Drainage pipeline cascade multi-node monitoring system, deployment method, device and medium

Abstract

The application provides a sewer cascade multi-node monitoring system, a deployment method, equipment and a medium; applied to the technical field of sewer operation and maintenance and environmental monitoring, the system comprises: at least two node sensors, the node sensors are connected by a first rope to form a monitoring chain, the monitoring chain is arranged along the axis of the sewer, each node sensor and the first rope can float on the liquid surface in the sewer; the node sensors are deployed in a set position in the sewer through a deployment carrier; a wireless communication module is arranged in the monitoring chain, wirelessly connected with the node sensors, used for transmitting the monitoring data of the sewer detected by the node sensors; a data processing platform is used for processing the monitoring data transmitted by the wireless communication module. In this way, a sewer monitoring system with distributed deployment capability, strong environmental adaptability and stable data transmission can be provided.

Description

Technical Field

[0001] This application relates to the field of drainage pipeline operation and maintenance and environmental monitoring technology, and in particular to a drainage pipeline cascade multi-node monitoring system, deployment method, equipment and medium. Background Technology

[0002] As a core infrastructure of urban water systems, drainage pipelines directly affect water quality and urban flood control and drainage capabilities. Currently, the field of drainage pipeline monitoring generally faces the following technical bottlenecks: First, the monitoring mode is limited; most technologies employ single-point fixed monitoring, which can only acquire local pipeline location data and cannot reflect the spatial distribution differences of parameters within long-distance, complex pipelines, easily creating monitoring blind spots. Second, sensors have poor adaptability; existing monitoring equipment is mostly a rigid, fixed structure, making it difficult to adapt to complex operating conditions such as water flow fluctuations and pipe diameter changes within the pipeline, and is prone to decreased measurement accuracy due to collisions and contamination. Third, deployment and maintenance are inconvenient; traditional wired monitoring systems require laying a large number of cables, resulting in high construction costs. Deployment in winding, narrow pipeline environments is extremely difficult, and troubleshooting is complex. Fourth, data transmission reliability is low; the humid and enclosed environment within pipelines easily leads to wireless signal attenuation, frequently causing data transmission interruptions in long-distance pipeline monitoring.

[0003] To address the aforementioned shortcomings, some studies have attempted to use mobile monitoring devices for intermittent monitoring. However, such devices cannot achieve continuous data acquisition, and the cost per monitoring session is high, making it difficult to meet the needs of routine, high-precision monitoring. Therefore, there is an urgent need to develop a drainage pipeline monitoring system with distributed deployment capabilities, strong environmental adaptability, and stable data transmission to solve the problems of incomplete coverage, poor adaptability, and cumbersome operation and maintenance in related technologies. Summary of the Invention

[0004] This application provides a cascaded multi-node monitoring system, deployment method, equipment, and medium for drainage pipelines to solve one or more problems existing in related technologies.

[0005] This application provides a cascaded multi-node monitoring system for drainage pipelines. The system includes: at least two node sensors connected by a first rope to form a monitoring chain, the monitoring chain being arranged along the axial direction of the drainage pipeline, and each node sensor and the first rope being able to float on the liquid surface within the drainage pipeline; the node sensors being deployed in series at predetermined positions within the drainage pipeline via a deployment carrier; a wireless communication module disposed in the monitoring chain and wirelessly connected to the node sensors for transmitting monitoring data of the drainage pipeline detected by the node sensors; and a data processing platform for processing the monitoring data transmitted by the wireless communication module.

[0006] According to one embodiment of this application, the node sensor includes: a housing comprising an upper cover and a conical bottom shell, the upper cover and the conical bottom shell being sealed together to form an internal cavity; a multi-parameter sensing unit for determining the monitoring data; a communication unit disposed on a circuit board disposed in the internal cavity for transmitting the monitoring data; and a power supply unit disposed in the internal cavity and located below the communication unit for supplying power to the node sensor.

[0007] According to one embodiment of this application, the multi-parameter sensing unit includes: a bidirectional liquid level sensor, a water flow rate and mud layer scanning sensor, a water temperature and conductivity sensor, and a water quality sensor; the bidirectional liquid level sensor includes a radar module and an ultrasonic module, the radar module being disposed on the top of the upper cover; the water flow rate and mud layer scanning sensor includes a first scanning module and a second scanning module; the first scanning module is disposed on the side of the outer shell and is used to measure the liquid stratification flow rate in the drainage pipe; the second scanning module is used to measure the mud layer thickness in the drainage pipe; the second scanning module, the ultrasonic module, the water temperature and conductivity sensor, and the water quality sensor are disposed at the bottom of the conical bottom shell.

