a constraint condition set with the sewage treatment volume and the detection frequency requirement per unit volume of sewage for each pollutant discharging entity during each treatment cycle in the target period, consider the idle period, the laser scanning movement speed range, and the total three-dimensional axial scanning distance information of the sewage tank to which each water quality parameter detection device belongs, construct an optimization objective with the minimum overall degree of scanning disturbance during the water quality detection process, and use an optimization algorithm to allocate the sewage treatment tasks of each pollutant discharging entity during each treatment cycle in the target period to the corresponding water quality parameter detection devices, and optimize and solve to obtain the sewage treatment allocation strategy and water quality parameter detection strategy for the sewage treatment tasks; Based on the sewage treatment allocation strategy and the water quality parameter detection strategy, respectively execute sewage transportation control and water quality parameter detection control to obtain the water quality parameter detection results of the sewage treatment tasks.

[0008] Optionally, the step of obtaining historical sewage treatment information and using a sewage treatment prediction model to predict the sewage treatment requests of each pollutant discharging entity during the target period and generate sewage treatment tasks specifically includes: Obtain the sewage treatment training samples composed of the sewage treatment volume and the sewage water quality grade in the historical sewage treatment information of each pollutant discharging entity in each historical detection period, and use the sewage treatment training samples to train the constructed initial convolutional neural network to obtain a sewage treatment prediction model; Predict the sewage treatment requests of each corresponding sewage discharge entity during the target period using the sewage treatment prediction model of each sewage discharge entity, and generate sewage treatment tasks.

[0009] Optionally, based on the sewage treatment requests in the sewage treatment tasks, the steps of determining the sewage treatment volume and the unit volume sewage detection frequency requirements of each sewage discharge entity in each treatment cycle during the target period specifically include: Extract the sewage treatment volume change curve and the sewage water quality grade change curve of each sewage treatment request during the target period, divide the target period according to each treatment cycle, and obtain the sewage treatment volume and the sewage water quality grade of each sewage discharge entity in each treatment cycle during the target period; Based on the sewage water quality grade, match the unit volume sewage detection frequency requirements of each sewage discharge entity in each treatment cycle during the target period in the pre-defined mapping relationship comparison table between different sewage water quality grades and unit volume sewage detection frequencies.

[0010] Optionally, the laser scanning assembly includes laser scanning groups composed of a laser emitter and a laser detector, with the scanning directions respectively arranged along the three axes of the three-dimensional space of the sewage tank; Among them, the laser emitter is configured to emit a laser beam into the three-dimensional space of the sewage tank, and the laser detector is configured to receive the laser beam after scattering, reflection and absorption in the three-dimensional space of the sewage tank, and perform parameter detection on the water quality of the water quality detection space area in the three-dimensional space of the sewage tank according to the characteristic parameters of the received laser beam; Among them, the characteristic parameters include the intensity, angle and absorbance of the laser beam, and the parameter detection includes turbidity detection, UV-COD detection and floc detection.

[0011] Optionally, the axial movement control assembly includes a driving assembly that controls each laser scanning group to perform three-dimensional space axial micro-movements along the three axes of the three-dimensional space of the sewage tank in the non-scanning direction; Among them, the driving assembly includes a first driving device that controls each laser scanning group to move in the first direction and a second driving device that moves in the second direction. The first direction and the second direction are any one of the three axes of the three-dimensional space of the sewage tank in the non-scanning direction, and the first driving device and the second driving device are any one of a belt driving device or a chain driving device; Among them, the driving assembly is configured to use each driving assembly to drive the laser scanning group to perform micro-movements in the non-scanning direction along the three axes of the three-dimensional space of the sewage tank, so as to perform three-dimensional space layer-by-layer scanning on the water quality detection space area of the sewage tank when performing three-dimensional space axial micro-movements.

[0012] Optionally, the step of extracting the status attribute information of each water quality parameter detection device from the water quality parameter detection device resources specifically includes: Access the water quality parameter detection device status database, and extract the idle period, laser scanning movement speed range of each water quality parameter detection device, and the three-dimensional axial total scanning distance information of the sewage tank to which the water quality parameter detection device belongs; Perform a time period overlap judgment on the idle period and the target period, and output the three-dimensional axial total scanning distance information of the sewage tank to which each water quality parameter detection device corresponding to the idle period with time period overlap belongs and the idle period as the status attribute information.

