Method and device based on dynamic water level induction and hierarchical linkage control

Abstract

The invention discloses a drainage method and device based on dynamic water level induction and hierarchical linkage control. The drainage method comprises the steps that a well lid hinge, a protective fence, a direct current motor and a steering engine are configured to be in an initial state; a water level sensing unit is used for detecting the water level of accumulated water on the road surface, a control unit is used for judging a threshold value, and when the water level exceeds a water level trigger threshold value, a turnover steering engine is driven to turn down a well lid hinge to open a water outlet, a lifting steering engine is driven to lift a protective fence and a direct-current motor is started to rotate blades; when the water level drops below the water level triggering threshold value, the overturning steering engine is driven to enable the well lid hinge to be overturned upwards, reset and closed, the lifting steering engine is driven to enable the protective fence to descend, and the direct-current motor is controlled to stop rotating; wherein the water level sensing unit formed by a plurality of groups of conductive electrodes which are arranged at intervals in height is used for detecting, and the steering engine locking module is started for position locking during the starting period. The method is used for solving the technical problems that a traditional urban drainage system depends on manpower, response lags, and the safety risk is prominent.

Description

Technical Field

[0001] This invention relates to the field of urban drainage technology, specifically to a method and apparatus based on dynamic water level sensing and hierarchical linkage control. Background Technology

[0002] In urban drainage systems, traditional rainwater drainage mainly relies on fixed manhole covers, which expose significant technical deficiencies during heavy rain: Poor drainage efficiency: Manhole covers are easily blocked by fallen leaves, plastic bags and other debris, preventing rainwater from draining smoothly, causing water accumulation on the road, and in severe cases, traffic disruption.

[0003] High risks of manual intervention: When water accumulation is severe, manhole covers need to be opened manually to accelerate drainage. However, workers face safety threats such as slipping and electric shock in heavy rain. In addition, manual operation is inefficient and difficult to cope with sudden heavy rainfall.

[0004] Lack of safety protection: When the manhole cover is opened, there are no effective warning and isolation measures. Pedestrians are prone to fall into the sewer due to obstructed vision (such as during heavy rain or at night), causing safety accidents. At the same time, the open manhole cover lacks a locking mechanism and may be displaced due to water flow or external impact, which may increase the safety hazard.

[0005] In existing technologies, drainage systems lack dynamic water level sensing capabilities and cannot automatically adjust the state of the drain outlets according to the water accumulation situation. The absence of protective measures and debris removal mechanisms further complicates the balance between drainage efficiency and safety. Therefore, there is an urgent need for an intelligent drainage solution that can sense water levels in real time, automatically control drainage components, and integrate safety protection functions. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, the present invention aims to provide a method and device based on dynamic water level sensing and hierarchical linkage control to solve the technical problems of traditional urban drainage systems, such as reliance on manual labor, slow response, and prominent safety risks.

[0007] To solve the above problems, the technical solution adopted by the present invention is as follows: A drainage method based on dynamic water level sensing and hierarchical linkage control includes the following steps: Configure the manhole cover hinges to the closed state, the protective fence to the retracted state, and the DC motor and servo motor to the stopped state; The water level on the road surface is detected by the water level sensing unit, and a conductive signal is generated and transmitted to the control unit. The control unit determines the threshold. When the water level exceeds the water level trigger threshold, it drives the flip servo to flip the manhole cover hinge to open the drainage outlet, drives the lifting servo to raise the protective fence, and starts the DC motor to rotate the blade. When the water level drops below the water level trigger threshold, the drive flipping servo motor causes the manhole cover hinge to flip up and close, the drive lifting servo motor causes the protective fence to descend, and the control DC motor stops rotating. The water level sensing unit is formed by multiple sets of conductive electrodes arranged at high intervals. During the opening of the manhole cover, the control unit activates the servo locking module to lock the position of the manhole cover hinge and the protective fence.

[0008] Preferably, when detecting the water level on the road surface, the following steps are included: The control unit obtains the water level height by sequentially scanning the conductivity state of each conductive electrode pair, and combines the collected water temperature data to perform temperature compensation correction on the conductivity signal. At the same time, the current water level height is compared with the average trigger water level generated by multiple past rainfall events through a dynamic threshold algorithm to automatically correct the water level trigger threshold deviation. In this arrangement, each pair of conductive electrodes is arranged in layers along the vertical direction at the top of the device, and the spacing between adjacent pairs of conductive electrodes increases in a gradient from bottom to top.

[0009] Preferably, when automatically correcting the deviation of the water level trigger threshold, the following is included: The control unit stores the actual effective value of the water level trigger threshold in real time during each rainfall process, and marks the rainfall intensity level according to the time series to establish a three-dimensional historical database containing rainfall intensity, trigger water level and ambient temperature; Trigger water level data from multiple past rainfall events of the same level were extracted from a three-dimensional historical database. A weighted average algorithm was used to calculate the benchmark reference threshold H, while outliers exceeding the standard deviation range were removed. Calculate the deviation rate δ between the current water level trigger threshold H and the H benchmark. When δ > the set percentage, initiate threshold correction based on the correction coefficient k. Among them, the correction coefficient k increases with the increase of rainfall intensity level.

[0010] Preferably, when the drive mechanism tilts the manhole cover hinge downwards, it includes: The control unit adjusts the opening angle and flipping speed of the manhole cover hinges in stages according to the rate of water level rise. Among them, the rotation angle signal is collected in real time by an absolute encoder installed on the output shaft of the servo motor. The deviation between the actual angle and the target angle is converted into the servo motor PWM duty cycle correction amount by the control unit using a PID algorithm, so that the deviation value is controlled within ±1°. When the conductive electrodes on the left and right sides detect a water level difference greater than or equal to the set value, the control unit will prioritize driving the hinge of the manhole cover on the higher water level side to open in advance. After the water level difference on both sides is reduced to within the preset range, the control unit will then control the hinges of both manhole covers to fall down synchronously.

[0011] Preferably, when the elevator motor is driven to raise the protective fence, it includes: The control unit adjusts the raising height and lifting speed of the protective fence in stages according to the rate of water level rise and the intensity of ambient light. When the water level trigger threshold is met, the control unit first drives the lifting rudder to raise the protective fence, and after a preset delay, the manhole cover hinge is turned over. If the protective fence fails to reach the set initial height within the set time, the control unit will immediately suspend the manhole cover hinge opening process and trigger a fault alarm.

[0012] Preferably, when starting the DC motor to rotate the blade, the following steps are included: The control unit adjusts the DC motor output speed in three levels based on the water level rise rate and the load value fed back by the torque sensor. When the torque sensor detects that the load value continuously exceeds the set load value, the control unit drives the DC motor to stop rotating and then reverses at the set speed.

[0013] Preferably, when the drive servo motor causes the manhole cover hinge to flip upwards and close, it includes: The control unit adjusts the closing angle and flipping speed of the manhole cover hinges in stages based on the rate of water level drop and the water pressure value fed back by the pressure sensor in the pipeline. The system uses an absolute encoder to collect the actual angles of the left and right manhole cover hinges in real time. When the angle difference between the left and right manhole cover hinges is greater than or equal to the set value, the control unit uses a PID algorithm to dynamically adjust the PWM signals of the servo motors on both sides, so that the angle difference between the left and right manhole cover hinges is controlled within ±0.5°.

[0014] Preferably, when driving the elevator servo to lower the protective fence, it includes: The control unit adjusts the lowering height, speed, and warning device status of the protective fence in stages based on the water level drop rate, distance to obstacles, and ambient light intensity. Among them, the control unit delays the start of the protective fence lowering process after detecting that the manhole cover hinge is fully closed and the water pressure value fed back by the pressure sensor in the pipeline is less than the set water pressure value. During the descent, the load current is monitored in real time by the current sensor built into the elevator servo. Based on the load current, the elevator servo is triggered to reverse upward and descend again at the original speed. If the cumulative number of reverse ascents reaches the set number, a jamming judgment will be triggered, the descent will stop and the current height will be maintained; When controlling the DC motor to stop rotating, the following steps are taken: based on the rate of water level drop and the current load value fed back by the torque sensor, the motor speed is reduced in stages; The DC motor stop process is only allowed to start when the control unit detects that the manhole cover hinge is fully closed.

