Automatic dredging system for closed pool

Abstract

The utility model relates to an automatic dredging system for a closed pool. The automatic dredging system comprises a control station, an in-pool sensing and dredging module and an out-pool water supply and mud pumping module, the control station is mounted outside the tank body and comprises an upper computer and a PLC (Programmable Logic Controller) control system; the in-pool sensing and desilting module comprises a guide rod and a mechanical arm; the guide rod is arranged in the center of the bracket, and the other end of the guide rod is mounted at the bottom of the tank body; the guide rod is provided with an electric sliding rail which is provided with a mechanical arm, and the tail end of the mechanical arm is provided with a visual camera, a laser radar and a high-pressure water gun. The other end of the high-pressure water gun is connected with industrial water; one end of the sewage suction pump is connected with a sewage suction pipe; the bottom of the sewage suction pipe extends into the bottom of the tank body; the other end of the sewage suction pipe is connected with a sludge storage tank. The utility model has the beneficial effects that the mechanical arm can wash the interior of the tank body in all directions without dead angles; the visual camera and the laser radar do not interfere with each other during working; the high-precision electric sliding rail enables the mechanical arm to accurately reach a preset position.

Description

Technical Field

[0001] This utility model relates to the field of dredging, and in particular includes an automatic dredging system for a closed water tank. Background Technology

[0002] The sludge removal operations for closed water tanks such as equalization tanks, anaerobic tanks, and sedimentation tanks in wastewater treatment systems of municipal sewage treatment plants, industrial wastewater treatment plants, and industrial enterprises such as printing and dyeing, chemical, and thermal power plants currently mainly take the following two forms:

[0003] Firstly, manual dredging is required: Because the sludge undergoes anaerobic fermentation at the bottom of the pool, it releases toxic and harmful gases. The pool, except for the manhole at the top, is a confined space. In conventional operations, workers must wear positive-pressure respirators, gas detectors, and waders, standing in knee-deep sludge with high-pressure water guns to rinse it. The resulting mud-water mixture is then pumped out of the pool by a suction pump placed in a corner. This method is highly dangerous, as workers in the pool risk inhaling toxic gases and suffocating. Furthermore, the heavy equipment and tools worn by workers, combined with the sludge and the high humidity at the bottom, cause significant physical strain, requiring personnel to be rotated every half hour, resulting in low efficiency. Additionally, the poor lighting at the bottom of the pool makes it difficult to assess and quantify the dredging effect visually.

[0004] Secondly, tracked and wheeled dredging robots are used for underwater operations: For enclosed pools with horizontal bottoms and no pipelines or equipment, some companies in the industry are already using tracked and wheeled dredging robots for dredging operations. These robots are generally remotely controlled by operators based on images transmitted from inside the pool via cameras mounted on the robots. A small high-pressure water gun mounted on top of the robot disperses the sludge, and then a suction pump at the front of the robot pumps the mud-water mixture out of the pool through connecting pipelines. This type of dredging robot has the following main drawbacks: 1) It cannot move on the bottom of pools with equipment and pipelines; large debris in the sludge can also affect the robot's safety; 2) The robot is completely or partially submerged in water, leading to low reliability after long-term operation; 3) The lighting environment under the pool is poor, and the dredging effect is judged visually by remote operators, making it difficult to clearly define and quantify the dredging effect.

[0005] Therefore, there is an urgent need for a system that can automatically remove sludge from the bottom of closed water tanks such as equalization tanks, anaerobic tanks, and sedimentation tanks in wastewater treatment systems of municipal sewage treatment plants, industrial wastewater treatment plants, and industrial enterprises such as printing and dyeing, chemical, and thermal power plants. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an automatic sludge removal system for a closed water tank.

[0007] This closed-loop automatic sludge removal system includes: a control station, an in-pool sensing and sludge removal module, and an external water supply and sludge removal module. The control station is installed outside the pool and includes a host computer and a PLC control system. The in-pool sensing and sludge removal module includes a guide rod and a robotic arm. A support frame is mounted on the manhole of the pool, with the guide rod positioned at the center of the support frame and the other end of the guide rod installed at the bottom of the pool. The guide rod is equipped with an electric slide rail, on which the robotic arm is mounted upside down. A vision camera, a lidar, and a high-pressure water gun are installed at the end of the robotic arm. The external water supply and sludge removal module includes a high-pressure pump and a sludge suction pump. The high-pressure pump and the sludge suction pump are installed on the ground outside the pool. The other end of the high-pressure water gun is connected to the high-pressure pump, which is connected to industrial water. One end of the sludge suction pump is connected to a suction pipe, the bottom of which extends into the bottom of the pool. The other end of the suction pipe is connected to a sludge storage tank.

[0008] Preferably, the robotic arm is a six-axis robotic arm; the base of the robotic arm is connected to the guide rod by an electric slide rail; a vision camera and a lidar are installed on one side of the sixth axis of the robotic arm, the vision camera includes an illumination supplement device, and a high-pressure water gun is installed on the other side of the sixth axis of the robotic arm.

[0009] As a preferred configuration, the lidar is positioned closer to the end of the robotic arm than the vision camera, while the vision camera is positioned higher than the lidar. The host computer analyzes and processes the information data returned by the vision camera and lidar, and sends instructions to the PLC control system. The PLC control system then controls the robotic arm, the high-pressure water gun, the high-pressure pump, and the sewage suction pump.

[0010] Preferably, a pipe support is installed at the bottom of the suction pipe, the pipe support is in contact with the bottom of the pool, and there is a gap between the bottom of the suction pipe and the bottom of the pool.

[0011] Preferably, a pressure sensor is installed inside the water path of the high-pressure water gun.

