An on-line cleaning device and method for attached sludge in a sedimentation tank inclined pipe

Abstract

The application discloses an online cleaning device for attached sludge of a sedimentation tank inclined pipe, which comprises a cover body unit, a driving and positioning unit and a control unit. The cover body unit is a hollow cover body, the driving and positioning unit is arranged above the cover body unit and is used for driving the cover body unit to complete vertical lifting and horizontal movement, and the control unit is electrically connected with the driving and positioning unit and is used for receiving instructions and sensor signals and outputting control commands. The application solves the technical problems of inefficient cleaning and secondary pollution in the cleaning process.

Description

Technical Field

[0001] This invention belongs to the field of industrial water treatment technology, and in particular relates to an online cleaning device and method for sludge adhering to inclined tubes in sedimentation tanks. Background Technology

[0002] Sedimentation tanks, constructed based on the "shallow tank theory," are widely used in industrial water treatment processes such as turbidity reduction, hardness removal, fluoride removal, and silica removal. Inclined tube sedimentation tanks, in particular, significantly improve solid-liquid separation efficiency by using densely packed, inclined parallel tubes (i.e., "inclined tubes") within the tank to increase the sedimentation area and shorten particle settling distance. However, in actual operation, due to factors such as complex influent water quality and large fluctuations in water volume, floating sludge easily accumulates at the top of the inclined tubes. This floating sludge reduces sedimentation efficiency, leading to a deterioration of suspended solids (SS) in the effluent.

[0003] Currently, traditional methods for cleaning floating sludge from inclined tubes mainly include manual flushing during system shutdown and high-pressure water jet rinsing. These methods have significant drawbacks: manual flushing requires interrupting system operation, affecting continuous production, and is labor-intensive and poses safety hazards; while high-pressure water jet rinsing can be performed online, the high-speed water flow can easily cause settled sludge to be stirred up again and spread with the rising water flow, resulting in secondary pollution of the effluent and the risk of damage to the inclined tubes. Therefore, how to achieve efficient, low-disturbance online cleaning without interrupting the operation of the sedimentation tank, and effectively prevent sludge diffusion, has become a long-standing technical challenge.

[0004] The technical problem to be solved by the present invention is to provide a solution and a special device for cleaning sludge attached to inclined tubes, so as to achieve efficient cleaning without interrupting the operation of the sedimentation tank, and effectively prevent secondary pollution (sludge floating) during the cleaning process. At the same time, the implementation device of the solution should be as simple in structure, reliable and easy to automate. Summary of the Invention

[0005] To address the above problems, this invention provides an online cleaning device and method for sludge adhering to inclined tubes in sedimentation tanks.

[0006] To achieve the above objectives, the present invention provides an online cleaning device for sludge adhering to inclined tubes in sedimentation tanks, characterized in that it includes a cover unit, a drive and positioning unit, and a control unit; the cover unit is a hollow cover, and the drive and positioning unit is located above the cover unit for driving the cover unit to complete vertical lifting and horizontal movement; the control unit is electrically connected to the drive and positioning unit for receiving instructions and sensor signals and outputting control commands.

[0007] Optionally, the cover unit is a hollow cover with an overall cross-sectional area that gradually increases from top to bottom, forming an accommodating space that is closed at the top and open at the bottom, and its shape is any one of conical, square pyramidal, or frustum-shaped.

[0008] Optionally, the internal volume of the cover unit is 25-50 liters, the bottom opening diameter is 250 mm-450 mm, and the ratio of the cover height to the bottom diameter is 0.8:1-1.5:1.

[0009] Optionally, the top or upper side wall of the cover unit is provided with at least one functional interface, the functional interface including at least an air inlet for connecting to a compressed air inlet pipe and a sludge discharge interface for connecting to a sludge outlet pipe.

[0010] Optionally, the driving and positioning unit includes a vertical driving module and a horizontal driving module; the vertical driving module is an electric winch mechanism, connected to the cover unit via a cable, and driven by a servo motor or a stepper motor.