[0015] Preferably, when activating the servo locking module to lock the position of the manhole cover hinge and the protective fence, the following is included: The locking mode is dynamically switched by the control unit according to real-time operating conditions: Level 1 locking: When the water level rise rate V≤0.6cm / s and the water pressure in the pipe P<0.3MPa, locking is achieved by inserting the electromagnetic lock core into the positioning pin hole of the servo motor output shaft. The locking force is adjusted by PID algorithm. Secondary locking: When V > 0.6 cm / s or P ≥ 0.3 MPa, the mechanical pawl mechanism engages with the drive shaft tooth groove, while the electromagnetic lock core remains energized and attracted. The pawl engagement depth is monitored in real time by a displacement sensor. In the first-level locked state, the angle deviation is collected by the absolute encoder of the flip servo output shaft. When the angle deviation is greater than the set value, the mechanical pawl mechanism is triggered to lock forcibly.

[0016] A drainage device based on dynamic water level sensing and graded linkage control, when in operation, executes the above-mentioned method, including: The manhole cover assembly consists of symmetrically arranged flip-up manhole cover hinges, which are opened and closed by a flipping servo motor. The water level sensing unit is installed on the top of the drainage device to detect the water level on the road surface in real time and output a conductive signal. The protective fence assembly includes protective fences arranged symmetrically at the front and back, and the protective fences are raised and lowered by a lifting servo motor. The debris removal unit includes a DC motor, a drive shaft, and blades. The drive shaft is connected to the DC motor via bearings, and the blades are mounted on the drive shaft. The safety protection unit includes a servo locking module for locking manhole cover hinges and protective fences; The control unit is electrically connected to the water level sensing unit, the tilting servo, the elevator servo, the DC motor, and the servo locking module, respectively. The power supply unit includes a first power supply module connected to the street light power supply and a second power supply module connected to an external safety power supply. The water level sensing unit includes multiple pairs of conductive electrodes spaced at different heights.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: I. Significantly improved drainage efficiency and response speed (1) Precise dynamic water level sensing A layered gradient spacing conductive electrode pair combined with a temperature compensation correction algorithm is used to control the water level detection error, thereby solving the detection deviation problem caused by water flow disturbance and water temperature influence of traditional single-point sensors.

[0018] By using a dynamic threshold adaptive correction mechanism, the trigger threshold can be adapted to different rainfall intensities, avoiding drainage delays or false triggers caused by fixed thresholds, thereby improving response speed.

[0019] (2) Hierarchical and coordinated drainage control The opening and closing angle and speed of the manhole cover are dynamically adjusted according to the rate of water level rise and water pressure to balance drainage efficiency and pipeline impact protection, avoiding sediment surging or drainage delays caused by the traditional "one-size-fits-all" approach.

[0020] The intelligent speed control of the debris removal unit (adjusted in three levels according to water level rate and torque load, and unblocking in the opposite direction when foreign objects are entangled) effectively prevents clogging by fallen leaves, branches and other debris, and improves drainage smoothness.

[0021] II. Enhanced safety protection capabilities (1) Proactive safety early warning and isolation The coordinated timing design of the protective fence and manhole cover, combined with a multi-level scenario-based protection strategy, eliminates the safety loophole of "draining first and then protecting," effectively reducing safety risks.

[0022] Obstacle dynamic detection and response (infrared sensor monitors distance in real time, reverse retry and fault alarm when stuck) avoids mechanical collision accidents caused by traditional fixed descent mode.

[0023] (2) Dual locking and structural stability assurance The tiered locking mechanism of the servo locking module: Under normal operating conditions, the locking force (insertion depth 8-10mm) is adjusted by the PID control of the electromagnetic lock core. Under extreme operating conditions (V>0.6cm / s or P≥0.3MPa), the dual locking of "electromagnetic lock core + mechanical pawl" is activated, and the angle deviation is corrected in real time (>0.5° triggers forced locking) to ensure that the manhole cover and the fence do not shift under the impact of water flow, thus improving the structural stability.

[0024] III. Significantly Improved Level of Intelligence and Automation (1) Fully automated operation It replaces the traditional manual opening of manhole covers and achieves fully automatic closed-loop operation from water level monitoring, drainage start-up, protection linkage to system reset through multi-parameter coordinated control of water level, water pressure and light. This reduces the risk of roadside operations for personnel during heavy rain and lowers labor costs.

[0025] (2) Adaptive and self-diagnostic capabilities It integrates multi-sensor fusion sensing (water level, water pressure, torque, current, light intensity, etc.) and fault self-diagnosis functions (such as automatic alarm and data upload when the protective fence is stuck or the motor is overloaded), improving system reliability and reducing the need for manual inspection and maintenance.

[0026] IV. Environmental Adaptability and Economic Optimization (1) Dynamic adaptation in multiple scenarios By using a three-dimensional historical database and a dynamic correction coefficient k (which increases with the rainfall intensity level), the threshold and action parameters are automatically matched for different scenarios such as light rain, moderate rain, and heavy rain, thus overcoming the limitation of traditional systems that rely on "single parameters to cope with complex environments".

[0027] (2) Energy-saving and low-consumption design The hierarchical control strategy reduces ineffective energy consumption and is significantly more energy-efficient than the traditional fixed power operation mode; the dual power supply module (street light power supply + external safety power supply) ensures continuous power supply in extreme weather conditions and avoids functional failure due to power outages.

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0029] Figure 1 This is a flowchart illustrating the drainage method based on dynamic water level sensing and hierarchical linkage control according to an embodiment of the present invention. Figure 2 This is a flowchart of the DC motor starting process according to an embodiment of the present invention; Figure 3 This is a partial structural diagram of a drainage device based on dynamic water level sensing and hierarchical linkage control according to an embodiment of the present invention.

[0030] The following are the symbols and their meanings: 1. Water level sensing unit; 2. Manhole cover hinge; 3. Protective fence; 4. DC motor; 5. Drive shaft; 6. Blade. Detailed Implementation

[0031] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0032] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0033] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0034] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0035] Example 1, see Figure 1 The present invention provides a drainage method with step-by-step diagrams. Figure 1 The drainage method shown includes the following steps: Dynamic water level sensing and tiered linkage control. Step S1: Initialization step: Configure the well cover hinge 2 of the drainage device to the closed state, the protective fence 3 to the retracted state, and the DC motor 4 and servo motor to the stopped state; Step S2: Real-time water level monitoring step: The water level on the road surface is detected by the water level sensing unit 1 installed on the top of the drainage device, and a conductive signal is generated and transmitted to the control unit. Step S3: Drainage Initiation Judgment Step: The control unit performs a threshold judgment. When the water level exceeds the water level trigger threshold, the following operations are performed: Step S31: Manhole cover opening procedure: Drive the flipping servo motor through the control unit to flip down the manhole cover hinges 2 that are symmetrically arranged on the left and right sides to open the drainage outlet; Step S32: Raising the protective fence 3: The lifting servo motor is driven by the control unit to raise the protective fence 3, which is symmetrically arranged at the front and rear. Step S33: Debris removal step: The DC motor 4 is started by the control unit, and the drive shaft 5 connected by the bearing drives the blade 6 to rotate to cut debris in the water; Step S4: Drainage Stop Judgment Step: The control unit performs a threshold judgment. When the water level drops below the water level trigger threshold, the following operations are performed: Step S41: Manhole cover closing procedure: Drive the tilting servo motor through the control unit to tilt the manhole cover hinge 2 upwards to reset and close it; Step S42: Retracting the protective fence 3: Drive the lifting servo motor through the control unit to lower the protective fence 3 to the retracted state; Step S43: Debris removal stop step: Control the DC motor 4 to stop rotating via the control unit; During the opening of the manhole cover, the control unit activates the servo locking module to lock the position of the manhole cover hinge 2 and the protective fence 3, and the protective net set above the blade 6 prevents foreign objects (including pedestrians and animals) from directly contacting the blade 6. The control unit, servo motor, DC motor 4, and servo motor locking module are powered by a first power supply module connected to the street light power supply or a second power supply module connected to an external safety power supply, and the electronic components and connecting lines are waterproofed to adapt to the underwater environment.

