Adjustable sewage detection device based on multi-source fusion

Abstract

The utility model belongs to the technical field of underwater robots, and particularly relates to an adjustable sewage detection device based on multi-source fusion, which comprises a machine vision module, a positioning module, a power supply module and a rack, and is characterized in that the machine vision module comprises a sonar unit and a camera unit; the positioning module is used for measuring the real-time position of the sewage detection device; the power supply module is used for supplying power to the sewage detection device; the rack is used for bearing the machine vision module, the positioning module and the power supply module; compared with the prior art, the sewage detection device disclosed by the utility model can realize a plurality of key functions of efficient positioning, accurate observation, stable placement, flexible adjustment, continuous power supply and the like of the sewage detection device, and the intelligence and automation level and the detection accuracy of internal detection of a sewage pool are remarkably improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater robots, and in particular relates to an adjustable sewage detection device based on multi-source fusion. Background Art

[0002] The mechanical components of sewage treatment facilities are exposed to highly corrosive, chemically complex sewage environments for extended periods, making them susceptible to wear, corrosion, and structural damage, which directly impacts the system's treatment efficiency and operational stability. With the accelerated pace of industrialization and urbanization, the demand for sewage treatment has increased significantly. At the same time, environmental regulations are becoming increasingly stringent regarding sewage discharge standards, requiring sewage treatment facilities to operate continuously and efficiently.

[0003] Modern sewage treatment systems are developing towards automation and intelligence, requiring more accurate and real-time component detection methods to ensure stable system operation and reduce potential environmental pollution risks. The current detection technologies mainly include:

[0004] 1. Manual Inspection: Technicians physically enter the wastewater treatment facility and visually inspect components for wear, corrosion, or deformation, either using handheld inspection tools or by hand. This method allows for rapid response to unexpected issues and flexible assessment of equipment status. However, manual inspections often involve harsh working environments, particularly those in confined and corrosive wastewater environments, posing a potential threat to the health and safety of inspectors. Furthermore, manual inspections are relatively inefficient and susceptible to human influence, resulting in less objective and accurate results.

[0005] 2. Ultrasonic testing: Ultrasonic testing uses ultrasonic waves to penetrate component materials to detect thickness, internal cracks, and corrosion. It is suitable for testing metals and alloys. This method can detect internal defects, not just surface damage. Ultrasonic testing is highly applicable in sewage environments, as it can determine the extent of corrosion by measuring thickness changes. However, ultrasonic testing requires highly skilled technicians, has high equipment costs, and struggles to cover all components in complex environments.

[0006] 3. Machine Vision Inspection: Machine vision technology uses cameras and image processing algorithms to capture and analyze the surface condition of components. By identifying wear, corrosion, or cracks in the image, it can determine the health of the equipment. This method offers the advantage of automated inspection, eliminating the need for human intervention in harsh environments. Furthermore, image recognition technology is becoming increasingly mature, capable of identifying even minor surface damage. However, the application of machine vision inspection in sewage environments is limited. For example, high turbidity in sewage environments can lead to blurred images and inaccurate visual data, which in turn affects inspection effectiveness. Utility Model Content

[0007] The purpose of this utility model is to address the above-mentioned technical problems and provide an adjustable sewage detection device based on multi-source fusion, which can realize multiple key functions of the sewage detection device, such as efficient positioning, precise observation, stable placement, flexible adjustment and continuous power supply, and significantly improve the intelligence and automation level of internal detection of sewage pools and the accuracy of detection.

[0008] In view of this, the present invention provides an adjustable sewage detection device based on multi-source fusion, comprising:

[0009] Machine vision module, the machine vision module includes a sonar unit and a camera unit;

[0010] Positioning module, the positioning module is used to determine the real-time position of the sewage detection device;

[0011] A power supply module, which is used to supply power to the sewage detection device;

[0012] The rack is used to carry the machine vision module, positioning module and power supply module.

[0013] In this technical solution, the combination of sonar unit and camera unit overcomes the shortcomings of a single imaging method in sewage environment. The sonar unit provides long-distance imaging, while the camera unit captures subtle features. The fusion of the two significantly improves the imaging accuracy and temperature sensitivity in sewage environment, and obtains a more robust target feature representation.