[0013] Optionally, construct a constraint condition set based on the sewage treatment volume and the unit volume sewage detection frequency requirement of each sewage discharge entity in each treatment cycle during the target period, consider the idle period, laser scanning movement speed range of each water quality parameter detection device, and the three-dimensional axial total scanning distance information of the sewage tank to which it belongs, construct an optimization objective with the minimum overall degree of scanning disturbance during the water quality detection process, and use an optimization algorithm to allocate the sewage treatment tasks of each sewage discharge entity in each treatment cycle during the target period to the corresponding water quality parameter detection devices. The steps of optimizing and solving to obtain the sewage treatment allocation strategy and water quality parameter detection strategy for the sewage treatment task specifically include: Calculate the number of water quality detections calculated from the sewage treatment volume and the unit volume sewage detection frequency requirement when each water quality parameter detection device performs water quality detection for each sewage discharge entity in each treatment cycle, and determine the three-dimensional axial total scanning distance according to the product of the number of water quality detections and the three-dimensional axial total scanning distance information of the sewage tank to which the water quality parameter detection device belongs. After allocating the sewage treatment tasks of each sewage discharge entity in each treatment cycle during the target period to the corresponding water quality parameter detection devices, the first constraint condition is that the water quality parameter detection device allocated to each sewage discharge entity in the corresponding treatment cycle is in the idle period during this treatment cycle, and the minimum laser scanning movement speed of the current treatment cycle determined by the three-dimensional axial total scanning distance and the treatment cycle duration when each water quality parameter detection device performs water quality detection for the corresponding sewage discharge entity in the corresponding treatment cycle falls within the laser scanning movement speed range as the first constraint condition. Taking the minimum laser scanning movement speed determined when each water quality parameter detection device performs water quality detection for the corresponding sewage discharge entity in the corresponding treatment cycle as the weight factor, the weighted sum of the minimum laser scanning movement speed and the sewage treatment volume of this treatment cycle is minimized as the optimization objective of the minimum overall degree of scanning disturbance, and optimize and solve the allocation of the sewage treatment tasks of each sewage discharge entity in each treatment cycle during the target period to the corresponding water quality parameter detection devices and the minimum laser scanning movement speed of each water quality detection device in each treatment cycle; The sewage treatment allocation strategy is generated by allocating the sewage treatment tasks of each sewage discharge entity in each treatment cycle within the target period to the corresponding water quality parameter detection devices; the water quality parameter detection strategy is generated according to the minimum laser scanning movement speed of each water quality detection device in each treatment cycle.

[0014] Optionally, a sewage transportation control step is executed, which specifically includes: sending the sewage treatment allocation strategy to the sewage transportation controller, and driving the sewage transportation controller to control the sewage transportation pipeline to transport the sewage to be treated by each sewage discharge entity in each treatment cycle within the target period to the corresponding sewage tank.

[0015] Optionally, a water quality parameter detection control step is executed, which specifically includes: sending the water quality parameter detection strategy to the water quality parameter detection controller, and driving the water quality parameter detection controller to control the laser scanning component and the axial movement control component of each water quality parameter detection device to perform a three-dimensional space layer-by-layer scanning action in each treatment cycle within the target period, and obtaining the water quality parameter detection result.

[0016] In addition, to achieve the above object, the present invention also provides a water quality parameter detection system based on three-dimensional space scanning with micro-movement, including: A plurality of water quality parameter detection devices; And an automatic control terminal for executing the water quality parameter detection method based on three-dimensional space scanning with micro-movement as described in any one of the above; Wherein, each water quality parameter detection device is configured with a laser scanning component and an axial movement control component, the axial movement control component is configured to drive the laser scanning component to perform three-dimensional space axial micro-movement, and the laser scanning component is configured to perform three-dimensional space layer-by-layer scanning on the water quality detection space area of the sewage tank when performing three-dimensional space axial micro-movement.

[0017] The beneficial effects of the present invention are as follows: A water quality parameter detection method and system based on three-dimensional space scanning with micro-movement are proposed. By setting up water quality parameter detection devices based on three-dimensional space scanning with micro-movement, and using the axial movement control component to control the laser scanning component to achieve layer-by-layer scanning of the three-dimensional space of the sewage tank, it is possible to perform comprehensive optical water quality detection on the entire water quality detection space area. At the same time, considering the different sewage treatment requirements of multiple sewage discharge entities and the status attribute information of each water quality parameter detection device, by controlling the scanning speed of the laser scanning component and the axial movement control component during detection, while reducing the influence brought by vortex disturbance, the processing efficiency and water quality detection accuracy of the sewage treatment tasks for multiple sewage discharge entities are improved as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flowchart of the water quality parameter detection method based on three-dimensional space scanning with micro-movement of the present invention; Figure 2 Structural schematic diagram of the laser scanning device for performing water quality parameter detection according to the present invention; Figure 3 Structural diagram of the water quality parameter detection system based on micro-motion three-dimensional space scanning according to the present invention.