[0036] Background Description: Traditional methods for detecting road surface water levels have several technical limitations, making it difficult to meet the high accuracy and adaptability requirements of dynamic drainage scenarios. In the design of water level sensing units, traditional solutions often employ single-point sensors or equally spaced electrode arrays. The former is easily affected by local water flow disturbances, leading to detection errors, while the latter suffers from insufficient resolution at low water levels and reduced response efficiency due to data redundancy at high water levels. Furthermore, water temperature changes significantly affect water conductivity; traditional detection methods do not consider this factor and directly use the raw conductivity signal to determine the water level, potentially resulting in measurement errors of ±10% or more. In addition, fixing the water level trigger threshold under different rainfall intensity levels can easily cause drainage lag. Therefore: In step S2 above, detecting the water level on the road surface includes: The water level sensing unit 1 is composed of multiple sets of conductive electrode pairs arranged at high intervals, and each set of conductive electrode pairs is arranged in layers along the vertical direction of the top of the device, with the spacing between adjacent conductive electrode pairs increasing gradually from bottom to top. During detection, the control unit obtains the water level by sequentially scanning the conductivity of each conductive electrode pair. This data, combined with water temperature data collected by a temperature sensor integrated near the conductive electrode pair, is used to perform temperature compensation correction on the conductivity signal. Specifically, according to formula U... 补偿 =U 原始 ×[1+α(T-T0)](where, U 原始 For the raw conductive signal directly acquired by the conductive electrode pair, U 补偿 To correct the original signal for conductivity, α is the temperature coefficient of water, T is the real-time water temperature, and T0 is the standard water temperature of 25℃. This eliminates the influence of water temperature changes on conductivity. At the same time, a dynamic threshold algorithm is used to compare the current water level with the average trigger water level of the last three rainfall events and automatically correct the water level trigger threshold deviation.

[0037] In this embodiment of the invention, it is necessary to further explain the proposed dynamic water level sensing optimization scheme: by using a layered gradient spacing electrode array (bottom layer 2-3cm, top layer 5-8cm), the response speed at high water levels is improved while ensuring low water level detection accuracy; a temperature sensor is integrated and a compensation algorithm U is introduced. 补偿 =U 原始 ×[1+α(T-T0)], eliminate the influence of water temperature on the conductive signal, and control the detection error within ±2%; combine the weighted average trigger water level of the last 3 rainfalls of the same level to establish a dynamic threshold model, and achieve scenario-based adaptation of the trigger threshold through adaptive correction when the deviation rate δ>8% (the correction coefficient k is dynamically adjusted with the rainfall intensity).

[0038] Background Description: In traditional water level detection systems, fixed water level trigger thresholds are difficult to adapt to complex and variable rainfall environments, leading to a disconnect between drainage response and actual needs. For example, intensity fluctuations during a single rainfall event (such as short-duration heavy rainfall and continuous light rain) can cause dynamic changes in the optimal trigger water level. Traditional systems lack self-learning and correction capabilities, potentially resulting in threshold deviations of ±15% or more. Furthermore, extreme weather (such as abnormal rainfall caused by typhoons) or momentary sensor malfunctions may generate abnormal data; directly using this data for threshold determination would further amplify the risk of false triggering. Therefore: In one possible embodiment, automatically correcting the water level trigger threshold deviation includes: Historical data modeling steps: The actual effective value of the water level trigger threshold during each rainfall process is stored in real time by the control unit, and the rainfall intensity level is marked according to the time series (divided into four levels: light rain, moderate rain, heavy rain, and rainstorm based on the 1-hour rainfall), and a three-dimensional historical database containing rainfall intensity, trigger water level, and ambient temperature is established. The moving average calculation steps are as follows: Trigger water level data from the three most recent rainfall events of the same magnitude are extracted from the three-dimensional historical database, and a weighted average algorithm is used to calculate the baseline reference threshold H. 基准 The most recent rainfall data has a weight of 0.5, while the previous two have weights of 0.3 and 0.2 respectively. The formula is: H 基准 = 0.5×H1+ 0.3×H2 + 0.2×H3 (H1 is the most recent triggered water level, H2 and H3 are the water levels of the two previous triggers), and automatically removes outliers that exceed ±20% standard deviation (such as false trigger data caused by extreme rainstorms or equipment failures). Deviation dynamic correction steps: Calculate the current water level trigger threshold H 当前 With H 基准 The deviation rate δ=|H 当前 - H 基准 | / H 基准 When δ > 8%, threshold correction is initiated, and the correction formula is: H 修正 =H 当前 ×(1 - k×δ); Wherein, k is the correction coefficient, which ranges from 0.3 to 0.6. For each increase in rainfall intensity level, the value of k increases by 0.1 to ensure that the correction range is dynamically adjusted according to the deviation rate and rainfall intensity.

[0039] In this embodiment of the invention, a dynamic threshold adaptive correction mechanism is proposed. This mechanism constructs a closed-loop control logic of "historical data - real-time feedback - deviation correction" to achieve scenario-based dynamic adaptation of the water level trigger threshold. First, a three-dimensional database is established, including rainfall intensity (divided into four levels based on hourly rainfall), trigger water level, and ambient temperature, providing a data foundation for threshold correction. Second, a weighted moving average algorithm (with weights of 0.5, 0.3, and 0.2 for the three most recent rainfall events of the same level) is used to extract the baseline threshold, and extreme value interference is eliminated within a ±20% standard deviation range. Finally, a deviation rate δ (the relative deviation between the current threshold and the baseline threshold) and a dynamic correction coefficient k (0.3-0.6, increasing with rainfall intensity level) are introduced. When δ > 8%, threshold correction is automatically initiated (H... 修正 =H 当前 ×(1 - k×δ)) ensures that the threshold is finely adjusted (k=0.3) in light rain scenarios to maintain stability, and significantly corrected (k=0.6) in heavy rain scenarios to quickly respond to extreme situations. Ultimately, the threshold adaptation error is controlled within ±3%, which significantly improves the environmental adaptability and decision accuracy of the drainage system.