[0014] In the above technical solution, further, the machine vision module also includes a supporting platform and a lighting unit, and the camera unit and the lighting unit are both installed on the supporting platform.

[0015] In the above technical solution, further, the machine vision module also includes a condenser, which can concentrate the light of the lighting unit.

[0016] In the above technical solution, further, the camera unit is a deep-sea camera.

[0017] In the above technical solution, further, the power supply module includes a sealed cabin, a power supply and a circuit board, and the battery is arranged in the sealed cabin.

[0018] In the above technical solution, further, the positioning module includes a magnetometer.

[0019] In the above technical solution, the sewage detection device further includes an adjustment module, which is used to adjust the posture and angle of the sewage detection device.

[0020] In the above technical solution, further, the adjustment module includes:

[0021] Multiple sets of telescopic rods, two adjacent sets of telescopic rods can extend and contract relative to each other along the axial direction, and the telescopic rods at the ends are connected to the frame;

[0022] A locking piece is provided between two adjacent groups of telescopic rods, and the locking piece is used to lock and release the two adjacent groups of telescopic rods.

[0023] In the above technical solution, further, the locking member includes:

[0024] a clamping joint adapted to fit one of the two adjacent sets of telescopic rods;

[0025] A guide arc block, the guide arc block is adapted to the other telescopic rod of the two adjacent groups of telescopic rods, and the guide arc block is connected to the clamping joint to form a telescopic joint clamp;

[0026] Rod end fasteners are used to lock and release expansion joint clamps.

[0027] In the above technical solution, further, the frame is a frame structure composed of square tubes.

[0028] The beneficial effects of the utility model are:

[0029] 1. Leveraging a multi-source fusion machine vision module, the system intelligently identifies the health of components within the sewage tank, promptly identifying potential issues such as wear, corrosion, or looseness, and reducing the risks and errors associated with manual inspection. The coordinated collaboration of the positioning and adjustment modules enables the detection device to precisely adjust its angle and position in real time to achieve optimal inspection results.

[0030] 2. The cooperation between the lighting unit and the condenser provides a good imaging environment for the camera unit, ensuring that the camera unit can capture clear images and improve the accuracy of the detection effect.

[0031] 3. The positioning module uses a magnetometer to precisely locate the target by calculating the magnetic gradient tensor and magnetic dipole model. This method, which does not rely on external signal sources, is suitable for precise positioning in complex sewage environments, providing more flexible working space and operational accuracy, and adapting to different detection depths and ranges. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0033] Figure 1It is a schematic structural diagram of the utility model as a whole.

[0034] Figure 2 This is a schematic diagram of the overall structure of the adjustment module in the present utility model.

[0035] Figure 3 It is a partial structural diagram of the regulating module in the present utility model.

[0036] Figure 4 This is a schematic diagram of the partial structure of the machine vision module in the present utility model.

[0037] The marks in the figure are:

[0038] 1. Machine vision module; 101. Sonar unit; 102. Camera unit; 103. Illumination unit; 104. Support platform; 105. Spotlight; 2. Positioning module; 201. Fan-shaped platform; 3. Power supply module; 4. Frame; 5. Adjustment module; 501. Handle; 502. Telescopic rod; 6. Locking piece; 601. Clamping joint; 602. Guide arc block; 603. Cam card rotation pin; 604. Compression cam card; DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] In the description of the present utility model, it should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. For ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0041] Example 1

[0042] This embodiment provides an adjustable sewage detection device based on multi-source fusion, including: a frame 4, a machine vision module 1, a positioning module 2, a power supply module 3,

[0043] See also Figure 1 The rack 4 is a frame-type design with a main structure composed of solid square tubes, which has excellent support and stability; the rack 4 is used to carry the machine vision module 1, the positioning module 2 and the power supply module 3.

[0044] See also Figure 1 The machine vision module 1 is installed in the middle layer of the rack. The machine vision module 1 includes a sonar unit 101 and a camera unit 102. In this embodiment, the sonar unit 101 and the camera unit 102 can be selected from commercially available products. The camera unit 102 can be a deep-sea camera, which has good pressure resistance and waterproof properties.