[0008] According to one embodiment of this application, a rubber ring is provided on the outer surface of the connection between the conical bottom shell and the top cover; the width of the upper part of the conical bottom shell is greater than the width of the lower part of the conical bottom shell; the distance between the center of gravity of the node sensor and the bottom of the conical bottom shell is a first distance, and the distance between the center of gravity and the top of the top cover is a second distance; the first distance is less than the second distance.

[0009] According to one embodiment of this application, the wireless communication module includes at least one relay module, which is capable of forwarding monitoring data of the drainage pipe detected by at least one node sensor to the data processing platform; the relay modules are wirelessly connected to each other, and the relay modules are disposed inside a floating structure, which is capable of floating on the liquid surface inside the drainage pipe.

[0010] According to one embodiment of this application, the deployment carrier includes: a tracked drainage pipe robot for deploying the node sensor inside a drainage pipe of a first diameter; the tracked drainage pipe robot includes at least a vision module and a robotic arm; or, an electric monitoring vessel for deploying the node sensor inside a drainage pipe of a second diameter; the electric monitoring vessel includes at least a shipborne mechanical deployment device; the first pipe diameter is smaller than the second pipe diameter.

[0011] According to one embodiment of this application, the data processing platform includes: an analysis module for analyzing the monitoring data to obtain monitoring results corresponding to the drainage pipe; and an early warning module for generating early warning information based on the monitoring results and the monitoring data.

[0012] This application also provides a deployment method for a cascaded multi-node monitoring system for drainage pipelines. The deployment method includes: determining the number and spacing of node sensors based on the length of the drainage pipeline; determining a corresponding deployment carrier based on the diameter of the drainage pipeline; sequentially deploying the node sensors in series inside the drainage pipeline according to the spacing using the deployment carrier to obtain a monitoring chain; connecting the node sensors with a first rope; deploying a wireless communication module in the monitoring chain based on the deployment location of the node sensors; and numbering and calibrating the node sensors and configuring the monitoring parameters of the cascaded multi-node monitoring system for drainage pipelines using a data processing platform.

[0013] This application also provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of the above-described embodiments.

[0014] This application also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method according to the above embodiments.

[0015] The system of this application embodiment includes: at least two node sensors connected by a first rope to form a monitoring chain, the monitoring chain being arranged along the axial direction of a drainage pipe, and each node sensor and the first rope being able to float on the liquid surface within the drainage pipe; the node sensors being deployed in series at predetermined positions within the drainage pipe via a deployment carrier; a wireless communication module disposed in the monitoring chain and wirelessly connected to the node sensors for transmitting monitoring data of the drainage pipe detected by the node sensors; and a data processing platform for processing the monitoring data transmitted by the wireless communication module. Thus, a drainage pipe monitoring system with distributed deployment capabilities, strong environmental adaptability, and stable data transmission can be provided.

[0016] It should be understood that the teachings of this application are not required to achieve all the beneficial effects described above, but rather that a specific technical solution can achieve a specific technical effect, and other embodiments of this application can also achieve beneficial effects not mentioned above. Attached Figure Description

[0017] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings. Several embodiments of this application are illustrated in the drawings by way of example and not limitation, in which: In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0018] Figure 1 This illustration shows an optional schematic diagram of a cascaded multi-node monitoring system for drainage pipelines provided in an embodiment of this application; Figure 2 A schematic diagram of the cross-sectional structure of the node sensor is shown; Figure 3 A schematic diagram of the processing flow of the deployment method of the drainage pipeline cascade multi-node monitoring system provided in the embodiment of this application is shown; Figure 4 This paper illustrates an application scenario diagram of the drainage pipeline cascade multi-node monitoring system provided in an embodiment of this application. Figure 5 A schematic diagram of the composition structure of the electronic device provided in the embodiments of this application is shown. Detailed Implementation

[0019] To make the objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0021] In the following description, the terms "first" and "second" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0023] The cascade multi-node monitoring system for drainage pipelines provided in this application embodiment will be described. See [link to relevant documentation]. Figure 1 , Figure 1 This is a schematic diagram of a cascaded multi-node monitoring system for drainage pipelines provided in an embodiment of this application.

[0024] In some embodiments, a cascaded multi-node monitoring system for drainage pipes may include: at least two node sensors 1, which are connected by a first rope to form a monitoring chain. The monitoring chain is arranged along the axial direction of the drainage pipe, and each node sensor 1 and the first rope are able to float on the surface of the liquid inside the drainage pipe. The node sensors 1 are deployed in series at predetermined positions inside the drainage pipe via a deployment carrier. A wireless communication module 2 is disposed in the monitoring chain and wirelessly connected to the node sensors 1 for transmitting monitoring data of the drainage pipe detected by the node sensors 1. A data processing platform 3 is used to process the monitoring data transmitted by the wireless communication module 2.