[0040] Background Description: Traditional manhole cover opening control schemes rely on a "one-size-fits-all" mechanical action logic, making it difficult to balance the dynamic relationship between drainage efficiency, pipeline safety, and equipment load. In terms of opening strategies, traditional systems often employ a fixed angle (e.g., 60° throughout) or uniform speed rotation (e.g., 10° / s). In slow-accumulation scenarios (e.g., continuous light rain), a sudden surge of large flow may impact sediment at the bottom of the pipe, causing silt to churn and block the drain outlet. Conversely, in rapid-accumulation scenarios (e.g., short-duration heavy rain), a fixed-speed opening delays drainage, exacerbating the risk of road flooding. Regarding angle control accuracy, traditional servo motors rely heavily on open-loop control, which is affected by mechanical clearances and load fluctuations, often resulting in deviations between the actual opening angle and the target value exceeding ±5°. Furthermore, road lateral slopes or localized water vortices can create water level differences between the left and right sides. Traditional synchronous opening mechanisms subject the higher water level side to additional water pressure, potentially leading to hinge deformation or servo motor gear damage over long-term operation. Therefore: In step S31 above, when the control unit drives the tilting servo to open the drain outlet, the following steps are included: Dynamic graded opening control: The control unit adjusts the opening angle (θ) and flipping speed of the manhole cover hinge 2 in stages according to the water level rise rate (V) collected in real time by the water level sensing unit 1. Specifically: When V≤0.3cm / s (slow water accumulation scenario), drive the tilting servo motor to tilt the manhole cover hinge 2 down to θ=30° at a speed of 5° / s, hold this angle for 5 seconds, and then tilt it up to θ=60° at a speed of 3° / s to avoid instantaneous large flow impact causing blockage of sediment in the pipe; When 0.3cm / s < V ≤ 0.6cm / s (moderate water accumulation scenario), the direct drive tilting servo motor flips the manhole cover hinge 2 down to θ = 60° at a speed of 8° / s, balancing drainage efficiency and equipment load; When V > 0.6 cm / s (rapid water accumulation scenario), the manhole cover hinge 2 is driven with maximum torque to flip down to θ = 90° (fully open state) within 2 seconds, improving drainage efficiency; Closed-loop angle feedback adjustment: The rotation angle signal is collected in real time by an absolute encoder installed on the output shaft of the servo motor. The control unit converts the deviation value (Δθ) between the actual angle and the target angle into the servo motor PWM duty cycle correction value using a PID algorithm (proportional coefficient Kp=0.8, integral coefficient Ki=0.2, derivative coefficient Kd=0.1), so that Δθ is controlled within ±1° to ensure the angle control accuracy. Asynchronous coordination mechanism: When the conductive electrodes on the left and right sides detect a water level difference ≥2cm, the control unit will prioritize driving the high water level side manhole cover hinge 2 to open 15° in advance. After the water level difference on both sides decreases to <1cm, the control unit will then control the manhole cover hinges 2 on both sides to flip down synchronously, so as to avoid deformation of the manhole cover hinge 2 due to excessive water pressure on one side.

[0041] In this embodiment of the invention, it is necessary to further explain that the present embodiment proposes a dynamic collaborative opening optimization scheme: by adjusting the opening strategy according to the water level rise rate (V) (in the case of slow water accumulation, the opening is delayed to 60° in stages, and in the case of rapid water accumulation, the opening is fully opened to 90° with maximum torque), the flow control of "on-demand allocation" is achieved; an absolute encoder and PID closed-loop regulation (Δθ controlled within ±1°) are introduced to ensure the angle control accuracy; and an innovative left and right asynchronous collaborative mechanism (when the water level difference is ≥2cm, the higher water level side is opened first by 15°) is established to avoid unilateral water pressure overload, and finally the triple optimization goal of "efficiency adaptation - accuracy controllability - structural protection" is achieved.

[0042] Background Description: Traditional protective fence lifting control solutions suffer from a "single-mode" response defect, making it difficult to simultaneously address the safety warning effects and environmental adaptability requirements of different scenarios. Regarding the lifting strategy, traditional systems often employ a fixed speed (e.g., uniform lifting at 5cm / s) and a single height (e.g., uniformly raised to 50cm). This results in rapid lifting during normal daylight conditions, which can easily startle pedestrians (sudden mechanical action triggers panic), while the protective height is insufficient at night or during heavy rain. In terms of light adaptability, traditional solutions do not dynamically adjust the warning method based on ambient brightness. For example, on cloudy days or in low light at dusk, relying solely on the physical fence is insufficient for effective warning, easily leading to the risk of pedestrians accidentally entering. Furthermore, the protective fence and manhole cover opening actions lack coordinated logic, potentially resulting in a safety loophole of "manhole cover opening first, protective barrier lagging behind." Based on this: In step S32 above, when the lifting servo motor is driven by the control unit to raise the protective fence 3, the following steps are included: The control unit adjusts the lifting height and lifting speed of the protective fence 3 in stages based on the real-time water level rise rate (V) collected by the water level sensing unit 1 and the ambient light intensity (L) collected by the light sensor integrated on the top of the protective fence 3. Specifically: When V≤0.3cm / s and L≥500lux (normal daytime lighting scenario), the control unit drives the lifting servo to raise the protective fence 3 to 30cm at a speed of 2cm / s, maintains this height for 3 seconds, and then continues to raise it to 50cm (standard protective height) at a speed of 1cm / s to avoid startling pedestrians in the vicinity. When 0.3cm / s < V ≤ 0.6cm / s or 200lux ≤ L < 500lux (evening / cloudy scene), the protective fence 3 is directly driven to rise to 50cm at a speed of 3cm / s, and the LED warning light integrated on the top of the fence is automatically turned on. When V > 0.6 cm / s or L < 200 lux (night / rainstorm rapid water accumulation scenario), the protective fence 3 is driven by the maximum torque to rise to 70 cm (maximum protection height) within 3 seconds, and the LED warning light is activated at the same time. The buzzer built into the protective fence 3 emits an intermittent warning sound to enhance the safety warning effect in harsh environments. Among them, the lifting action of the protective fence 3 and the opening action of the manhole cover hinge 2 are linked by a delay design: when the water level trigger threshold is met, the control unit first drives the lifting servo to lift the protective fence 3, and then starts the manhole cover hinge 2 to flip after a delay of 0.5 seconds. If the protective fence 3 fails to reach its initial height of 10cm within 3 seconds due to a malfunction (such as sensor abnormality or servo motor jamming) during the lifting process, the control unit will immediately pause the opening process of the manhole cover hinge 2 and trigger a fault alarm to ensure the safety logic of "protection first, drainage later".

[0043] In this embodiment of the invention, it is necessary to further explain that a multi-dimensional dynamic protection and control system is proposed: by coupling the water level rise rate (V) and light intensity (L) as two parameters, a three-level scenario-based response model is constructed (slow, stepped rise during the day, standard speed rise in the evening / cloudy weather + LED warning, and maximum torque rise at night / heavy rain + dual sound and light warning), to achieve "scenario-adaptive" protection intensity adjustment; an innovative "protection first, drainage later" linkage logic is established (the manhole cover is only allowed to open 0.5 seconds after the protective fence 3 is activated), and a 3-second initial height verification mechanism is set (the manhole cover hinge 2 is immediately suspended if it does not reach 10cm), thus eliminating safety loopholes in terms of timing, and finally forming a closed-loop protection mechanism of "environmental perception - dynamic response - safety interlock".

[0044] Background Description: Traditional debris removal units often use a fixed-speed DC motor control mode, which makes it difficult to balance the dynamic requirements of energy consumption, cutting efficiency, and load adaptability. In actual drainage scenarios, there are significant differences between the rate of water accumulation and the type of debris: for example, in slow-moving water accumulation caused by continuous light rain (V≤0.3cm / s), lightweight debris such as plastic bags and fallen leaves account for a high proportion, and a fixed high-speed rotation (e.g., 3000r / min) will result in energy waste (no-load energy consumption increases by more than 40%); while in short-term heavy rain (V>0.6cm / s), tough debris such as branches and cloth may not be completely cut if the speed is insufficient (e.g., 1500r / min), leading to pipe blockage. In addition, traditional systems lack load sensing capabilities. When the blade encounters foreign objects (such as hair or fishing nets), it cannot automatically identify the overload state, which may lead to motor burnout or drive shaft breakage due to continuous stalling. Based on this: See Figure 2 The DC motor start-up flowchart shows that, in step S33 above, when the DC motor 4 is started by the control unit, it includes: Dynamic speed graded control: The control unit adjusts the DC motor output speed (N) in three levels based on the real-time water level rise rate (V) collected by the water level sensing unit 1 and the load value (T) fed back by the torque sensor integrated at the end of the drive shaft 5. When V≤0.3cm / s and T<5N·m (low load slow water accumulation scenario), drive DC motor 4 to run at a base speed of 1500r / min to reduce energy consumption; When 0.3cm / s < V ≤ 0.6cm / s or 5N·m ≤ T < 10N·m (medium load scenario), the speed of DC motor 4 will be automatically increased to 2200r / min to enhance cutting efficiency; When V > 0.6 cm / s or T ≥ 10 N·m (high load and rapid water accumulation scenario), drive DC motor 4 to run at a speed of 3000 r / min to deal with tough debris such as cloth and branches; When the load value (T) detected by the torque sensor exceeds 12 N·m for 3 consecutive seconds (determined to be foreign object entanglement), the DC motor 4 is driven to stop rotating for 0.2 seconds by the control unit, and then runs in the opposite direction at a speed of 1500 r / min for 1 second, using the water flow impact force generated by the reverse rotation of the blade 6 to loosen the entanglement.