[0011] Optionally, the horizontal drive module is a lightweight gantry or bridge servo motion system used to drive the vertical drive module and the housing unit to move in a two-dimensional plane; the horizontal drive module integrates an environmental sensing component, which is one or more of a laser rangefinder, an ultrasonic sensor, and a vision sensor.

[0012] Optionally, the control unit includes a signal input interface, a processing core, and a drive command output interface; the signal input interface is connected to a remote control terminal, an environmental sensing component, and a preset program, and the drive command output interface is connected to the motor drivers of the vertical drive module and the horizontal drive module.

[0013] Optionally, the control unit has a built-in control program that can set parameters such as the lifting distance, lifting speed, and hovering time of the hollow cover. The control unit has two working modes: remote control and automatic coordination mode, and fully autonomous planning mode.

[0014] A method for cleaning sludge adhering to inclined tubes in a sedimentation tank using an online cleaning device includes the following steps: S1: Positioning and lowering: Lower the bottom opening of the hollow cover to near or slightly contact the floating mud layer on the upper surface of the inclined tube area, keeping the liquid levels inside and outside the hollow cover level. S2: Rapid Lifting and Negative Pressure Disturbance: Drives the hollow cover to perform short-distance rapid vertical lifting, using instantaneous negative pressure and water flow shear force to peel off the floating mud on the surface of the inclined tube. The lifting distance is 3-8 cm, and the lifting action is completed within 1-3 seconds. S3: Hovering and Isolation: After lifting, hover the hollow cover for 3-9 seconds to isolate the floating mud through the physical structure of the cover and prevent it from spreading. S4: Sludge treatment: Centralized treatment of floating sludge accumulated inside the hollow enclosure; S5: Relocation and Cycling: After raising the hollow cover to a safe height, move it horizontally to the next area to be cleaned, and repeat steps S1 to S4 until all cleaning work is completed.

[0015] Optionally, step S4 includes gravity settling and gas extraction.

[0016] The beneficial effects of this invention are as follows: 1. Continuous online cleaning: No production shutdown is required; it can be carried out while the sedimentation tank is operating normally, ensuring the continuous and stable operation of the water treatment system.

[0017] 2. Low Disturbance and Anti-Diffusion: By using "rapid lifting to generate negative pressure suction" instead of high-pressure water flow impact, the overall disturbance to the water in the pool is reduced in principle. The suspension and isolation step after cleaning effectively prevents the floating sludge washed up from spreading with the water flow, avoiding secondary pollution.

[0018] 3. High cleaning efficiency: The negative pressure suction directly acts on the attachment point, resulting in high peeling efficiency and reasonable coverage area per action.

[0019] 4. Flexible and reliable sludge disposal: Offers two sludge disposal methods: gravity settling and gas extraction, allowing for flexible selection based on water quality requirements. The preferred gas extraction method enables complete sludge removal, ensuring stable effluent quality during the cleanup process.

[0020] 5. High degree of automation: The device can be programmed and controlled by the control unit to achieve fully automatic operation of the cleaning path and action parameters, reducing the intensity of manual operation and skill requirements.

[0021] 6. Simple and practical device structure: The core cover has a simple structure, mature drive and control technology, and the whole device is easy to install and modify on existing sedimentation tanks, with controllable cost. Attached Figure Description

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 This is a schematic diagram to show part of the structure of the hollow enclosure.

[0025] Explanation of reference numerals in the attached figures 1. Cover unit; 11. Hollow cover; 12. Compressed air inlet pipe; 13. Sludge outlet pipe; 2. Drive and positioning unit; 21. Vertical drive module; 22. Horizontal drive module; 23. Environmental sensing component; 3. Control unit. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Reference Figure 1-2 An online cleaning device for sludge adhering to inclined tubes in a sedimentation tank includes a cover unit 1, a drive and positioning unit 2, and a control unit 3. The cover unit 1 is a hollow cover 11. The drive and positioning unit 2 is located above the cover unit 1 and can drive the cover to complete vertical lifting and horizontal movement. The control unit 3 is electrically connected to the drive and positioning unit 2 and is responsible for receiving operation commands and sensor signals, and issuing control commands. The entire device can realize the automated operation of the cleaning operation.