[0025] In some embodiments, the cascade multi-node monitoring system for drainage pipelines can be used to: synchronously collect and remotely monitor multiple parameters such as water quality, liquid level, flow velocity, and mud layer thickness at multiple points within the drainage pipeline. Node sensor 1 can be used to: float on the liquid surface of the pipeline to detect parameters at each point in real time and transmit the monitoring data to the wireless communication module 2. The first rope may include: a corrosion-resistant nylon floating cable. The first rope can be used to: connect multiple node sensors in series to form a chain structure and maintain the relative positional relationship between each node sensor. Specifically, the diameter of the first rope can be 3mm, the breaking strength can be ≥500N, and the connection joint between the first rope and the node sensor adopts a ball joint structure with no overturning torque. The monitoring chain can be a flexible chain structure formed by connecting the node sensors and the first rope. The monitoring chain can be used to: extend along the pipeline axis to achieve distributed multi-point synchronous monitoring. The deployment carrier can be used to: carry the node sensors into the pipeline and deploy each node sensor to a set position, which may include: points spaced 50-100m apart based on the pipeline length or key nodes of the drainage pipeline. The wireless communication module 2 can be used to transmit monitoring data of the drainage pipe detected by the node sensor 1 via LoRa (Long Range Radio) wireless communication. Monitoring data may include parameters such as liquid level, water flow velocity, sludge layer thickness, COD concentration, and water temperature and conductivity. The data processing platform 3 can be used to receive monitoring data and perform data fusion, status assessment, fault warning, and operation and maintenance management functions.

[0026] In some embodiments, such as Figure 2As shown, the node sensor 1 may include: a housing 10, which includes an upper cover 101 and a conical bottom shell 102, the upper cover 101 and the conical bottom shell 102 being sealed together to form an internal cavity; a multi-parameter sensing unit 20 for determining monitoring data; a communication unit 30, disposed on a circuit board disposed in the internal cavity, for transmitting monitoring data; and a power supply unit 40, disposed in the internal cavity and located below the communication unit 30, for supplying power to the node sensor 1.

[0027] In some embodiments, the housing 10 can be used to: provide waterproof sealing protection and structural support for internal electronic components, while reducing water flow resistance and maintaining sensor buoyancy stability through a tapered design. The housing 10 has a maximum length dimension of 120 mm along the pipe axis, a minimum length dimension of 90 mm along the pipe axis, and a total height dimension of 75 mm from the bottom of the tapered base 102 to the top of the top cover 101. The top cover 101 may include a tapered top surface and a sealing interface. The top cover 101 can cooperate with the tapered base 102 to form a sealed cavity. Both the top cover 101 and the tapered base 102 are made of lightweight, high-strength ABS material.

[0028] The multi-parameter sensing unit 20 may include: a bidirectional liquid level sensor, a water flow velocity and sludge layer scanning sensor, a water temperature and conductivity sensor, and a water quality sensor. The multi-parameter sensing unit 20 can be used to simultaneously collect monitoring data such as liquid level height, water flow velocity, COD concentration, water temperature, conductivity, and sludge layer thickness within the drainage pipe. The communication unit 30 may include: a LoRa communication chip, an RF front-end circuit, and an antenna interface. The communication unit 30 can be used to realize cascaded transmission and relay amplification of monitoring data. Specifically, the LoRa communication chip can be the SX1278 chip, with a communication frequency of 433MHz, a transmit power of 17dBm, a transmission distance ≥180m in an unobstructed pipe, support for self-organizing networks between node sensors, data transmission delay ≤1s, single transmission power consumption ≤50mWh, and sleep power consumption of only 3μW. The circuit board can integrate the signal processing function of the communication unit 30 and provide a data acquisition interface for the multi-parameter sensing unit 20. The power supply unit 40 may include: a self-powered unit. Specifically, the self-powered unit supports switching between two battery options. The first option is a rechargeable lithium battery (5000mAh capacity), which can meet the needs of minute-level monitoring (transmission once per minute) for 5-8 days. The second option is a disposable lithium thionyl chloride battery (12000mAh capacity), which can meet the needs of minute-level monitoring for 15-24 days and 5-minute-level monitoring for 75-120 days. Battery replacement can be completed by disassembling the sealed connection between the top cover 101 and the conical bottom shell 102 without disassembling the multi-parameter sensing unit 20. The battery life varies depending on the temperature. The self-powered unit can also support other battery options. The battery capacities in different options can be the same or different. This application does not limit the specific capacity of the battery.

[0029] In some embodiments, the multi-parameter sensing unit 20 may include: a bidirectional liquid level sensor, a water flow rate and mud layer scanning sensor, a water temperature and conductivity sensor, and a water quality sensor; the bidirectional liquid level sensor includes a radar module and an ultrasonic module, with the radar module disposed on the top of the upper cover 101; the water flow rate and mud layer scanning sensor includes a first scanning module and a second scanning module; the first scanning module is disposed on the side of the housing 10 and is used to measure the liquid stratification flow rate in the drainage pipe; the second scanning module is used to measure the mud layer thickness in the drainage pipe; the second scanning module, the ultrasonic module, the water temperature and conductivity sensor, and the water quality sensor are disposed on the bottom of the conical bottom shell 102.