[0045] In this embodiment of the invention, it is necessary to further explain that a dynamic speed control strategy with dual-parameter coupling is proposed: the water level rise rate (V) reflects the urgency of water accumulation, and the torque sensor (T) monitors the intensity of debris load in real time, constructing a two-dimensional adjustment model of "water accumulation speed - load torque" to achieve precise matching of three levels of speed (1500r / min for energy-saving operation in low load scenarios, 2200r / min for efficient cutting in medium load scenarios, and 3000r / min for powerful crushing in high load scenarios); an innovative self-loosening mechanism for foreign object entanglement is proposed. When a load exceeding 12N·m is detected for 3 consecutive seconds, the entanglement is automatically loosened through the water flow impact effect of "stop-reverse rotation" (1500r / min reverse rotation for 1 second), reducing the need for manual maintenance; the above control mechanism ensures that the debris removal efficiency is matched with different scenarios, avoiding the attenuation of drainage capacity due to debris blockage.

[0046] Background Description: Traditional manhole cover hinge closure control schemes generally employ simple logic such as "uniform speed direct closure" or "fixed angle one-step closure," which is insufficient to cope with the complex hydraulic environment and mechanical safety requirements of drainage systems during the drainage phase. In actual operating conditions, the rate of water level decline and pipeline water pressure fluctuate significantly: for example, the slow drainage after continuous light rain (V... 降 When the flow rate is ≤0.2cm / s, the water flow in the pipe is stable but there is still residual pressure. Instantaneous closure will cause the water flow to be suddenly blocked, resulting in a sudden increase in pressure in the pipe (i.e., the "water hammer effect"). Over time, this may cause the pipe joints to loosen or the valves to be damaged. Meanwhile, the rapid receding of water after a heavy rain (V... 降 >0.5cm / s) accompanied by high water pressure (P≥0.6MPa), if forced to close quickly, the hinges may deform due to excessive water impact, or even experience "closing jamming." Furthermore, traditional solutions do not consider the synchronous control of the left and right hinges. When the angle difference between the two hinges exceeds 5°, uneven stress on the mechanical structure can easily cause hinge shaft bending or servo gear wear, reducing the equipment's lifespan. Therefore: In step S41 above, when the drive flipping servo motor causes the manhole cover hinge 2 to flip upwards and reset and close, the following steps are included: The control unit uses the water level drop rate (V) collected in real time by the water level sensing unit 1. 降 Based on the water pressure value (P) fed back by the pressure sensor inside the pipeline, the closing angle (θ) and the flipping speed of the manhole cover hinge 2 are adjusted in stages, specifically as follows: When V 降 When the flow rate is ≤0.2cm / s and P<0.3MPa (low water pressure and slow water receding scenario), drive the flipping servo motor to flip the manhole cover hinge 2 upward to θ=30° at a speed of 3° / s, maintain this angle for 5 seconds (wait for the water flow in the pipe to stabilize), and then continue to flip it to θ=0° (completely closed) at a speed of 2° / s to avoid water hammer effect in the pipe caused by instantaneous closure; When 0.2cm / s < V降 When the water pressure is ≤0.5cm / s or 0.3MPa≤P<0.6MPa (medium water pressure scenario), drive the tilting servo motor to tilt the manhole cover hinge 2 upward to θ=15° at a speed of 5° / s. After the water pressure value (P) drops to <0.3MPa, close the manhole cover at a speed of 4° / s. When V 降 When the pressure is >0.5cm / s or P≥0.6MPa (high water pressure rapid water return scenario), the buffer-pause-continue closing mode is activated: the driving flip servo motor first flips the manhole cover hinge 2 up to θ=45° at a speed of 8° / s, pauses for 3 seconds to release the water flow impact energy, and then completes the remaining closing stroke at a low speed of 1° / s. At the same time, the drive shaft 5 drives the blade 6 to rotate at a low speed of 500r / min, using water flow disturbance to remove residual debris from the edge of the manhole cover hinge 2. Among them, the actual angle (θ) of the left and right manhole cover hinges 2 is collected in real time by an absolute encoder. 左 θ 右 When the angle difference Δθ = |θ 左 -θ 右 When |≥2°, the control unit uses a PID algorithm (proportional coefficient Kp=0.6, integral coefficient Ki=0.1) to dynamically adjust the PWM signals of the two servo motors, so that Δθ is controlled within ±0.5°, avoiding deformation of the mechanical structure due to uneven force.

[0047] In this embodiment of the invention, it is necessary to further explain that the proposed dynamic closed-loop optimization strategy is a "two-parameter coupling of water pressure and water level drop rate": this strategy utilizes the water level drop rate (V...) 降 The system reflects the urgency of the water discharge, and the pipeline water pressure value (P) represents the intensity of water flow impact. A three-level scenario-based closure model is constructed: in the low water pressure scenario, a "step-by-step delayed closure" (30° pause for 5 seconds buffer) is adopted to avoid water hammer effect; in the medium water pressure scenario, "pressure reduction and waiting" (reducing to <0.3MPa and then re-closing) is used to balance efficiency and safety; in the high water pressure scenario, a "buffer-pause-re-closing" mode is activated (45° pause to release energy + blade 6 low-speed rotation to clear obstacles); at the same time, an absolute encoder and PID closed-loop regulation (Δθ controlled within ±0.5°) are introduced to ensure that the angle difference between the left and right hinges is less than 2°, so as to achieve safe and controllable closure process from the aspects of hydraulic impact protection and mechanical stress balance.