[0028] Reference Figure 1-2 The cover unit 1 has a cross-sectional area that gradually increases from top to bottom, forming an accommodating space with a closed top and an open bottom. Its shape can be conical, square pyramidal, or frustum-shaped, etc.

[0029] The internal volume and bottom opening diameter of the hollow enclosure 11 are key parameters affecting its performance. The internal volume determines the volume of water that can be displaced in a single rapid lift, directly related to the intensity of the negative pressure generated. The bottom opening diameter ensures effective coverage and isolation of the area cleaned in a single operation.

[0030] Through experimental verification on sludge adhering to inclined tubes in common industrial sedimentation tanks, it was found that when the internal volume of the hollow cover 11 is within the range of 25 to 50 liters, and its bottom diameter matches the distribution pattern of the honeycomb pores in the inclined tubes (typically between 250 mm and 450 mm), combined with the aforementioned conventional lifting parameters (lifting 3 to 8 cm within 1 to 3 seconds), optimal negative pressure suction and sludge stripping effects can be achieved. The ratio of the height to the bottom diameter of the hollow cover 11 is preferably 0.8:1 to 1.5:1. This ratio helps to ensure smooth water filling during the lifting process, reduces eddy current resistance, and ensures that the hollow cover 11 has sufficient depth to accommodate the floating sludge washed up during the suspension phase.

[0031] The hollow enclosure 11 has at least one functional interface on its top or upper side wall, used to connect the lifting cable, the compressed air inlet pipe 12, and the sludge outlet pipe 13, respectively. As a preferred design, a compressed air inlet is located at the center of the top of the hollow enclosure 11, and this inlet is connected to the compressed air inlet pipe 12. Simultaneously, a sludge outlet hole is located on one side of the compressed air inlet, and this hole is connected to the sludge outlet pipe 13. This adjacent arrangement allows compressed air to quickly enter the sludge discharge pipeline, ensuring the stable operation of the air-lift sludge discharge function.

[0032] The lower outlet of the compressed air inlet pipe 12 is located above the lower inlet of the sludge outlet pipe 13, and the two are arranged adjacent to each other in the upper cavity of the hollow cover 11. Compressed air is ejected from the lower end of the compressed air inlet pipe 12, forming a local negative pressure zone around the lower end of the sludge outlet pipe 13. The mud-water mixture collected inside the hollow cover 11 enters the lower end of the sludge outlet pipe 13 under the negative pressure suction. The high-speed airflow carries the mud and water upward along the sludge outlet pipe 13. Relying on the pressure difference generated by the low density of the gas-liquid mixture, the mud-water mixture is continuously transported upward and discharged from the inside of the hollow cover 11 to the external sludge collection facility.

[0033] This layout can stably form a suction negative pressure, which is compatible with the narrow space structure inside the hollow cover 11 of this invention. It can stably export all the floating mud after it has been peeled off inside the hollow cover 11, and avoid the mud and water falling back into the inclined tube area and causing secondary siltation.

[0034] Reference Figure 1-2 The drive and positioning unit 2 includes a vertical drive module 21 and a horizontal drive module 22. The vertical drive module 21 includes an electric winch mechanism (not shown in the figure) installed on the unit body. It is connected to the cover unit 1 by a cable and is driven by a servo motor or a stepper motor to ensure that the lifting and hovering actions of the hollow cover 11 can be accurately and repeatably controlled.

[0035] The entire system is equipped with an environmental sensing component 23, which consists of various sensors, such as lidar, vision cameras, and ranging radar used in electric vehicles. This component is connected to the horizontal and vertical drive modules 21 via telecommunication signals. This sensor component can be mounted on either the horizontal drive module 22 or the vertical drive module 21 without affecting the normal operation of the equipment.