[0030] In some embodiments, the bidirectional liquid level sensor can integrate a radar module and an ultrasonic module. The radar module is installed on the top of the cover 101 and is used to measure the distance from the water surface to the top of the pipe (range 0.5-5m, accuracy ±1mm). The ultrasonic module is installed on the bottom of the conical bottom shell 102 and is used to measure the distance from the water surface to the bottom of the sensor (range 0.1-2m, accuracy ±0.5mm). The liquid level height is output by fusing the data collected by the radar module and the ultrasonic module.

[0031] The water flow velocity and mud layer scanning sensor can be based on the pulsed Doppler principle, emitting a 2MHz high-frequency ultrasonic signal to measure the stratification velocity of water flow (range 0.01-3m / s, accuracy ±0.005m / s); it calculates the mud layer thickness by identifying the attenuation inflection point of the ultrasonic signal in the mud, with a range of 0-50cm. It also calculates the mud layer thickness by identifying the attenuation inflection point of the ultrasonic signal in the mud and the strong reflection signal at the bottom of the pipe, combined with liquid level data (range 0-50cm, accuracy ±1cm). A stepping mechanism is used to achieve full-section scanning of the pipe. Specifically, the first scanning module can be located on the side of the outer shell 10, emitting a 2MHz high-frequency pulse signal to measure the flow velocity at different water depths, with a range of 0.01-3m / s. The second scanning module can be located at the bottom of the conical bottom shell 102, calculating the mud layer thickness by identifying the attenuation inflection point of the ultrasonic signal in the mud, with a range of 0-50cm.

[0032] The water temperature conductivity sensor can employ a four-electrode system (two excitation electrodes and two measurement electrodes) to apply a 100kHz high-frequency alternating current to measure conductivity (range 50-10000μS / cm, accuracy ±1%FS); it integrates a PT1000 thermistor to measure water temperature (range 0-60℃, accuracy ±0.1℃), and has a built-in temperature compensation algorithm to correct conductivity data.

[0033] Water quality sensors may include a UV254 (ultraviolet absorption method) COD (chemical oxygen demand) sensor. Specifically, the UV254 COD sensor integrates a dual-band ultraviolet light source of 254nm (characteristic wavelength of COD) and 365nm (reference wavelength), employing a composite optical path of transmission and reflection. It eliminates turbidity and color interference through dual-signal ratio calculation, and measures COD concentration in real time. Additionally, the water quality sensor is equipped with a high-polymer fluoropolymer cleaning brush, which can clean the sensor periodically or triggered by specific times. The COD measurement range is 50-5000 mg / L, with an accuracy of ±5%.

[0034] In some embodiments, a rubber ring 50 is provided on the outer surface of the connection between the conical bottom shell 102 and the top cover 101; the width of the upper part of the conical bottom shell 102 is greater than the width of the lower part of the conical bottom shell 102; the distance between the center of gravity of the node sensor 1 and the bottom of the conical bottom shell 102 is a first distance, and the distance between the center of gravity and the top of the top cover 101 is a second distance; the first distance is less than the second distance.

[0035] The rubber ring 50 can be a waterproof sealing ring. The rubber ring 50 can be used to: achieve a waterproof seal at the connection between the conical bottom shell 102 and the top cover 101, while also cushioning external impacts. The first distance can include: the vertical distance from the overall center of gravity of the node sensor 1 to the bottom plane of the conical bottom shell 102. The second distance can include: the vertical distance from the overall center of gravity of the node sensor 1 to the top of the top cover 101. The center of gravity can include the geometric center of all mass distributions within the node sensor 1. Specifically, the conical bottom shell 102 and the top cover 101 of the node sensor 1 can be connected by threaded connection. The rubber ring 50 nested on the outer surface of the connection is compressed to form a waterproof seal. The bottom of the internal cavity in the conical bottom shell 102 and the top cover 101 is centrally installed with a power supply unit 40, a circuit board, and a multi-parameter sensing unit 20, accounting for more than 60% of the weight. This ensures that the first distance from the center of gravity of the node sensor 1 to the bottom of the conical bottom shell 102 is ≤20mm, while the second distance to the top of the top cover 101 is greater than the first distance. This enables the node sensor 1 to maintain a stable floating state with an inclination angle of no more than 5° even under conditions of 3m / s flow velocity impact and the presence of vortices.