[0045] The rapid attenuation of underwater optical media limits the ability of the camera unit 102 to capture long-distance images; while the sonar unit 101 can achieve long-distance imaging, it lacks the accurate capture of subtle features. Therefore, combining the sonar unit 101 with the camera unit 102 imaging can obtain a more robust and detailed target feature representation, thereby improving the overall detection accuracy and stability of the sewage detection device.

[0046] See also Figure 4 Specifically, the machine vision module 1 also includes a supporting platform 104, a lighting unit 103 and a spotlight 105. The camera unit 102 and the lighting unit 103 are both installed on the supporting platform 104. The lighting unit 103 can use a deep-sea searchlight. The deep-sea searchlight has good pressure resistance, waterproofness and other properties. In this embodiment, there are two deep-sea searchlights, which are located on both sides of the camera unit 102, and can provide sufficient light source for the camera unit 102 to ensure good imaging effects; in this embodiment, the spotlight 105 is installed in front of the lighting unit 103 and the camera unit 102. The spotlight 105 can gather the light emitted by the lighting unit 103, improve the brightness in front of the lens of the camera unit 102, and ensure that the camera unit 102 captures a clear image.

[0047] Positioning module 2 is used to determine the real-time position of the sewage detection device, providing precise guidance for its placement. In this embodiment, positioning module 2 includes a magnetometer, which can measure magnetic field components in three directions. These components can be used to calculate the magnetic gradient tensor G. In a passive field, the divergence-free and curl-free properties of Maxwell's equations indicate that the magnetic gradient has only five independent components. Using the magnetic dipole model, the target position r can then be calculated.

[0048] A fan-shaped platform 201 is provided on the top of the frame 4, and the positioning module 2 and the sonar unit 101 are both installed on the fan-shaped platform 201;

[0049] The power supply module 3 is used to power the sewage detection device to support its long-term continuous operation and improve the sustainability of the task. In this embodiment, the power supply module 3 includes a sealed cabin, a power supply, and a circuit board. There are two sealed cabins, both of which are located at the bottom layer of the frame 4. The sealed cabins can completely isolate the internal power supply and circuit board from erosion by sewage. The sealed cabins also have pressure resistance and can maintain structural integrity in an underwater high-pressure environment, providing reliable protection for the long-term stable operation of the power supply system, thereby extending the service life of the equipment and ensuring the safety and reliability of the power supply module 3 in harsh marine environments. The power supply provides continuous electrical energy support to the sewage detection device to ensure its long-term, stable and continuous operation. The circuit board, as a buck / boost module, can accurately adjust the input voltage and convert it into a target voltage that meets the equipment requirements, thereby ensuring the stable operation of power-consuming components under various power supply conditions. When the input voltage is too high or too low, the circuit board ensures the stability of the output voltage through adjustment to effectively protect the equipment, improve power utilization efficiency, and adapt to different power requirements.

[0050] In this embodiment, the sewage detection device is placed in the sewage pool. Through the combination of the sonar unit 101 and the camera unit 102, the various components inside the sewage pool can be accurately identified to detect whether the various components inside the sewage pool are damaged, so that the corresponding components can be maintained in time to ensure the stable operation of the sewage treatment system.

[0051] Example 2

[0052] This embodiment provides an adjustable sewage detection device based on multi-source fusion, which, in addition to the technical solutions of the above embodiments, also has the following technical features:

[0053] See also Figure 1 In this embodiment, the sewage detection device further includes an adjustment module 5, which is used to adjust the posture and angle of the sewage detection device so that the sewage detection device can observe the components of the internal mechanism of the sewage tank at the optimal position;

[0054] Specifically, the adjustment module 5 includes: multiple sets of telescopic rods 502, locking members 6,

[0055] See also Figure 2 , the two adjacent groups of telescopic rods 502 can be relatively extended and contracted along the axial direction, and the telescopic rods 502 at the end are detachably connected to the frame 4. In this embodiment, the telescopic rods 502 and the frame 4 can be connected by threads. Preferably, a handle 501 is provided on the telescopic rod 502 at the head end;

[0056] A locking member 6 is provided between two adjacent telescopic rods 502, and the locking member 6 is used to lock and release the two adjacent telescopic rods 502;

[0057] In this embodiment, there are three groups of telescopic rods 502, and the three groups of telescopic rods 502 are connected by two groups of locking members 6. When the three groups of telescopic rods 502 are extended, the total length can reach 4.5 meters.