[0048] Background Description: Traditional protective fence descent control schemes suffer from technical limitations such as insufficient dynamic response and lack of safety coordination, making them ill-suited to the complex environmental variables and mechanical protection requirements during the flood receding phase. Regarding descent strategies, traditional systems often employ either a "uniform speed direct descent" or a "fixed delay trigger" mode. For example, regardless of the speed of water receding (e.g., rapid receding after a heavy rain versus slow receding after a light rain), the fence descends directly to the retracted state at a fixed speed (e.g., 5 cm / s). This results in inefficiency in rapid receding scenarios (delaying road reopening) or premature descent in slow receding scenarios (e.g., the fence retracts before residual water overflows from the pipes). In terms of obstacle perception, traditional solutions lack real-time monitoring capabilities. When pedestrians, vehicles, or debris approach, the descent cannot be dynamically adjusted, increasing the risk of mechanical collisions (e.g., accidentally hitting pedestrians in low-light conditions at night). Furthermore, the lack of coordination logic between the protective fence and the drainage system may lead to premature descent before manhole covers are fully closed or pipe water pressure is stable, causing residual water to carry debris and overflow, or causing deformation of the protective structure due to excessive water pressure on one side. In handling mechanical failures, traditional systems rely on manual inspections to detect blockages (such as mud and sand clogging or abnormal gear meshing). Continuous stalling can lead to the burning out of the elevator motor, and fault information cannot be uploaded in real time, delaying repair opportunities. Therefore: In step S42 above, when driving the elevator servo to lower the protective fence 3 to the retracted state, the following steps are included: The control unit uses the water level drop rate (V) collected in real time by the water level sensing unit 1. 降 The infrared sensor and light sensor integrated into the top of the protective fence 3 collect the obstacle distance (D) and ambient light intensity (L), and adjust the descent height, speed, and warning device status of the protective fence 3 in stages, specifically: Rapid water receding without obstruction: When V 降 When the water level drops rapidly (>0.4cm / s) and D≥50cm (no obstruction detected by infrared sensor), drive the lifting rudder to lower the protective fence 3 to a height of 20cm at a speed of 4cm / s, and then lower it to the retracted state at a speed of 3cm / s. Moderate receding scenario: when 0.2 cm / s < V 降 When the water level is ≤0.4cm / s (moderately receding), drive the lifting rudder to lower the protective fence 3 to the retracted state at a speed of 2cm / s; Long-distance obstacle scenario: When 30cm≤D<50cm (the obstacle is far away), drive the lifting servo to descend to a height of 30cm at a speed of 2cm / s, and simultaneously turn on the flashing mode of the LED warning light on the top of the protective fence 3, and then descend to the retracted state at a speed of 1cm / s. Slowly receding water or close-range obstacle scenarios: When V 降When the water level is ≤0.2cm / s (slowly receding) or D<30cm (obstacle approaching), the low-speed detection mode is activated: descending at a speed of 0.5cm / s while continuously scanning with an infrared sensor. If D<10cm (obstacle extremely close) is detected, the descent is immediately stopped and the buzzer is triggered to emit an intermittent warning sound. The descent process is resumed after D≥10cm. Among them, after the control unit detects that the manhole cover hinge 2 is fully closed (θ=0°) and the water pressure value P fed back by the pressure sensor in the pipeline is <0.2MPa (the water flow in the pipeline is stable), the protective fence 3 is initiated after a delay of 1 second. During descent, the load current I is monitored in real time by the current sensor built into the elevator. When I exceeds 1.2 times the rated operating current for 0.5 seconds (determined as mechanical jamming or obstruction by foreign objects), the control unit immediately drives the elevator to stop descending and rise in the opposite direction by 5cm. After 3 seconds, it attempts to descend again at the original speed. If the jamming judgment is triggered 3 times, the descent action is stopped and the current height is maintained. At the same time, the control unit sends a fault alarm signal (including jamming location and abnormal current value) to the remote monitoring platform.

[0049] In this embodiment of the invention, it is necessary to further explain that a multi-parameter coupled intelligent descent control system is proposed: this system uses the water level descent rate (V...) 降 The system characterizes the urgency of floodwater drainage. Infrared sensors (D) monitor obstacle distances in real time, constructing a two-dimensional adjustment model of "floodwater drainage speed - obstacle risk" to achieve four-level scenario-based response (efficient rapid descent in rapid floodwater drainage without obstacles, smooth and slow descent in moderate floodwater drainage, slow descent with warning in long-distance obstacle scenarios, and detection and hovering in short-distance obstacle scenarios). An innovative time-sequence safety interlocking mechanism strictly follows the logic chain of "completely closed manhole cover (θ=0°) → stable pipeline water pressure (P<0.2MPa) → descent starts after a 1-second delay," reducing the risk of residual water overflow. A fault self-diagnosis and self-healing function is introduced. The current sensor monitors the stuck state in real time (load current I exceeds 1.2 times the rated value for 0.5 seconds), triggering a self-healing process of "reverse rise 5cm + retry descent." After three failures, the system automatically locks and uploads fault information (including stuck position and current data), forming a closed-loop control of "environmental perception - dynamic adjustment - safety interlocking - fault self-healing," significantly improving the safety and reliability of the protective fence 3 in complex floodwater drainage scenarios.

[0050] Background Description: Traditional DC motor stop control schemes suffer from technical bottlenecks such as fixed deceleration strategies and lack of system coordination, making it difficult to adapt to the complex load characteristics and safety interlocking requirements of drainage systems during the drainage phase. In terms of deceleration logic, traditional systems often employ a "one-size-fits-all" control approach: for example, regardless of differences in water level drainage speed (e.g., rapid drainage after heavy rain versus slow drainage after light rain) or debris load (e.g., lightweight debris like plastic bags versus tough debris like tree branches), the system stops at a fixed rate (e.g., instantaneous power cut at 500 r / min) or by directly cutting off power. This results in blades abruptly stopping due to excessively rapid deceleration in low-load scenarios, preventing the complete removal of suspended debris (e.g., fallen leaves, hair) from the pipes, leading to accumulation and blockage. In high-load scenarios, excessively slow deceleration wastes energy and may cause mechanical gear damage due to residual torque. In terms of coordinated control, traditional solutions do not link the motor's stoppage with the manhole cover's closing state. This may cause the blade rotation to stop prematurely before the manhole cover is fully closed, allowing large external debris (such as litter discarded by pedestrians) to enter the pipe through the unclosed gap, or allowing backflowing water pressure in the pipe to carry debris and impact the manhole cover hinge 2. Based on this: In step S43 above, controlling the DC motor 4 to stop rotating includes: According to the water level drop rate (V) collected in real time by water level sensing unit 1 降 Based on the current load value (T) fed back by the torque sensor, the motor speed is reduced in stages: When V 降 When the flow rate is ≤0.2cm / s and T<3N·m (slow water evaporation scenario under low load), decelerate in a stepwise manner at a rate of 100r / min (reducing the speed by 100r / min every 0.5 seconds) until it comes to a complete stop; When 0.2cm / s < V 降 When the flow rate is ≤0.5cm / s or 3N·m≤T<5N·m (medium load, medium speed water evaporation scenario), decelerate in a stepwise manner at a rate of 200r / min (reducing the speed by 200r / min every 0.5 seconds) until it comes to a complete stop; When V 降 When the speed is >0.5cm / s or T≥5N·m (high load rapid water drainage scenario), first maintain the current speed for 1 second (to ensure that suspended debris in the pipe is discharged), then decelerate to 1000r / min in a stepwise manner at a rate of 200r / min, maintain this speed for 2 seconds, and then decelerate to a complete stop in a stepwise manner at a rate of 100r / min. The process is stopped only when the control unit detects that the manhole cover hinge 2 is fully closed, allowing the DC motor 4 to be started. This ensures that the blade 6 continues to run before the manhole cover hinge 2 is fully closed, thus intercepting any debris that may enter the drainage outlet.

[0051] In this embodiment of the invention, it is necessary to further explain that a two-parameter coupled stepped deceleration control system is proposed: the water level drop rate (V) is controlled by... 降The torque sensor (T) characterizes the urgency of the water receding process, and monitors the residual debris load in real time to construct a three-level scenario-based deceleration model: a low-load slow water receding scenario (V...). 降 For speeds ≤0.2cm / s and T<3N·m, a step-wise gradual deceleration of 100r / min (reducing speed by 100r / min every 0.5 seconds) is adopted to avoid debris accumulation caused by momentary stops; for medium load scenarios (0.2cm / s<V), a step-wise gradual deceleration of 100r / min is adopted. 降 Acceleration and deceleration at a rate of 200 r / min for speeds ≤0.5 cm / s or 3 N·m ≤ T < 5 N·m, balancing efficiency and safety; high-load rapid water evaporation scenarios (V 降 For speeds >0.5cm / s or T≥5N·m, an innovative three-stage strategy of "maintain-decelerate-buffer" is employed (first maintaining the rotation speed for 1 second to remove suspended debris, then gradually decelerating to 1000r / min and holding for 2 seconds, finally stopping at low speed) to ensure thorough debris removal and minimize mechanical impact. A safety interlocking timing logic is established simultaneously, strictly initiating the stop process only after the manhole cover hinge 2 is fully closed (θ=0°), reducing the risk of large external debris intrusion due to the "stop rotation first, then close cover" principle. The deceleration process is linked to different scenarios, ultimately achieving the stop control goal of "low residue of large debris and low mechanical impact."