[0036] In some embodiments, the wireless communication module 2 includes at least one relay module, which can forward monitoring data of the drainage pipe detected by at least one node sensor 1 to the data processing platform 3; the relay modules are wirelessly connected to each other, and the relay modules are disposed inside the floating structure, which can float on the surface of the liquid inside the drainage pipe.

[0037] As an example, in a deployment scenario within an 800m long drainage pipe, the wireless communication module 2 includes two relay modules housed within a floating structure. The floating structure has the same external shape as the node sensor 1 but contains the relay modules. During deployment, an electric monitoring vessel connects eight node sensors 1 in series at 100m intervals to form a monitoring chain. The node sensors are connected by ropes with a breaking strength ≥500N, and each connection joint uses a ball joint structure. A relay module is placed at both 400m and 600m positions on the monitoring chain. The real-time monitoring data, such as liquid level, flow rate, and COD, collected by the node sensors 1 are transmitted via a LoRa network. Data packets are transmitted sequentially along the rope. When a data packet arrives at the first relay module, the relay module automatically amplifies and forwards the monitoring data from the preceding node sensors. Each relay module can extend the transmission distance by 120-180m, ensuring that the monitoring data continues to be transmitted towards the outlet. Finally, the relay module located at the end of the pipeline uploads the complete monitoring data packet to the cloud data processing platform 3 via the NB-IoT (Narrowband Internet of Things) network. The system supports up to 5 levels of relays and can achieve full coverage monitoring of pipelines longer than 800m. During the entire transmission process, the relay modules rely on a floating structure to stably suspend on the surface of the liquid inside the drainage pipe.

[0038] In some embodiments, the deployment carrier may include: a tracked drainage pipe robot for deploying node sensor 1 inside a drainage pipe of a first diameter; the tracked drainage pipe robot includes at least a vision module and a robotic arm; or, an electric monitoring vessel for deploying node sensor 1 inside a drainage pipe of a second diameter; the electric monitoring vessel includes at least a shipborne mechanical deployment device; the first diameter is smaller than the second diameter.

[0039] In some embodiments, the deployment process of the tracked drainage pipeline robot can be as follows: For drainage pipelines with narrow diameters (≤500mm) and high curvature, a tracked drainage pipeline robot is used as the deployment carrier. The robotic arm on the tracked drainage pipeline robot places the node sensors 1 at preset intervals on the inner wall support of the drainage pipeline or in the liquid inside the drainage pipeline. The vision module on the robot is used to assist in confirming the placement position of the node sensors 1. The deployment process of the electric monitoring vessel can be as follows: For open drainage pipelines with diameters >500mm and stable water flow, a small electric monitoring vessel is used as the deployment carrier. The onboard mechanical deployment device on the electric monitoring vessel can complete the continuous deployment of multiple node sensors at one time. The deployment mode can be switched. The node sensor 1 supports two modes: temporary measurement (before and after pipeline maintenance) and fixed monitoring (routine maintenance). During temporary measurement, the node sensor 1 is retrieved through the deployment carrier; during fixed monitoring, the position of the node sensor 1 is locked by an anchoring device to prevent displacement caused by water flow impact.

[0040] In some embodiments, the data processing platform 3 may include: an analysis module for analyzing monitoring data to obtain monitoring results corresponding to the drainage pipe; and an early warning module for generating early warning information based on the monitoring results and monitoring data.

[0041] As an example, the analysis module can be used to integrate monitoring data collected by multiple node sensors to generate a pipeline cross-section monitoring map; calculate the drainage capacity of the drainage pipeline based on liquid level, flow velocity, and mud layer thickness data to obtain monitoring results; the early warning module can be used to trigger fault warnings when COD ≥ 20% or liquid level exceeds the warning value in the monitoring results and monitoring data, and generate SMS warning information and platform pop-up warning information; the data processing platform 3 can also record information such as sensor battery power and calibration cycle, and generate maintenance reminders.

[0042] The system in this embodiment forms a monitoring chain through the cascade deployment of at least two node sensors 1, achieving distributed continuous monitoring along the pipeline length at intervals of 50-100m. With the help of a relay module, the transmission distance is extended to over 800m, completely eliminating blind spots in traditional single-point monitoring. This system is particularly suitable for the full-section monitoring needs of long-distance municipal drainage pipelines. The node sensor 1 adopts a conical bottom shell and a sealed top cover connection structure. The offset center of gravity design ensures that the tilt angle of the node sensor 1 is ≤5° when the flow velocity is ≤3m / s. Combined with the ball joint connection of the rope, this ensures that the node sensor 1 maintains independent and stable posture under complex water flow conditions and allows it to operate continuously for ≥12 months in humid, high-impurity pipeline environments. The system supports dual-mode deployment of tracked robots and electric monitoring boats, adapting to pipelines of different diameters. The wireless communication module eliminates the need for cable laying, and battery replacement is completed by disassembling the top cover 101 and the conical bottom shell 102 without disassembling the internal circuitry. Single sensor maintenance time is ≤5 minutes, reducing maintenance costs by more than 40% compared to traditional wired methods. The multi-parameter sensing unit 20 integrates radar and ultrasonic dual-module liquid level measurement, Doppler flow velocity scanning, four-electrode conductivity measurement, and UV254 dual-wavelength COD detection, with measurement errors controlled within ±5%. The relay module's hop-by-hop amplification and forwarding mechanism, combined with CRC verification, ensures a data transmission success rate of ≥99.5%, guaranteeing the integrity and reliability of long-distance pipeline monitoring data. The data processing platform 3's analysis module generates real-time pipeline cross-sectional distribution maps and siltation index calculation results. The early warning module automatically determines abnormal operating conditions such as a sudden increase in COD ≥20% or a liquid level exceeding the warning value based on monitoring data, reducing fault response time from the traditional 24 hours to less than 10 minutes, with a precise positioning error ≤3m. Precise dredging based on sludge layer scanning data reduces pipeline maintenance costs by more than 30%.