[0019] Explanation of reference numerals: 1 - conveyor belt, 2 - conveyor belt gear, 3 - sliding platform, 4 - chute platform, 5 - laser emitter, 6 - waterproof motor, 7 - side plate fixing bracket, 8 - circular steel pipe, 9 - rotating shaft, 10 - laser receiver, 11 - drive chain, 12 - reducer device, and 13 - fixed frame.

[0020] 100 - water quality parameter detection equipment; 200 - water quality parameter detection controller; 300 - automatic control terminal; 400 - sewage transportation controller. Specific implementation manner

[0021] In order to make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] An embodiment of the present invention provides a water quality parameter detection method based on micro-motion three-dimensional space scanning. Refer to Figure 1 , Figure 1 which is a flowchart of an embodiment of the water quality parameter detection method based on micro-motion three-dimensional space scanning according to the present invention.

[0023] In this embodiment, a water quality parameter detection method based on micro-motion three-dimensional space scanning includes the following steps: S100: Obtain historical sewage treatment information, use a sewage treatment prediction model to predict the sewage treatment requests of each pollutant discharging entity during the target period, and generate sewage treatment tasks; S200: Based on the sewage treatment requests in the sewage treatment tasks, determine the sewage treatment volume and the unit volume sewage detection frequency requirements of each pollutant discharging entity during each treatment cycle in the target period; S300: Invoke a number of water quality parameter detection devices in the water quality parameter detection device resources; wherein, each water quality parameter detection device is configured with a laser scanning component and an axial motion control component, and the axial motion control component is configured to drive the laser scanning component to perform three-dimensional space axial micro-motions, and the laser scanning component is configured to perform three-dimensional space layer-by-layer scanning on the water quality detection spatial area of the sewage tank when performing three-dimensional space axial micro-motions; S400: Extract the status attribute information of each water quality parameter detection device from the water quality parameter detection device resources; wherein, the status attribute information includes the idle period of each water quality parameter detection device, the laser scanning movement speed range, and the three-dimensional axial scanning distance information of the sewage tank to which the water quality parameter detection device belongs; S500: Construct a constraint condition set based on the sewage treatment volume and the unit volume sewage detection frequency requirement of each sewage discharge entity in each treatment cycle during the target period, considering the idle period of each water quality parameter detection device, the laser scanning movement speed range, and the total three-dimensional axial scanning distance information of the sewage tank to which it belongs. With the goal of minimizing the overall degree of scanning disturbance during the water quality detection process, use an optimization algorithm to allocate the sewage treatment tasks of each sewage discharge entity in each treatment cycle during the target period to the corresponding water quality parameter detection devices, and optimize and solve to obtain the sewage treatment allocation strategy and water quality parameter detection strategy for the sewage treatment tasks; S600: Based on the sewage treatment allocation strategy and the water quality parameter detection strategy, respectively execute sewage transportation control and water quality parameter detection control to obtain the water quality parameter detection results of the sewage treatment tasks.

[0024] It should be noted that currently, the method of using underwater shooting devices and underwater optical detection devices to detect underwater turbidity, UVCOD, and floc characteristics in sewage tanks has gradually become popular in this industry due to its ability to solve the problem of lag. However, in actual applications, this method still has many defects. Specifically, underwater shooting devices have high requirements for the clarity of the image itself and the image processing ability of the device, and the use effect in actual applications is not good. While underwater optical detection devices usually adopt the method of single-point fixed detection, with limitations in storage space, they can only collect and analyze local data, and it is difficult to capture the three-dimensional space turbidity gradient changes in the water body caused by the settlement of suspended particles, turbulent disturbances, or the diffusion of pollutants. Although dynamically adjusting the position of the underwater optical detection device can solve the above problems to a certain extent, in some scenarios, the movement of the underwater optical detection device will cause additional vortex disturbances in the sewage tank, affecting the accuracy of optical water quality detection, and it is difficult in the actual dynamic adjustment process.