[0058] More specifically, the locking member 6 includes: a clamping joint 601, a guide arc block 602, a rod end fastener,

[0059] See also Figure 3 , the clamping joint 601 is adapted to one of the two adjacent groups of telescopic rods 502 , and the clamping joint 601 is sleeved on the outside of one group of telescopic rods 502 ;

[0060] The guide arc block 602 is adapted to the other telescopic rod 502 of the two adjacent telescopic rods 502. The guide arc block 602 is sleeved on the outside of the other telescopic rod 502. The guide arc block 602 is connected to the clamping joint 601 to form an expansion joint clamp; the expansion joint clamp can firmly connect the two adjacent telescopic rods 502.

[0061] More specifically, the telescopic connector clamp is an open ring structure, and protruding blocks are provided at both ends of the telescopic joint clamp. The rod end fasteners include a cam card pin 603 and a clamping cam card 604. The cam card pin 603 is connected to the two protruding blocks, and one end of the cam card pin 603 is connected to the clamping cam card 604. The other end of the cam card pin 603 has a limiting structure, which can limit the cam card pin 603 from falling off the protruding block. By rotating the clamping cam card 604 to a certain angle, the distance between the two protruding blocks can be adjusted, thereby adjusting the tightness of the telescopic connector clamp on the two sets of telescopic rods 502.

[0062] The embodiments of the present invention are described above in conjunction with the accompanying drawings. In the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. An adjustable sewage detection device based on multi-source fusion, characterized in that: include: A machine vision module (1), the machine vision module (1) comprising a sonar unit (101) and a camera unit (102); A positioning module (2), the positioning module (2) is used to determine the real-time position of the sewage detection device; A power supply module (3), the power supply module (3) being used to supply power to the sewage detection device; A frame (4), the frame (4) is used to carry the machine vision module (1), the positioning module (2) and the power supply module (3).

2. The adjustable sewage detection device based on multi-source fusion according to claim 1 is characterized in that: The machine vision module (1) further comprises a supporting platform (104) and a lighting unit (103), and the camera unit (102) and the lighting unit (103) are both mounted on the supporting platform (104).

3. The adjustable multi-source fusion sewage detection device according to claim 2 is characterized in that: The machine vision module (1) further comprises a condenser (105), and the condenser (105) is capable of concentrating the light of the lighting unit (103).

4. The adjustable multi-source fusion sewage detection device according to claim 1 is characterized in that: The camera unit (102) is a deep-sea camera.

5. The adjustable sewage detection device based on multi-source fusion according to claim 1 is characterized in that: The power supply module (3) comprises a sealed cabin, a power supply and a circuit board, and the battery is arranged in the sealed cabin.

6. The adjustable sewage detection device based on multi-source fusion according to claim 1 is characterized in that: The positioning module (2) comprises a magnetometer.

7. The adjustable sewage detection device based on multi-source fusion according to claim 1 is characterized by: The sewage detection device further comprises an adjustment module (5), and the adjustment module (5) is used to adjust the posture and angle of the sewage detection device.

8. The adjustable sewage detection device based on multi-source fusion according to claim 7 is characterized in that: The regulating module (5) comprises: Multiple groups of telescopic rods (502), wherein two adjacent groups of telescopic rods (502) can relatively expand and contract along the axial direction, and the telescopic rods (502) at the ends are connected to the frame (4); A locking member (6) is provided between two adjacent groups of telescopic rods (502), and the locking member (6) is used to lock and release the two adjacent groups of telescopic rods (502).

9. The adjustable sewage detection device based on multi-source fusion according to claim 8, characterized in that: The locking member (6) comprises: A clamping joint (601), wherein the clamping joint (601) is adapted to one set of telescopic rods (502) in two adjacent sets of telescopic rods (502); A guide arc block (602), the guide arc block (602) is adapted to the other telescopic rod (502) of the two adjacent groups of telescopic rods (502), and the guide arc block (602) is connected to the clamping joint (601) to form a telescopic joint clamp; A rod end fastener is used to lock and release the expansion joint clamp.

10. The adjustable sewage detection device based on multi-source fusion according to claim 1, characterized in that: The frame (4) is a frame structure composed of square tubes.

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