[0043] The processing flow in the deployment method of the drainage pipeline cascade multi-node monitoring system provided in this application embodiment is described. See [link to relevant documentation]. Figure 3 , Figure 3This illustration shows an optional schematic diagram of a cascaded multi-node monitoring system for drainage pipelines provided in an embodiment of this application.

[0044] Combining Figure 3 Steps S201-S205 are explained below.

[0045] Step S201: Determine the number and spacing of node sensors based on the length of the drainage pipe.

[0046] Step S202: Determine the corresponding deployment carrier based on the diameter of the drainage pipe.

[0047] In step S203, the node sensors are sequentially deployed in series inside the drainage pipe according to the spacing by the deployment carrier to obtain the monitoring chain; the node sensors are connected to each other by the first rope.

[0048] Step S204: Deploy wireless communication modules in the monitoring chain based on the deployment locations of the node sensors.

[0049] Step S205: The node sensors are numbered and their locations are calibrated through the data processing platform, and the monitoring parameters of the cascade multi-node monitoring system for drainage pipelines are configured.

[0050] As an example, when deploying a cascaded multi-node monitoring system for a DN1200 reinforced concrete drainage pipeline (total length 800m) in a city, the number of node sensors was first calculated based on the 800m length of the drainage pipeline, with a spacing of 100m, resulting in 8 sensors. Then, based on the 1200mm diameter of the drainage pipeline, a small electric monitoring boat was chosen as the deployment platform. Subsequently, the 8 node sensors were sequentially deployed in series inside the drainage pipeline using this platform. Specifically, the electric monitoring boat traveled along the pipeline and released the sensors at predetermined intervals. Adjacent sensors were connected by a first rope to form a flexible monitoring chain. This rope was made of corrosion-resistant nylon with a diameter of 3mm and a tensile strength ≥500N. To ensure no breakage occurs when the flow rate is ≤3m / s, a relay module is installed at each of the 400m and 600m locations of the monitoring chain, based on the deployment positions of the node sensors. Each relay module can extend the transmission distance by 120-180m, achieving full coverage data transmission across 800m of pipeline. Finally, the eight node sensors are numbered sequentially from #1 to #8 and their positions are calibrated using a data processing platform (e.g., sensor #3 is 300m from the inlet). Simultaneously, the system's monitoring parameters are configured, including setting the measurement cycle to 2 minutes, the COD warning threshold to 500mg / L, the liquid level warning value to 70% of the pipeline diameter (i.e., 84cm), and the relay module to retransmit 3 times, thus completing the deployment of the entire cascade multi-node monitoring system for the drainage pipeline.

[0051] It should be noted that the description of the method in the embodiments of this application corresponds to the description of the system embodiments described above, and has similar beneficial effects to the system embodiments, therefore, it will not be repeated. For technical details not covered in the deployment method of the drainage pipeline cascade multi-node monitoring system provided in the embodiments of this application, please refer to... Figures 1 to 4 The meaning is understood in accordance with the description of any of the accompanying drawings.

[0052] refer to Figure 4 The application scenario diagram of the drainage pipeline cascade multi-node monitoring system provided in this application embodiment is applied to the implementation process of the drainage pipeline cascade fine monitoring system based on distributed node sensors.

[0053] The workflow of this system is divided into four stages: deployment, measurement, transmission, and analysis. The specific steps are as follows: Phase 1: System Deployment: Select a robot or shipborne carrier based on the pipeline diameter, and arrange node sensors at intervals of 50-100m. Connect them in series with floating ropes, and install relay modules for long-distance pipelines. Complete the sensor numbering and location calibration through the data processing platform, and set the measurement cycle (adjustable from 1 to 5 minutes) and early warning threshold.