[0025] To solve the above problems, in this embodiment, by setting up a water quality parameter detection device based on three-dimensional space scanning with micro-movement, using the axial movement control component to control the laser scanning component to achieve layer-by-layer scanning of the three-dimensional space of the sewage tank, it is possible to perform comprehensive optical water quality detection on the entire water quality detection spatial area. At the same time, considering the different sewage treatment requirements of multiple sewage discharge entities and the status attribute information of each water quality parameter detection device, by controlling the scanning speed of the laser scanning component and the axial movement control component during detection, while reducing the impact of vortex disturbances, the processing efficiency and water quality detection accuracy of the sewage treatment tasks for multiple sewage discharge entities are improved as much as possible.

[0026] In a preferred embodiment, historical sewage treatment information is obtained, and a sewage treatment prediction model is used to predict the sewage treatment requests of each pollutant discharging entity during a target period, and the steps of generating a sewage treatment task specifically include: S110: Obtain a sewage treatment training sample composed of the sewage treatment volume and the sewage water quality grade in each historical detection period from the historical sewage treatment information of each pollutant discharging entity, and use the sewage treatment training sample to train the constructed initial convolutional neural network to obtain a sewage treatment prediction model; S120: Use the sewage treatment prediction model of each pollutant discharging entity to predict the sewage treatment requests of each corresponding pollutant discharging entity during the target period, and generate a sewage treatment task.

[0027] On this basis, based on the sewage treatment requests in the sewage treatment task, the steps of determining the sewage treatment volume and the unit volume sewage detection frequency requirement of each pollutant discharging entity in each treatment cycle during the target period specifically include: S210: Extract the sewage treatment volume change curve and the sewage water quality grade change curve of each sewage treatment request during the target period, divide the target period according to each treatment cycle, and obtain the sewage treatment volume and the sewage water quality grade of each pollutant discharging entity in each treatment cycle during the target period; S220: Based on the sewage water quality grade, match the unit volume sewage detection frequency requirement of each pollutant discharging entity in each treatment cycle during the target period in a pre-defined mapping relationship comparison table between different sewage water quality grades and the unit volume sewage detection frequency.

[0028] In this embodiment, first, by calling the historical sewage treatment information, the sewage treatment volume and the sewage water quality grade in each historical detection period are extracted as features to construct a sewage treatment training sample, and then the constructed initial convolutional neural network is trained until a preset number of training times or convergence is reached to obtain a final sewage treatment prediction model. Using this sewage treatment prediction model, the sewage treatment requests during the target period can be predicted to generate a sewage treatment task. Then, by dividing the time period according to the treatment cycle, the sewage treatment volume and the sewage water quality grade of each pollutant discharging entity in each treatment cycle during the target period are obtained, and the sewage water quality treatment grade is converted into the unit volume sewage detection frequency requirement. It should be noted that a lower sewage water quality grade indicates that the water contains more impurities such as suspended solids and organic matter. These impurities will increase the density and viscosity of the water, increase the flow resistance of the water body. Under the same conditions of vortex generation, due to the greater resistance, the motion state of the fluid is more likely to change, and larger vortices will be generated. Therefore, the sewage water quality grade usually has a negative correlation with the unit volume sewage detection frequency requirement, that is, a lower sewage water quality grade requires a higher unit volume sewage detection frequency.

[0029] In a preferred embodiment, the laser scanning assembly includes laser scanning groups each composed of a laser emitter and a laser detector, with the scanning directions thereof respectively arranged along the three axes of the three-dimensional space of the sewage tank; Wherein, the laser emitter is configured to emit a laser beam into the three-dimensional space of the sewage tank, and the laser detector is configured to receive the laser beam that has been scattered, reflected, and absorbed in the three-dimensional space of the sewage tank, and perform parameter detection on the water quality in the water quality detection space area in the three-dimensional space of the sewage tank according to the characteristic parameters of the received laser beam; Wherein, the characteristic parameters include the intensity, angle, and absorbance of the laser beam, and the parameter detection includes turbidity detection, UV-COD detection, and floc detection.

[0030] Furthermore, the axial movement control assembly includes a driving assembly that controls each laser scanning group to perform three-dimensional space axial micro-movements along the three axes of the three-dimensional space of the sewage tank in non-scanning directions; Wherein, the driving assembly includes a first driving device that controls each laser scanning group to move in a first direction and a second driving device that moves in a second direction. The first direction and the second direction are any one of the three axes of the three-dimensional space of the sewage tank in non-scanning directions, and the first driving device and the second driving device are any one of a belt driving device or a chain driving device; Wherein, the driving assembly is configured to use each driving assembly to drive the laser scanning group to perform micro-movements in non-scanning directions along the three axes of the three-dimensional space of the sewage tank, so as to perform three-dimensional space layer-by-layer scanning on the water quality detection space area in the sewage tank when performing three-dimensional space axial micro-movements.