[0036] The horizontal drive module 22 preferably adopts a lightweight gantry or bridge-type servo movement structure, capable of carrying the vertical drive module 21 and the hollow cover 11 for planar movement above the sedimentation tank. The environmental sensing component 23 can be one or more of laser rangefinders, ultrasonic sensors, and vision sensors, and is generally directly mounted on the horizontal drive module 22 to detect obstacles in the travel path in real time.

[0037] The environmental sensing component 23 transmits the detected information to the control unit 3. Whether the device can avoid obstacles, stop operation, or issue an alarm depends on the pre-set parameters. Once the real-time data reaches the set value, the corresponding action will be automatically triggered. When the control system issues a horizontal movement command, the device will first control the vertical drive module 21 to lift the hollow cover 11 to a safe height before starting the overall movement.

[0038] The horizontal drive module 22 is similar to the rotating mechanism of a crane, which can position the hook at any position within the working radius. The vertical drive module 21 is similar to the vertical lifting cable of a crane, and the hollow cover 11 is similar to the terminal hook of a crane. Both the horizontal drive module 22 and the vertical drive module 21 are equipped with their own power travel motors. However, the horizontal drive module 22 is divided into an X-axis motion motor and a Y-axis motion motor. The X-axis motion is left and right movement, and the Y-axis motion is forward and backward movement, so as to locate a point on the horizontal plane by coordinates. The vertical drive module 21 is responsible for Z-axis motion, which is up and down movement.

[0039] The control unit 3 includes a signal input interface, a processing core, and a drive command output interface. The signal input interface is used to receive signals from a remote control terminal, integrated sensors, and preset programs; the drive command output interface is connected to the motor drivers of the vertical and horizontal drive modules 22. The control unit 3 internally stores pre-programmed control programs for automating the cleaning method. Operators can customize key parameters such as the lifting distance, lifting speed, and hovering time of the hollow cover 11 according to on-site conditions.

[0040] Control unit 3 supports multiple operating modes to adapt to complex working conditions: a: Remote control and automatic collaborative mode: The operator issues horizontal movement and rough positioning commands through a remote terminal (e.g., a handheld remote control or host computer monitoring software). The control unit 3 receives these commands via a wireless or wired communication link and drives the horizontal drive module 22 to execute them. When the hollow enclosure 11 reaches the vicinity of the target area, after the operator triggers the automatic cycle, the processing core of the control unit 3 will call the preset vertical action sequence and precisely control the vertical drive module 21 through the drive command output interface to complete the online cleaning method (S1 to S4 series) actions of the modified location.

[0041] b: Fully Autonomous Planning Mode (Preferred): This mode is suitable for scenarios requiring periodic, full-coverage cleaning of the pool surface. The core processing unit 3 includes a path planning module, whose workflow is as follows: Pre-planning stage: Based on the two-dimensional plan drawing of the inclined tube area of ​​the sedimentation tank and the coordinate information of the obstacles therein, the data is input into the system through a human-machine interface. Based on this information, the path planning module automatically generates a predetermined travel path and a sequence of cleaning points that avoids all known obstacles.

[0042] Execution and Fault Tolerance Phase: As the device automatically runs along the predetermined path, the environmental perception component 23 on the horizontal drive module 22 continuously detects and feeds back the data to the control unit 3. When the processing core determines that there is an unforeseen obstacle ahead, it will immediately replan the path, bypass the current point, and drive the device to the next drivable point in the sequence. This abnormal point will be recorded.

[0043] The startup decision logic of control unit 3 also includes basic programmed triggering. For example, it allows operators to preset a conservative cleaning cycle schedule based on experience, and the device will automatically start the cleaning program according to this schedule as a preventive maintenance measure.

[0044] By integrating precise motion control, intelligent path planning and obstacle avoidance, and flexible control modes, this device can achieve safe, reliable, efficient, and low-intervention automated operation in complex industrial environments.