[0054] Phase 2: Multi-parameter synchronous measurement: The sensors wake up according to a preset cycle and start each sensing module in sequence: the bidirectional liquid level sensor collects distance data, the water flow velocity and mud layer scanning sensor completes full-section scanning, for example, dividing the drainage pipe into multiple measurement layers, namely L1 measurement layer 1, L2 measurement layer 2, L3 measurement layer 3, Y4 silt layer, the water temperature conductivity sensor performs temperature compensation measurement, and the UV254 water quality COD sensor completes COD detection and starts the cleaning program (if the pollution level exceeds the standard); the time for a single measurement is ≤3s, and the system returns to sleep state after the measurement is completed.

[0055] Phase 3: Cascaded Data Transmission: Sensors at each node transmit measurement data to adjacent nodes via the LORA module, forming a cascaded data chain. Measurement data may include COD data, conductivity data, bidirectional liquid level, water flow velocity and mud layer data, and radar data. The relay module receives the data from the previous stage, amplifies and forwards it, and finally aggregates it to the main node at the pipeline outlet. The main node then uploads the data to the cloud platform via the NB-IoT module. CRC checksum is used during transmission to ensure data integrity.

[0056] Phase 4: Data Analysis and Application: The cloud platform generates time-series curves of parameters for each node and pipeline cross-section distribution maps, calculates the pipeline siltation index (mud layer thickness / pipeline diameter) and pollution load; when the monitoring data exceeds the warning threshold, it automatically pushes the fault location and abnormal parameters to assist maintenance personnel in formulating repair plans.

[0057] Taking a municipal drainage trunk line in a certain city as the implementation target, the pipeline is a DN1200 reinforced concrete pipeline with a total length of 400m. It passes through commercial and residential areas and has local siltation and overflow problems during rainy days. It is necessary to achieve continuous monitoring of liquid level, flow velocity, COD and sludge layer thickness.

[0058] Core equipment: 4 independent floating node sensors using disposable batteries; 1 LORA relay module; 1 data processing platform (including cloud software and local monitoring terminals).

[0059] Deployment vehicle: electric monitoring vessel (load capacity 50kg, endurance 8 hours); auxiliary tools include pipeline dredging pretreatment equipment and standard solution for sensor calibration (COD=500mg / L, conductivity=1000μS / cm).

[0060] The implementation steps are as follows: 1. Preliminary preparation: The pipeline is pre-treated by dredging to remove debris with a diameter ≥10cm; the four sensors are calibrated using a standard solution, the COD warning threshold is set to 500mg / L, the liquid level warning value is 70% of the pipeline diameter (84cm), and the measurement cycle is set to 2 minutes.

[0061] 2. System Deployment: An electric monitoring vessel enters from the pipeline inlet and deploys four node sensors at 100m intervals, connected in series by a floating rope; a relay module is placed at the 400m position; the sensor numbering (1#-4#) and location calibration are completed through the platform, with 1# located at the pipeline inlet and 4# located at the outlet.

[0062] 3. Operation monitoring: After the system is started, each sensor will measure synchronously at a 2-minute cycle. For example, sensor #3 monitored the following on the 3rd day: liquid level 78cm, water flow rate 1.2m / s, mud layer thickness 15cm, COD=620mg / L, water temperature 25℃, and conductivity 2800μS / cm. The monitoring data is transmitted to the platform via the relay module.

[0063] 4. Anomaly Handling: The platform detected that the COD and liquid level of sensor #3 were close to the warning value. Combined with the data of adjacent sensors #2 and #4 (COD of 350mg / L and 380mg / L respectively), it was determined that there was local pollution in the area of ​​sensor #3, that is, there was a leak. The mud layer data showed that the siltation index in this area was 12.5%, and dredging was required.

[0064] 5. On-site verification and maintenance: Notify maintenance personnel to go to the location of sensor #3 to clear the silt.

[0065] The system ran continuously for 30 days, with all four sensors operating stably and a data transmission success rate of 99.8%. It successfully located two pipe ruptures and three areas with severe siltation, with an average fault location error of ≤3m. After repair, the drainage capacity of the pipes increased by 25%, and the number of overflows during rainy days decreased from 5 times per month to 0 times. The sensor batteries have 65% remaining power and are expected to work continuously for more than 90 days. The maintenance cost per kilometer is reduced by 45% compared to traditional monitoring methods.

[0066] According to embodiments of this application, this application also provides an electronic device and a non-transitory computer-readable storage medium.