[0031] Exemplarily, as Figure 2 shown, the water quality parameter detection device includes two laser scanning devices, and each laser scanning device includes a transmission belt 1, a transmission belt gear 2, a sliding platform 3, a chute platform 4, a laser emitter 5, a waterproof motor 6, a side plate fixing bracket 7, a circular steel pipe 8, a rotating shaft 9, a laser receiver 10, a transmission chain 11, a reducer device 12, and a fixing frame 13.

[0032] It should be noted that each metal component of the above-mentioned each laser scanning device is made of stainless steel. The laser emitter 5 and the laser receiver 10 are fixed on the sliding platform 3, and the chute platform 4 is fixed on the transmission belt 1 and driven by the waterproof motor 6 to realize the movement in the Z-axis direction; the waterproof motor 6 on the chute platform 4 is combined with the reducer device 12, and the X-axis movement is realized on the chute platform 4 by relying on the transmission chain 11. A laser scanning device is also set up in the Y-axis direction, and thus the all-round detection in three directions can be realized.

[0033] In a preferred embodiment, the step of extracting the status attribute information of each water quality parameter detection device from the resources of the water quality parameter detection device specifically includes: S410: Access the water quality parameter detection device status database, and extract the idle period, laser scanning movement speed range of each water quality parameter detection device, and the three-dimensional axial total scanning distance information of the sewage tank to which the water quality parameter detection device belongs; S420: Perform a time period overlap judgment on the idle period and the target period, and output the three-dimensional axial total scanning distance information of the sewage tank to which each water quality parameter detection device corresponding to the idle period with time period overlap belongs and the idle period as the status attribute information.

[0034] In this embodiment, the status attribute information of each water quality parameter detection device is obtained by accessing the water quality parameter detection device status database, and the three-dimensional axial total scanning distance information corresponding to the water quality parameter detection device in the idle state during the target period and the idle period are output as the status attribute information.

[0035] In a preferred embodiment, a constraint condition set is constructed based on the sewage treatment volume and the unit volume sewage detection frequency requirement of each sewage discharge entity in each treatment cycle during the target period. Considering the idle period, laser scanning movement speed range of each water quality parameter detection device, and the three-dimensional axial total scanning distance information of the sewage tank to which it belongs, an optimization objective is constructed with the minimum overall degree of scanning disturbance during the water quality detection process. An optimization algorithm is used to allocate the sewage treatment tasks of each sewage discharge entity in each treatment cycle during the target period to the corresponding water quality parameter detection devices, and the steps of optimizing and solving to obtain the sewage treatment allocation strategy and water quality parameter detection strategy for the sewage treatment task specifically include: S510: Calculate the number of water quality detections calculated from the sewage treatment volume and the unit volume sewage detection frequency requirement when each water quality parameter detection device performs the water quality detection of each sewage discharge entity in each treatment cycle, and determine the three-dimensional axial total scanning distance according to the product of the number of water quality detections and the three-dimensional axial total scanning distance information of the sewage tank to which the water quality parameter detection device belongs; S520: After the sewage treatment tasks of each sewage discharge entity in each treatment cycle within the target period are assigned to the corresponding water quality parameter detection devices, the first constraint condition is that the water quality parameter detection devices assigned to each sewage discharge entity in the corresponding treatment cycle are in the idle period during this treatment cycle. The second constraint condition is that the minimum laser scanning movement speed of the current treatment cycle determined by the total three-dimensional axial scanning distance of each water quality parameter detection device when performing the water quality detection of the corresponding sewage discharge entity in the corresponding treatment cycle and the treatment cycle duration falls within the laser scanning movement speed range. Taking the minimum laser scanning movement speed determined when each water quality parameter detection device performs the water quality detection of the corresponding sewage discharge entity in the corresponding treatment cycle as the weight factor, the optimization objective is to minimize the weighted sum of the sewage treatment volume of this treatment cycle, and optimize and solve the sewage treatment tasks of each sewage discharge entity in each treatment cycle within the target period assigned to the corresponding water quality parameter detection devices and the minimum laser scanning movement speed of each water quality detection device in each treatment cycle; S530: Generate a sewage treatment allocation strategy according to the sewage treatment tasks of each sewage discharge entity in each treatment cycle within the target period assigned to the corresponding water quality parameter detection devices; generate a water quality parameter detection strategy according to the minimum laser scanning movement speed of each water quality detection device in each treatment cycle.