[0052] Background Description: Traditional servo-driven locking solutions suffer from limitations in terms of fixed modes and lack of dynamic adaptation, making it difficult to meet the structural safety and energy consumption balance requirements of drainage systems under different operating conditions. Regarding the locking mechanism, traditional systems often employ a "single locking mode": for example, regardless of whether it's routine drainage (such as light rain accumulation) or extreme conditions (such as heavy rain and high water pressure), they rely on a single-point electromagnetic lock. This leads to energy waste in routine scenarios due to continuous high-intensity locking (such as the electromagnetic lock core being fully energized) (no-load power consumption increases by 30%), while in extreme scenarios (such as rapid water accumulation with V > 0.6 cm / s), insufficient locking force (the electromagnetic attraction force decreases with voltage fluctuations) causes displacement of the manhole cover hinges or protective fences, leading to drainage outlet blockage or safety protection failure. In terms of angle deviation correction, traditional solutions lack real-time monitoring capabilities. When mechanical vibration or water flow impact causes the manhole cover hinge angle to shift (such as > 0.5°), it cannot automatically trigger secondary locking, potentially causing structural deformation due to continuous shift. Based on this: In one possible embodiment, activating the servo motor locking module to lock the positions of the manhole cover hinge 2 and the protective fence 3 includes: The locking mode is dynamically switched by the control unit according to real-time operating conditions: Level 1 locking (normal drainage scenario): When the water level rise rate V≤0.6cm / s and the water pressure in the pipe P<0.3MPa, locking is achieved by inserting the electromagnetic lock core into the positioning pin hole of the servo motor output shaft. The locking force is adjusted by the PID algorithm (proportional coefficient Kp=0.6, integral coefficient Ki=0.2) to keep the electromagnetic lock core insertion depth stable at 8-10mm. Secondary locking (extreme working conditions): When V > 0.6 cm / s or P ≥ 0.3 MPa, the mechanical pawl mechanism is activated to engage with the 5th tooth groove of the drive shaft, while the electromagnetic lock core remains energized and attracted, forming a dual locking of "electromagnetic anti-loosening + mechanical anti-disengagement". The pawl engagement depth is monitored in real time by a displacement sensor to ensure ≥ 5 mm. In the first-level locked state, the angle deviation is collected by the absolute encoder of the flip servo output shaft. When the angle deviation is greater than 0.5°, the mechanical pawl mechanism is triggered to lock forcibly. The servo locking module includes an electromagnetic lock core, a mechanical pawl mechanism, and a displacement sensor.

[0053] In this embodiment of the invention, a dual-mode locking control strategy with adaptive operating conditions is proposed: the water level rise rate (V) reflects the impact intensity of water accumulation, and the pipe water pressure (P) characterizes the structural stress state. A dynamic matching model of "operating condition parameters - locking strength" is constructed: in normal drainage scenarios (V≤0.6cm / s and P<0.3MPa), a first-level locking (electromagnetic lock core PID adjustment, insertion depth 8-10mm) is used to achieve energy saving and precise locking; in extreme operating conditions (V>0.6cm / s or P≥0.3MPa), a second-level locking (electromagnetic lock core + mechanical pawl dual engagement, pawl depth≥5mm) is activated to form redundant protection of "anti-loosening + anti-disengagement". An innovative real-time deviation correction mechanism is introduced, which monitors the angle deviation through an absolute encoder. When it is >0.5°, the mechanical pawl is triggered to lock forcibly; a displacement sensor closed-loop feedback is introduced simultaneously to ensure the dynamic stability of the electromagnetic lock core insertion depth and the pawl engagement depth. This design achieves full-condition adaptability, from "low-energy precise locking in normal scenarios to high-reliability redundant protection in extreme scenarios," effectively controlling structural displacement and greatly reducing the risk of locking failure.

[0054] Example 2, see Figure 3 A schematic diagram of the drainage device structure is provided in this invention. Figure 3 The device shown is a drainage device based on dynamic water level sensing and hierarchical linkage control. The device is embedded in the drainage outlet of the road sewer. When in operation, it performs the above-mentioned drainage method and includes: a manhole cover assembly, a water level sensing unit 1, a protective fence assembly, a debris removal unit, a safety protection unit, a control unit, and a power supply unit.

[0055] The manhole cover assembly consists of symmetrically arranged flip-up manhole cover hinges 2, which are opened and closed by a flipping servo motor and are flush with the road surface when closed.

[0056] The water level sensing unit 1 is installed on the top of the drainage device to detect the water level on the road surface in real time and output a conductive signal.

[0057] The protective fence assembly includes protective fences 3 arranged symmetrically at the front and back, and the protective fences 3 are raised and lowered by a lifting servo motor.

[0058] The debris removal unit includes a DC motor 4, a drive shaft 5, and a blade 6. The drive shaft 5 is connected to the DC motor 4 via a bearing, and the blade 6 is mounted on the drive shaft 5 for cutting debris in the water.

[0059] The safety protection unit includes a protective net located above the blade 6, and a servo locking module for locking the manhole cover hinge 2 and the protective fence 3.

[0060] The control unit is electrically connected to the water level sensing unit 1, the tilting servo, the lifting servo, the DC motor 4, and the servo locking module, and is configured as follows: When the water level sensing unit 1 detects that the water level exceeds the water level trigger threshold, it controls the flipping servo motor to drive the manhole cover hinge 2 to flip down and open, the lifting servo motor to drive the protective fence 3 to rise, and the DC motor 4 to drive the blade 6 to rotate. When the water level sensing unit 1 detects that the water level has dropped below the water level trigger threshold, it controls the flipping servo motor to drive the manhole cover hinge 2 to flip up and close, the lifting servo motor to drive the protective fence 3 to descend, and the DC motor 4 to stop rotating.

[0061] The power supply unit includes a first power supply module connected to the street light power supply and a second power supply module connected to an external safety power supply. The electronic components and connecting lines of the control unit, the tilting servo, the lifting servo, the DC motor 4, and the servo locking module are covered with a waterproof shell or packaging material.

[0062] In one possible embodiment, the water level sensing unit 1 includes multiple sets of conductive electrode pairs arranged at height intervals, each set of conductive electrode pairs being arranged in layers along the vertical direction of the top of the device, and the spacing between adjacent conductive electrode pairs increasing gradually from bottom to top. The spacing between the bottom layers is 2-3cm, and the spacing between the top layers is 5-8cm.

[0063] In one possible embodiment, a temperature sensor is integrated next to the conductive electrode pair for collecting water temperature data.

[0064] In one possible embodiment, the output shaft of the tilt servo is equipped with an absolute encoder for real-time acquisition of rotation angle signals.

[0065] In one possible embodiment, a light sensor is integrated on the top of the protective fence 3 to collect ambient light intensity (L).

[0066] In one possible embodiment, the top of the protective fence 3 is integrated with an LED warning light, which uses red light with an intensity of ≥3000cd and a wavelength of 620-630nm.

[0067] In one possible embodiment, the protective fence 3 has a built-in buzzer for emitting intermittent warning sounds.

[0068] In one possible embodiment, a torque sensor is integrated at the end of the drive shaft 5 for acquiring the load value (T).

[0069] In one possible embodiment, an infrared sensor is integrated on the top of the protective fence 3 to collect the distance (D) to the obstacle.

[0070] In one possible embodiment, the elevator has a built-in current sensor for real-time monitoring of the load current I.