[0045] An online method for cleaning sludge adhering to inclined tubes in a sedimentation tank includes the following steps: S1: Positioning and Descent The bottom opening of a hollow cover 11 is lowered to near or slightly contact the floating mud layer on the upper surface of the inclined tube area. The liquid levels inside and outside the hollow cover 11 are basically level. Compressed air is introduced into the hollow cover 11 to help loosen the floating mud layer.

[0046] S2: Rapid Lifting and Negative Pressure Disturbance The hollow cover 11 is driven to perform a short-distance, high-speed vertical lifting motion relative to the top plane of the inclined tube. During normal continuous operation of the sedimentation tank, the inclined tube is completely submerged in the water. After the hollow cover 11 completes its descent and positioning, its open bottom completely covers the entire area of ​​floating sludge deposited above the single inclined tube. A semi-enclosed isolation space is formed by the side walls of the hollow cover 11, completely separating the sludge and water to be cleaned from the large-scale upward flow outside the sedimentation tank. The entire operation does not disrupt the original solid-liquid separation flow pattern of the tank. The water in the remaining areas of the tank continues to flow upward at the designed upward velocity, overflowing normally through the collection weir into the subsequent water treatment unit, without requiring a reduction in the influent load or a shutdown.

[0047] When the hollow cover 11 is rapidly lifted upwards, the enclosed space inside the hollow cover 11 instantly expands. The water cannot simultaneously fill the increased volume, creating a localized, momentary low-pressure negative pressure zone below the bottom opening of the hollow cover 11 and above the floating sludge layer in the inclined tube. This negative pressure generates a downward suction force, which, combined with the water flow shear force generated by the relative movement of the water due to the rapid lifting of the hollow cover 11, acts simultaneously on the floating sludge layer attached to the inclined tube wall. This disrupts the adsorption and adhesion between the sludge and the inclined tube surface, causing the clumps and loose floating sludge to completely peel off and detach from the inclined tube surface.

[0048] All the detached sludge and mud-water mixture are enclosed and contained within the hollow enclosure 11 by its side walls, preventing them from spreading to the surrounding pool water. High-pressure compressed air is ejected from the lower end of the compressed air inlet pipe 12, continuously creating a local negative pressure around the sludge inlet at the lower end of the sludge outlet pipe 13. This continuously draws the highly concentrated mud-water mixture accumulated inside the enclosure into the sludge outlet pipe 13. The high-speed airflow carries the mud-water mixture upwards along the sludge outlet pipe 13, relying on the pressure difference created by the overall density of the mixed fluid being much lower than that of the pool water. Finally, it is directed to a dedicated sludge collection facility outside the sedimentation tank for centralized disposal.

[0049] After multiple comparative tests under different working conditions, it was verified that when the vertical lifting distance of the hollow cover is set to 3-8cm and the entire lifting action is completed quickly in one go within 1-3 seconds, the negative pressure generated by the expansion of the cavity is moderate in intensity and concentrated in range. This can effectively strip off the floating sludge of various thicknesses and degrees of compaction from the inclined tubes, without causing large-scale water turbulence due to excessive lifting stroke or slow action. Combined with the air-lift structure consisting of compressed air inlet pipe 12 and sludge outlet pipe 13, the floating sludge can be completely collected and stripped, minimizing the disturbance to the overall flow field of the sedimentation tank, and balancing cleaning efficiency and stable effluent quality.

[0050] S3: Hovering and Isolation After the rapid lifting is completed, the hollow cover 11 is suspended for a set time (preferably 3 to 9 seconds). During this period, the physical walls of the hollow cover 11 isolate the area of ​​floating sludge being flushed below from the surrounding rising water flow, creating conditions for subsequent sludge disposal and effectively preventing the spread of floating sludge particles.