[0036] In this embodiment, by calculating the total three-dimensional axial scanning distance of each water quality parameter detection device when performing the water quality detection of each sewage discharge entity in each treatment cycle, considering the different sewage treatment requirements of multiple sewage discharge entities and the status attribute information of each water quality parameter detection device, a constraint condition set is constructed based on the sewage treatment volume and the unit volume sewage detection frequency requirement of each sewage discharge entity in each treatment cycle within the target period. Considering the idle period of each water quality parameter detection device, the laser scanning movement speed range and the total three-dimensional axial scanning distance information of the affiliated sewage pool, an optimization objective is constructed with the minimum overall scanning disturbance degree during the water quality detection process. An optimization algorithm is used to assign the sewage treatment tasks of each sewage discharge entity in each treatment cycle within the target period to the corresponding water quality parameter detection devices, and the sewage treatment allocation strategy and water quality parameter detection strategy for the sewage treatment tasks are obtained through optimization and solution. Thus, the present invention can control the scanning speed when the laser scanning component and the axial movement control component perform detection, while reducing the influence brought by eddy current disturbance, and improving the treatment efficiency and water quality detection accuracy of the sewage treatment tasks for multiple sewage discharge entities as much as possible.

[0037] In a preferred embodiment, a sewage transportation control step is performed, which specifically includes: sending the sewage treatment distribution strategy to the sewage transportation controller 400, and driving the sewage transportation controller 400 to control the sewage transportation pipeline to transport the sewage to be treated of each sewage discharge entity in each treatment cycle during the target period to the corresponding sewage pool. A water quality parameter detection control step is performed, which specifically includes: sending the water quality parameter detection strategy to the water quality parameter detection controller 200, and driving the water quality parameter detection controller 200 to control the laser scanning component and the axial movement control component of each water quality parameter detection device to perform a three-dimensional space layer-by-layer scanning action in each treatment cycle during the target period, so as to obtain the water quality parameter detection result.

[0038] In this embodiment, after obtaining the sewage treatment distribution strategy and the water quality parameter detection strategy, the sewage transportation can be realized by controlling the sewage transportation pipeline through the sewage transportation controller, and the three-dimensional space layer-by-layer scanning action can be performed by the water quality parameter detection controller in each treatment cycle during the target period. The entire water quality detection space area can be comprehensively optically detected for water quality, and the water quality detection accuracy can be improved.

[0039] Refer to Figure 3 , Figure 3 which is the structural block diagram of the embodiment of the water quality parameter detection system based on micro-motion three-dimensional space scanning of the present invention.

[0040] As Figure 3 shown, the water quality parameter detection system based on micro-motion three-dimensional space scanning proposed in the embodiment of the present invention includes: Several water quality parameter detection devices 100; And an automatic control terminal 300 for performing the water quality parameter detection method based on micro-motion three-dimensional space scanning described in any one of the above; Wherein, each water quality parameter detection device 100 is configured with a laser scanning component and an axial movement control component. The axial movement control component is configured to drive the laser scanning component to perform three-dimensional space axial micro-motion, and the laser scanning component is configured to perform three-dimensional space layer-by-layer scanning on the water quality detection space area of the sewage pool when performing three-dimensional space axial micro-motion.

[0041] Other embodiments or specific implementation manners of the water quality parameter detection system based on micro-motion three-dimensional space scanning of the present invention can refer to the above method embodiments, and will not be elaborated here.

[0042] It can be understood that in the description of this specification, the descriptions referring to terms such as "one embodiment", "another embodiment", "other embodiments", or "the first embodiment to the Nth embodiment" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0043] It should be noted that in this text, the term "comprising", "including", or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or system including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or system including that element.