[0071] In one possible embodiment, the servo locking module includes an electromagnetic lock core, a mechanical pawl mechanism, and a displacement sensor; Among them, the electromagnetic lock core is inserted into the positioning pin hole of the servo motor output shaft to achieve locking when it is in the energized adsorption state; The mechanical pawl mechanism meshes with the drive shaft at the 5th tooth groove; a displacement sensor is used to monitor the meshing depth of the mechanical pawl mechanism in real time.

[0072] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A drainage method based on dynamic water level sensing and hierarchical linkage control, characterized in that, Includes the following steps: Configure the manhole cover hinges to the closed state, the protective fence to the retracted state, and the DC motor and servo motor to the stopped state; The water level on the road surface is detected by the water level sensing unit, and a conductive signal is generated and transmitted to the control unit. The control unit determines the threshold. When the water level exceeds the water level trigger threshold, it drives the flip servo to flip the manhole cover hinge to open the drainage outlet, drives the lifting servo to raise the protective fence, and starts the DC motor to rotate the blade. When the water level drops below the water level trigger threshold, the drive flipping servo motor causes the manhole cover hinge to flip up and close, the drive lifting servo motor causes the protective fence to descend, and the control DC motor stops rotating. The water level sensing unit is formed by multiple sets of conductive electrodes arranged at high intervals. During the opening of the manhole cover, the control unit activates the servo locking module to lock the position of the manhole cover hinge and the protective fence.

2. The method according to claim 1, characterized in that, When detecting water levels on the road surface, the following should be included: The control unit obtains the water level height by sequentially scanning the conductivity state of each conductive electrode pair, and combines the collected water temperature data to perform temperature compensation correction on the conductivity signal. At the same time, the current water level height is compared with the average trigger water level generated by multiple past rainfall events through a dynamic threshold algorithm to automatically correct the water level trigger threshold deviation. In this arrangement, each pair of conductive electrodes is arranged in layers along the vertical direction at the top of the device, and the spacing between adjacent pairs of conductive electrodes increases in a gradient from bottom to top.

3. The method according to claim 2, characterized in that, When automatically correcting water level trigger threshold deviation, the following applies: The control unit stores the actual effective value of the water level trigger threshold in real time during each rainfall process, and marks the rainfall intensity level according to the time series to establish a three-dimensional historical database containing rainfall intensity, trigger water level and ambient temperature; Trigger water level data from multiple past rainfall events of similar magnitude were extracted from a 3D historical database, and a weighted average algorithm was used to calculate the baseline reference threshold H. 基准 At the same time, outliers that exceed the standard deviation range are removed; Calculate the current water level trigger threshold H 当前 With H 基准 The deviation rate δ, when δ > the set percentage, triggers threshold correction based on the correction coefficient k; Among them, the correction coefficient k increases with the increase of rainfall intensity level.

4. The method according to claim 1 or 2, characterized in that, When the drive mechanism flips the manhole cover hinge downwards, it includes: The control unit adjusts the opening angle and flipping speed of the manhole cover hinges in stages according to the rate of water level rise. Among them, the rotation angle signal is collected in real time by an absolute encoder installed on the output shaft of the servo motor. The deviation between the actual angle and the target angle is converted into the servo motor PWM duty cycle correction amount by the control unit using a PID algorithm, so that the deviation value is controlled within ±1°. When the conductive electrodes on the left and right sides detect a water level difference greater than or equal to the set value, the control unit will prioritize driving the hinge of the manhole cover on the higher water level side to open in advance. After the water level difference on both sides is reduced to within the preset range, the control unit will then control the hinges of both manhole covers to fall down synchronously.

5. The method according to claim 1 or 2, characterized in that, When the elevator motor is driven to raise the protective fence, it includes: The control unit adjusts the raising height and lifting speed of the protective fence in stages according to the rate of water level rise and the intensity of ambient light. When the water level trigger threshold is met, the control unit first drives the lifting rudder to raise the protective fence, and after a preset delay, the manhole cover hinge is turned over. If the protective fence fails to reach the set initial height within the set time, the control unit will immediately suspend the manhole cover hinge opening process and trigger a fault alarm.

6. The method according to claim 1 or 2, characterized in that, When starting the DC motor to rotate the blade, the following steps are included: The control unit adjusts the DC motor output speed in three levels based on the water level rise rate and the load value fed back by the torque sensor. When the torque sensor detects that the load value continuously exceeds the set load value, the control unit drives the DC motor to stop rotating and then reverses at the set speed.

7. The method according to claim 1 or 2, characterized in that, When the drive mechanism flips the manhole cover hinge to flip up, reset, and close, it includes: The control unit adjusts the closing angle and flipping speed of the manhole cover hinges in stages based on the rate of water level drop and the water pressure value fed back by the pressure sensor in the pipeline. The system uses an absolute encoder to collect the actual angles of the left and right manhole cover hinges in real time. When the angle difference between the left and right manhole cover hinges is greater than or equal to the set value, the control unit uses a PID algorithm to dynamically adjust the PWM signals of the servo motors on both sides, so that the angle difference between the left and right manhole cover hinges is controlled within ±0.5°.

8. The method according to claim 7, characterized in that, When driving the elevator to lower the protective fence, the following is included: The control unit adjusts the lowering height, speed, and warning device status of the protective fence in stages based on the water level drop rate, distance to obstacles, and ambient light intensity. Among them, the control unit delays the start of the protective fence lowering process after detecting that the manhole cover hinge is fully closed and the water pressure value fed back by the pressure sensor in the pipeline is less than the set water pressure value. During the descent, the load current is monitored in real time by the current sensor built into the elevator servo. Based on the load current, the elevator servo is triggered to reverse upward and descend again at the original speed. If the cumulative number of reverse ascents reaches the set number, a jamming judgment will be triggered, the descent will stop and the current height will be maintained; When controlling the DC motor to stop rotating, the following steps are taken: based on the rate of water level drop and the current load value fed back by the torque sensor, the motor speed is reduced in stages; The DC motor stop process is only allowed to start when the control unit detects that the manhole cover hinge is fully closed.

9. The method according to claim 8, characterized in that, When activating the servo locking module to lock the position of the manhole cover hinges and protective fence, the following is included: The locking mode is dynamically switched by the control unit according to real-time operating conditions: Level 1 locking: When the water level rise rate V≤0.6cm / s and the water pressure in the pipe P<0.3MPa, locking is achieved by inserting the electromagnetic lock core into the positioning pin hole of the servo motor output shaft. The locking force is adjusted by PID algorithm. Secondary locking: When V > 0.6 cm / s or P ≥ 0.3 MPa, the mechanical pawl mechanism engages with the drive shaft tooth groove, while the electromagnetic lock core remains energized and attracted. The pawl engagement depth is monitored in real time by a displacement sensor. In the first-level locked state, the angle deviation is collected by the absolute encoder of the flip servo output shaft. When the angle deviation is greater than the set value, the mechanical pawl mechanism is triggered to lock forcibly.

10. A drainage device based on dynamic water level sensing and graded linkage control, characterized in that, During runtime, the method of claim 1 is executed, comprising: The manhole cover assembly consists of symmetrically arranged flip-up manhole cover hinges, which are opened and closed by a flipping servo motor. The water level sensing unit is installed on the top of the drainage device to detect the water level on the road surface in real time and output a conductive signal. The protective fence assembly includes protective fences arranged symmetrically at the front and back, and the protective fences are raised and lowered by a lifting servo motor. The debris removal unit includes a DC motor, a drive shaft, and blades. The drive shaft is connected to the DC motor via bearings, and the blades are mounted on the drive shaft. The safety protection unit includes a servo locking module for locking manhole cover hinges and protective fences; The control unit is electrically connected to the water level sensing unit, the tilting servo, the elevator servo, the DC motor, and the servo locking module, respectively. The power supply unit includes a first power supply module connected to the street light power supply and a second power supply module connected to an external safety power supply. The water level sensing unit includes multiple pairs of conductive electrodes spaced at different heights.

Images