[0051] S4: Sludge Treatment The floating mud trapped and concentrated inside the hollow enclosure 11 is disposed of. This invention provides two optional disposal methods: Method a: Gravity settling method. The hollow cover 11 is slowly and vertically lowered until it is close to the surface of the inclined tubes again. The floating sludge inside the hollow cover 11 re-enters the gaps between the inclined tubes and settles under the action of gravity. This method is suitable for working conditions where the floating sludge is relatively loose, the requirements for the effluent quality during the cleaning period are not stringent, or the equipment configuration is simple.

[0052] Method b: Airlift discharge method (preferred). A sludge discharge pipe 13 installed on the hollow casing 11 directly discharges the water-sludge mixture inside the hollow casing 11 outside the system. Specifically, compressed air is introduced into the discharge pipe, utilizing the airlift principle to form a low-density gas-liquid-solid mixture flow within the pipe. This allows for pump-free active suction under pressure differential, discharging the sludge to a dedicated collection facility outside the system. This preferred method removes floating sludge most thoroughly, fundamentally avoiding any potential impact on the effluent quality.

[0053] S5: Shifting and Cyclic Operations Move the hollow cover 11 horizontally to the next area to be cleaned. To ensure a smooth movement and avoid disturbing the cleaned or un-cleaned areas, before moving it horizontally, first lift the hollow cover 11 vertically to a position where its bottom opening is a safe distance above the surface of the floating mud layer. Then, repeat steps S1 to S4 above until the entire inclined tube area is cleaned.

[0054] Furthermore, before step S2, an auxiliary loosening step may be included: a small amount of compressed air is introduced into the hollow cover 11 to loosen the surface layer of the floating mud that may be hardened by the airflow in advance, so as to improve the peeling effect of the subsequent negative pressure suction.

[0055] Example 1: Emergency Manual Cleaning Mode This embodiment is applied to a wastewater treatment plant in a large industrial park. The high-density clarifier in the plant's hardening pretreatment unit suffered severe sludge buildup and blockage in the inclined tube section due to a week-long influx of high-hardness, high-turbidity influent, threatening the stable operation of the subsequent membrane treatment unit. To expedite unblocking the blockage without interrupting production, a modified implementation of the method described in this invention was employed.

[0056] The device used has been adapted and simplified: the core housing unit 1 (a conical housing with an internal volume of approximately 40 liters and a bottom diameter of 400 mm) has been retained, but the drive and positioning unit 2 has been simplified to an extended rigid rod that is directly operated by the operator. The hollow housing 11 is hinged to the end of the rod via a cable. The control logic is determined by manual on-site visual inspection.

[0057] Cleaning Process: Operators manually place the hollow cover 11 in the target area using a pole along the walkway of the high-density clarifier. Then, the pole is quickly raised, lifting the hollow cover 11 5-7 cm within approximately 1-2 seconds. The instantaneous negative pressure generated by the rapid ascent of the hollow cover 11 suctions and removes floating sludge. The pole is briefly held steady, allowing the hollow cover 11 to suspend for approximately 5 seconds for isolation. Next, the hollow cover 11 is moved to the discharge area at the edge of the tank using the pole, and a simple valve on the hollow cover 11 is opened, allowing the collected high-concentration sludge to drain into a designated sludge ditch under gravity. It is then moved to the next area.

[0058] Beneficial effects achieved: In emergency scenarios where automated devices are not in place or unexpected situations arise, this embodiment verifies that online, low-disturbance cleaning can be achieved solely by relying on the core hollow cover 11 structure and operating principle of this invention, driven by simple manual means. During the cleaning process, the turbidity of the clarifier effluent did not show an abnormal increase, successfully avoiding a major production accident that could have resulted in a system-wide shutdown due to cleaning shutdowns, thus proving the effectiveness, flexibility, and high practicality of the core principles of this invention.