[0044] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A water quality parameter detection method based on micro-motion three-dimensional space scanning, characterized in that: The following steps are involved: Obtain historical sewage treatment information, use the sewage treatment prediction model to predict the sewage treatment request of each sewage discharge entity in the target period, and generate sewage treatment tasks; Based on the sewage treatment request in the sewage treatment task, determine the sewage treatment volume and sewage detection frequency requirements per unit volume for each sewage discharge entity in each treatment cycle during the target period; Calling a number of water quality parameter detection devices in the water quality parameter detection device resources; wherein each water quality parameter detection device is configured with a laser scanning component and an axial motion control component, the axial motion control component is configured to drive the laser scanning component to perform axial micro-motion in three-dimensional space, and the laser scanning component is configured to perform three-dimensional space layer-by-layer scanning of the water quality detection space area of ​​the sewage pool when performing the axial micro-motion in three-dimensional space; Extracting the state attribute information of each water quality parameter detection device in the water quality parameter detection device resources; wherein the state attribute information includes the idle time period of each water quality parameter detection device, the laser scanning motion speed range and the three-dimensional axial scanning distance information of the sewage pool to which the water quality parameter detection device belongs; The constraint condition set is constructed based on the sewage treatment volume of each sewage discharge entity in each treatment cycle during the target period and the sewage detection frequency requirement per unit volume. The idle period of each water quality parameter detection equipment, the laser scanning motion speed range and the three-dimensional axial total scanning distance information of the sewage pool to which it belongs are considered. The optimization target is constructed with the overall minimum degree of scanning disturbance during the water quality detection process. The optimization algorithm is used to allocate the sewage treatment task of each sewage discharge entity in each treatment cycle during the target period to the corresponding water quality parameter detection equipment, and the sewage treatment allocation strategy and water quality parameter detection strategy of the sewage treatment task are obtained by optimization. Based on the sewage treatment allocation strategy and water quality parameter detection strategy, sewage transportation control and water quality parameter detection control are performed respectively to obtain the water quality parameter detection results of the sewage treatment task.

2. The water quality parameter detection method based on micro-motion three-dimensional space scanning according to claim 1, characterized in that: Obtain historical sewage treatment information, use the sewage treatment prediction model to predict the sewage treatment request of each sewage discharge entity in the target period, and generate sewage treatment task steps, including: Obtaining sewage treatment training samples consisting of sewage treatment volume and sewage quality grade in each historical detection period from historical sewage treatment information of each sewage discharge entity, and using the sewage treatment training samples to train the constructed initial convolutional neural network to obtain a sewage treatment prediction model; The sewage treatment prediction model of each pollutant discharger is used to predict the sewage treatment request of each corresponding pollutant discharger in the target period and generate sewage treatment tasks.

3. The water quality parameter detection method based on micro-motion three-dimensional space scanning according to claim 1 is characterized in that: Based on the sewage treatment request in the sewage treatment task, the sewage treatment volume and the sewage detection frequency requirement per unit volume of each sewage discharge entity in each treatment cycle during the target period are determined, specifically including: Extract the sewage treatment volume change curve and sewage water quality grade change curve of each sewage treatment request in the target period, divide the target period according to each treatment cycle, and obtain the sewage treatment volume and sewage water quality grade of each sewage discharge entity in each treatment cycle of the target period; Based on the sewage quality grade, the unit volume sewage detection frequency requirement of each sewage discharge entity in each treatment cycle within the target time period is matched in a predefined mapping relationship comparison table between different sewage quality grades and unit volume sewage detection frequency.

4. The water quality parameter detection method based on micro-motion three-dimensional space scanning according to claim 1, characterized in that: The laser scanning assembly comprises a laser scanning group composed of a laser emitter and a laser detector, the scanning direction of which is respectively arranged along three axial directions of the three-dimensional space of the sewage pool; The laser transmitter is configured to emit a laser beam to the three-dimensional space of the sewage pool, and the laser detector is configured to receive the laser beam after scattering, reflection and absorption in the three-dimensional space of the sewage pool, and to perform parameter detection on the water quality of the water quality detection space area in the three-dimensional space of the sewage pool according to the characteristic parameters of the received laser beam; The characteristic parameters include the intensity, angle and absorbance of the laser beam, and the parameter detection includes turbidity detection, UV-COD detection and alum flower detection.

5. The water quality parameter detection method based on micro-motion three-dimensional space scanning according to claim 4 is characterized in that: The axial motion control component includes a driving component for controlling each laser scanning group to perform axial micro-motion in three-dimensional space along the non-scanning direction in the three axial directions of the three-dimensional space of the sewage pool; Wherein, the driving assembly includes a first driving device for controlling each laser scanning group to move along a first direction and a second driving device for moving along a second direction, the first direction and the second direction are any one of the non-scanning directions in the three axial directions of the three-dimensional space of the sewage pool, and the first driving device and the second driving device are any one of a transmission belt driving device or a transmission chain driving device; Among them, the driving component is configured to use each driving component to drive the laser scanning group to perform micro-movement in the three axial non-scanning directions of the three-dimensional space of the sewage pool, so that the water quality detection space area of ​​the sewage pool is scanned layer by layer in three-dimensional space when performing three-dimensional axial micro-movement.