[0067] Figure 5 A schematic block diagram of an example electronic device 800 that can be used to implement embodiments of this application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0068] like Figure 5 As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. The RAM 803 may also store various programs and data required for the operation of the electronic device 800. The computing unit 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0069] Multiple components in electronic device 800 are connected to I / O interface 805, including: input unit 806, such as keyboard, mouse, etc.; output unit 807, such as various types of displays, speakers, etc.; storage unit 808, such as disk, optical disk, etc.; and communication unit 809, such as network card, modem, wireless transceiver, etc. Communication unit 809 allows electronic device 800 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0070] The computing unit 801 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as the deployment method of a drainage pipe cascade multi-node monitoring system. For example, in some embodiments, the deployment method of the drainage pipe cascade multi-node monitoring system can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by the computing unit 801, one or more steps of the deployment method of the drainage pipe cascade multi-node monitoring system described above can be performed. Alternatively, in other embodiments, the computing unit 801 may be configured by any other suitable means (e.g., by means of firmware) to perform a deployment method for a cascaded multi-node monitoring system for drainage pipes.

[0071] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0072] The program code used to implement the methods of this application may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0073] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0074] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0075] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0076] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0077] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application can be achieved, and this is not limited herein.

[0078] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cascaded multi-node monitoring system for drainage pipelines, characterized in that, The system includes: At least two node sensors are connected by a first rope to form a monitoring chain, which is arranged along the axial direction of the drainage pipe. Each node sensor and the first rope can float on the liquid surface inside the drainage pipe. The node sensors are deployed in series at predetermined positions inside the drainage pipe via a deployment carrier. A wireless communication module is installed in the monitoring chain and wirelessly connected to the node sensor for transmitting monitoring data of the drainage pipe detected by the node sensor. A data processing platform is used to process the monitoring data transmitted by the wireless communication module.

2. The system according to claim 1, characterized in that, The node sensor includes: The outer casing includes an upper cover and a conical bottom shell, the upper cover and the conical bottom shell being sealed together to form an internal cavity; A multi-parameter sensing unit is used to determine the monitoring data; A communication unit is mounted on a circuit board, which is disposed in the internal cavity, and is used to transmit the monitoring data; A power supply unit, located in the internal cavity and below the communication unit, is used to power the node sensor.

3. The system according to claim 2, characterized in that, The multi-parameter sensing unit includes: a bidirectional liquid level sensor, a water flow velocity and mud layer scanning sensor, a water temperature and conductivity sensor, and a water quality sensor. The bidirectional liquid level sensor includes a radar module and an ultrasonic module, with the radar module located on the top of the upper cover. The water flow velocity and mud layer scanning sensor includes a first scanning module and a second scanning module; the first scanning module is disposed on the side of the housing and is used to measure the liquid stratification flow velocity in the drainage pipe; the second scanning module is used to measure the mud layer thickness in the drainage pipe. The second scanning module, the ultrasonic module, the water temperature conductivity sensor, and the water quality sensor are disposed at the bottom of the conical bottom shell.

4. The system according to claim 2, characterized in that, A rubber ring is provided on the outer surface of the connection between the conical bottom shell and the top cover; The width of the upper part of the conical bottom shell is greater than the width of the lower part of the conical bottom shell; The distance between the center of gravity of the node sensor and the bottom of the conical base is a first distance, and the distance between the center of gravity and the top of the top cover is a second distance; the first distance is less than the second distance.

5. The system according to claim 1, characterized in that, The wireless communication module includes at least one relay module, which is capable of forwarding monitoring data of the drainage pipe detected by at least one node sensor to the data processing platform. The relay modules are wirelessly connected to each other, and the relay modules are located inside the floating structure, which is able to float on the surface of the liquid inside the drainage pipe.

6. The system according to claim 1, characterized in that, The deployment carrier includes: A tracked drainage pipe robot is used to deploy the node sensors inside a drainage pipe of a first diameter; the tracked drainage pipe robot includes at least a vision module and a robotic arm; Alternatively, an electric monitoring vessel for deploying the node sensors inside a drainage pipe of the second diameter; the electric monitoring vessel includes at least an onboard mechanical deployment device. The first pipe diameter is smaller than the second pipe diameter.

7. The system according to claim 1, characterized in that, The data processing platform includes: The analysis module is used to analyze the monitoring data and obtain the monitoring results corresponding to the drainage pipe; The early warning module is used to generate early warning information based on the monitoring results and the monitoring data.

8. A deployment method for a cascaded multi-node monitoring system for drainage pipelines, characterized in that, The deployment method includes: The number and spacing of node sensors are determined based on the length of the drainage pipe. Based on the diameter of the drainage pipe, determine the corresponding deployment carrier; The node sensors are sequentially deployed in series inside the drainage pipe according to the specified spacing using the deployment carrier, forming a monitoring chain; the node sensors are connected to each other by a first rope. Based on the deployment locations of the node sensors, wireless communication modules are deployed in the monitoring chain; The node sensors are numbered and their locations are calibrated using a data processing platform, and the monitoring parameters of the cascade multi-node monitoring system for drainage pipelines are configured.

9. An electronic device, characterized in that, include: At least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of claim 8.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to claim 8.

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