[0059] Example 2: Standard Automated Periodic Cleaning Mode This embodiment is applied to the coking wastewater treatment workshop of a steel plant. Due to increased production, the amount of water entering the "post-coagulation sedimentation tank" increased by about 40%, causing biological sludge to frequently float and accumulate in the inclined tube area, clogging about 40% of the inclined tube area in about 28 hours. To break the vicious cycle of "impact-shutdown-flushing", the complete device and standard automated process described in this invention were adopted.

[0060] The device used is a fully configured system: housing unit 1 (internal volume 30 liters, bottom diameter 350 mm, height-to-diameter ratio 1.2:1), equipped with a servo-driven gantry horizontal drive module 22 (integrated with a laser rangefinder sensor) and a precision hoisting and lifting module. The control unit is preset with a fully autonomous planning mode.

[0061] Cleaning Process and Parameters: Using the drawing of the inclined tube area of ​​the coagulation sedimentation tank as the base map in the control unit, surrounding fixed obstacles are marked, and a program is set to automatically perform a full-coverage cleaning every 24 hours. Key action parameters are set as follows: lifting distance 4cm, lifting time 1.5 seconds, and hovering time 10 seconds. Sludge disposal adopts the static in-situ settling method. The device operates automatically along a predetermined path. When the laser sensor detects an unmarked temporary sampling tube, the control unit automatically records the coordinates and skips this point, continuing to clean subsequent points.

[0062] Beneficial effects achieved: This embodiment demonstrates the standard solution of the present invention for dealing with the periodic floating sludge problem. Through fully automated, periodic "negative pressure suction + airlift discharge" cleaning, the original manual high-pressure flushing during shutdown is completely replaced. Long-term operation data shows that the sedimentation tank operation has stabilized, with no further unplanned shutdowns due to inclined tube blockage, and the effluent SS quality consistently meets standards. Simultaneously, it significantly reduces the intensity of manual operation and safety risks, realizing a shift from a "passive emergency response" to a "proactive prevention" operation and maintenance model.

[0063] Example 3: Chemically Assisted Enhanced Cleaning Mode This embodiment is applied to a wastewater treatment station in a mineral processing plant. Due to the long-term interception of extremely fine mineral powder, the top of its inclined tube sedimentation tank is covered with a composite crust of dense mineral powder and algae, which has extremely strong adhesion and is barely effective with conventional hydraulic flushing.

[0064] The device used has been functionally expanded from the standard system: at the top of the hood unit 1, in addition to the compressed air and sludge discharge interfaces, a detergent dosing pipe and a microporous aeration ring have been added. The program of the control unit 3 has been correspondingly expanded to include a "chemical soaking and assisted loosening" step.

[0065] Cleaning Process: The device first positions and lowers the hollow shroud 11 to cover the hardened area. Then, a specialized acidic cleaning agent is injected through the dosing pipe, and the microporous aeration ring is activated for approximately 5-10 seconds of weak aeration, ensuring the agent fully contacts the dirt and loosens its structure (this step enhances the core method). Immediately following, a rapid lifting motion is executed, utilizing the loosened dirt for easier removal. After suspension and isolation, a powerful airlift is immediately activated to efficiently discharge the mixture containing dissolved mineral powder and shed algae from the system. Finally, the system is recirculated.

[0066] Beneficial effects achieved: This embodiment demonstrates the extended capabilities of the present invention in dealing with particularly stubborn fouling. By combining "chemical soaking and physical loosening" as preliminary auxiliary steps with the core steps of "negative pressure suction" and "airlift for thorough removal," a highly targeted and effective combined process is formed. It successfully removes complex, caked fouling that is difficult to handle using traditional methods, restores the efficiency of inclined tube sedimentation, and maintains the basic characteristics of online operation and low disturbance throughout the entire cleaning process, without affecting the main mineral processing flow.

[0067] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. An online cleaning device for sludge adhering to inclined tubes in a sedimentation tank, characterized in that: It includes a cover unit (1), a drive and positioning unit (2), and a control unit (3); the cover unit (1) is a hollow cover (11), the drive and positioning unit (2) is located above the cover unit (1) and is used to drive the cover unit (1) to complete vertical lifting and horizontal movement; the control unit (3) is electrically connected to the drive and positioning unit (2) and is used to receive instructions, sensor signals and output control commands.