6. The water quality parameter detection method based on micro-motion three-dimensional space scanning according to claim 1, characterized in that: The step of extracting the status attribute information of each water quality parameter detection device in the water quality parameter detection device resource specifically includes: Access the water quality parameter detection device status database to extract the idle time period of each water quality parameter detection device, the laser scanning motion speed range, and the three-dimensional axial total scanning distance information of the sewage pool to which the water quality parameter detection device belongs; The idle time period and the target time period are judged to overlap, and the three-dimensional axial total scanning distance information of the sewage pool to which the water quality parameter detection equipment of each water quality parameter detection equipment corresponding to the idle time period with overlapping time period and the idle time period are output as state attribute information.

7. The water quality parameter detection method based on micro-motion three-dimensional space scanning according to claim 1, characterized in that: The constraint condition set is constructed based on the sewage treatment volume and sewage detection frequency requirements per unit volume of each sewage discharge entity in each treatment cycle during the target period. The idle period of each water quality parameter detection equipment, the laser scanning motion speed range and the three-dimensional axial total scanning distance information of the sewage pool to which it belongs are considered. The optimization target is constructed with the minimum overall degree of scanning disturbance during the water quality detection process. The optimization algorithm is used to allocate the sewage treatment task of each sewage discharge entity in each treatment cycle during the target period to the corresponding water quality parameter detection equipment. The sewage treatment allocation strategy and water quality parameter detection strategy steps of the sewage treatment task are obtained by optimization, which specifically include: Calculate the number of water quality detections calculated by the sewage treatment volume and the sewage detection frequency requirement per unit volume when each water quality parameter detection device performs water quality detection on each sewage discharger in each treatment cycle, and determine the three-dimensional axial total scanning distance according to the product of the water quality detection number and the three-dimensional axial total scanning distance information of the sewage pool to which the water quality parameter detection device belongs; After the sewage treatment task of each sewage discharger in each treatment cycle within the target time period is allocated to the corresponding water quality parameter detection equipment, the first constraint condition is that the water quality parameter detection equipment allocated to each sewage discharger in the corresponding treatment cycle belongs to the idle period in the treatment cycle, and the minimum laser scanning motion speed of the current treatment cycle determined by the three-dimensional axial total scanning distance and the treatment cycle length of each water quality parameter detection equipment when performing the water quality detection of the corresponding treatment cycle of the corresponding sewage discharger falls within the laser scanning motion speed range as the first constraint, and the weighted cumulative sum of the minimum laser scanning motion speed determined by each water quality parameter detection equipment when performing the water quality detection of the corresponding treatment cycle of the corresponding sewage discharger is minimized as the weight factor and the sewage treatment amount of the treatment cycle is minimized as the optimization goal of minimizing the overall degree of scanning disturbance, and the sewage treatment task of each sewage discharger in each treatment cycle within the target time period is allocated to the corresponding water quality parameter detection equipment and the minimum laser scanning motion speed of each water quality detection equipment in each treatment cycle is optimized; The sewage treatment tasks of each sewage discharge entity in each treatment cycle within the target period are allocated to the corresponding water quality parameter detection equipment to generate a sewage treatment allocation strategy; the water quality parameter detection strategy is generated according to the minimum laser scanning movement speed of each water quality detection equipment in each treatment cycle.

8. The water quality parameter detection method based on micro-motion three-dimensional space scanning according to claim 1, characterized in that: Executing the sewage transport control step specifically includes: sending the sewage treatment allocation strategy to the sewage transport controller, driving the sewage transport controller to control the sewage transport pipeline to transport the untreated sewage of each sewage discharge entity in each treatment cycle during the target time period to the corresponding sewage pool.

9. The water quality parameter detection method based on micro-motion three-dimensional space scanning according to claim 1, characterized in that: Executing the water quality parameter detection control step specifically includes: sending the water quality parameter detection strategy to the water quality parameter detection controller, driving the water quality parameter detection controller to control the laser scanning component and axial motion control component of each water quality parameter detection device to perform a three-dimensional space layer-by-layer scanning action in each processing cycle of the target time period to obtain the water quality parameter detection result.

10. A water quality parameter detection system based on micro-motion three-dimensional space scanning, characterized in that: include: Several water quality parameter testing equipment; And an automated control terminal for executing the water quality parameter detection method based on micro-motion three-dimensional space scanning as described in any one of claims 1 to 9; Among them, each water quality parameter detection device is configured with a laser scanning component and an axial motion control component. The axial motion control component is configured to drive the laser scanning component to perform three-dimensional axial micro-motion, and the laser scanning component is configured to perform three-dimensional layer-by-layer scanning of the water quality detection space area of ​​the sewage pool while performing three-dimensional axial micro-motion.

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