2. The online cleaning device for sludge adhering to inclined tubes in sedimentation tanks according to claim 1, characterized in that: The cover unit (1) is a hollow cover (11), with the overall cross-sectional area gradually increasing from top to bottom, forming a closed top and open bottom accommodating space, and its shape is any one of conical, square pyramidal or frustum-shaped.

3. The online cleaning device for sludge adhering to inclined tubes in sedimentation tanks according to claim 2, characterized in that: The internal volume of the cover unit (1) is 25-50 liters, the diameter of the bottom opening is 250 mm-450 mm, and the ratio of the cover height to the bottom diameter is 0.8:1-1.5:

1.

4. The online cleaning device for sludge adhering to inclined tubes in sedimentation tanks according to claim 2, characterized in that: The top or upper side wall of the cover unit (1) is provided with at least one functional interface, which includes at least an air inlet for connecting to the compressed air inlet pipe (12) and a sludge discharge interface for connecting to the sludge outlet pipe (13).

5. The online cleaning device for sludge adhering to inclined tubes in sedimentation tanks according to claim 1, characterized in that: The driving and positioning unit (2) includes a vertical driving module (21) and a horizontal driving module (22); the vertical driving module (21) is an electric winch mechanism, which is connected to the cover unit (1) by a cable and is driven by a servo motor or a stepper motor.

6. The online cleaning device for sludge adhering to inclined tubes in sedimentation tanks according to claim 5, characterized in that: The horizontal drive module (22) is a lightweight gantry or bridge servo motion system used to drive the vertical drive module (21) and the cover unit (1) to move in a two-dimensional plane; the horizontal drive module (22) integrates an environmental sensing component (23), which is one or more of a laser rangefinder, an ultrasonic sensor, and a vision sensor.

7. The online cleaning device for sludge adhering to inclined tubes in sedimentation tanks according to claim 1, characterized in that: The control unit includes a signal input interface, a processing core, and a drive command output interface; the signal input interface is connected to a remote control terminal, an environmental sensing component (23), and a preset program, and the drive command output interface is connected to the motor drivers of the vertical drive module (21) and the horizontal drive module (22).

8. The online cleaning device for sludge adhering to inclined tubes in sedimentation tanks according to claim 7, characterized in that: The control unit (3) has a built-in control program that can set the lifting distance, lifting speed and hovering time parameters of the hollow cover (11). The control unit (3) has two working modes: remote control and automatic coordination mode and fully autonomous planning mode.

9. A cleaning method for sludge adhering to inclined tubes in a sedimentation tank using any one of the devices described in claims 1-8, characterized in that: Includes the following steps: S1: Positioning and lowering: Lower the bottom opening of the hollow cover (11) to near or slightly contact the floating mud layer on the upper surface of the inclined tube area, keeping the liquid levels inside and outside the hollow cover (11) level. S2: Rapid lifting and negative pressure disturbance: Drive the hollow cover (11) to perform short-distance rapid vertical lifting, and use instantaneous negative pressure and water flow shear force to peel off the floating mud on the surface of the inclined tube. The lifting distance is 3-8 cm, and the lifting action is completed within 1-3 seconds. S3: Hovering and Isolation: After lifting, hover the hollow cover (11) for 3-9 seconds to isolate the floating mud through the physical structure of the cover and prevent it from spreading. S4: Sludge disposal: Centralized treatment of the floating sludge accumulated inside the hollow cover (11); S5: Shifting and Cycling: After raising the hollow cover (11) to a safe height, move it horizontally to the next area to be cleaned, and repeat steps S1 to S4 until all cleaning work is completed.

10. The online cleaning method for sludge adhering to inclined tubes in a sedimentation tank according to claim 9, characterized in that: Step S4 includes gravity settling and gas extraction.

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