[0012] The beneficial effects of this utility model are:

[0013] 1) This practical robotic arm has good flexibility and can clean the inside of the pool from all angles without dead angles, making the cleaning more thorough.

[0014] 2) The LiDAR in this application is closer to the end of the robotic arm than the vision camera, avoiding the influence of the vision camera on the LiDAR scanning and modeling. The vision camera is higher than the LiDAR, avoiding the interference of the LiDAR on the vision camera's field of view, so that the vision camera and LiDAR do not interfere with each other when working.

[0015] 3) The electric slide rail of this utility model has a walking accuracy within ±10mm, which has high precision and stability, ensuring that the robotic arm can accurately reach the preset position. Attached Figure Description

[0016] Figure 1This is a schematic diagram of an automatic sludge removal system for a closed water tank.

[0017] Explanation of reference numerals in the attached diagram: 1. Pool body; 2. Support frame; 3. Guide rod; 4. High-pressure pump; 5. Sludge suction pump; 6. Robotic arm; 7. Vision camera; 8. LiDAR; 9. High-pressure water gun; 10. Sludge. Detailed Implementation

[0018] The present invention will be further described below with reference to embodiments. The description of the embodiments below is only for the purpose of helping to understand the present invention. It should be noted that, for those skilled in the art, several modifications can be made to the present invention without departing from the principle of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0019] As one embodiment, an automatic sludge removal system for a closed water tank is proposed, such as... Figure 1 As shown, it includes: a control station, an in-pool sensing and sludge removal module, and an external water supply and sludge removal module; the control station is installed outside the pool body 1, and includes a host computer and a PLC control system; the in-pool sensing and sludge removal module includes a guide rod 3 and a robotic arm 6; a support 2 is mounted on the manhole of the pool body 1, the guide rod 3 is located at the center of the support 2, and the other end of the guide rod 3 is installed at the bottom of the pool body 1; the guide rod 3 is equipped with an electric slide rail, and the robotic arm 6 is mounted upside down on the electric slide rail, with a vision camera 7, a lidar 8, and a high-pressure water gun 9 installed at the end of the robotic arm 6; the walking accuracy of this track-type walking device is ±1 Within 0mm, it has high precision and stability, ensuring that the robotic arm 6 can accurately reach the preset position; the external water supply and sludge pumping module includes a high-pressure pump 4 and a sludge suction pump 5; the high-pressure pump 4 and the sludge suction pump 5 are installed on the ground outside the pool body 1; the other end of the high-pressure water gun 9 is connected to the high-pressure pump 4, and the high-pressure pump 4 is connected to industrial water; one end of the sludge suction pump 5 is connected to a sludge suction pipe, the bottom of the sludge suction pipe extends into the bottom of the pool body 1, the other end of the sludge suction pipe 5 is connected to a sludge storage tank, the bottom of the sludge suction pipe is installed with a pipe port bracket, the pipe port bracket is in contact with the bottom of the pool, and there is a gap between the bottom of the sludge suction pipe and the bottom of the pool body 1.

[0020] like Figure 1 As shown, the base of the robotic arm 6 is connected to the electric slide rail of the guide rod 3, and the height of the robotic arm 6 is controlled by the electric slide rail. A vision camera 7 and a lidar 8 are installed on one side of the sixth axis of the robotic arm 6, and a high-pressure water gun 9 is installed on the other side. The robotic arm 6 is a six-axis robotic arm. A robotic arm with fewer degrees of freedom can also be used. Although it will lose some system flexibility and flushing effect, it can still complete the relevant sludge removal work and reduce the cost of related equipment. The six-axis robotic arm 6 can accurately flush the inside of the pool 1, the front and back of the pipes, water pumps, propellers and other equipment in the pool, as well as the dead corners formed by the pipes, water pumps, propellers and other equipment in the pool, to achieve a better sludge removal effect.

[0021] like Figure 1As shown, the LiDAR 8 is closer to the end of the robotic arm 6 than the vision camera 7, to avoid the influence of the vision camera 7 on the LiDAR 8 during scanning and modeling; the vision camera 7 is higher than the LiDAR 8, to avoid the LiDAR 8 interfering with the field of view of the vision camera 7; the host computer analyzes and processes the information data returned by the vision camera 7 and the LiDAR 8, and sends instructions to the PLC control system, which controls the robotic arm 6, the high-pressure water gun 9, the high-pressure pump 4, and the sewage pump 5; the LiDAR 8 can be replaced by a vision camera 7 with supplementary lighting.

[0022] The closed-loop automatic sludge removal system is equipped with an internal environment perception function through a vision camera 7 and a lidar 8. The vision camera 7 feeds back the internal conditions of the pool 1 to the host computer in real time for manual monitoring. The lidar 8 feeds back the internal environment of the pool 1 in the form of a point cloud to the host computer for locating sludge removal points and path planning. At the same time, by scanning the internal environment of the pool, the system generates volumetric spatial data of the pool and feeds it back to the host computer in the form of a point cloud. The host computer, in conjunction with SLAM technology, ensures that the robotic arm 6 does not collide with the pool wall, pipes on the pool wall, water pumps, flow promoters and other equipment inside the pool, nor is it submerged in the sludge 10 during operation, thus ensuring the safety of the equipment. The closed-loop automatic sludge removal system supports remote monitoring. Operators can remotely view the operating status and real-time data of the internal perception and sludge removal modules, as well as the external water supply and sludge removal modules, from the control station. They can also remotely control the start, stop and parameter adjustment of the internal perception and sludge removal modules, as well as the external water supply and sludge removal modules, facilitating centralized management and scheduling by management personnel. The system can also be used to view the equipment operation data logs through the human-machine interface, analyze whether the parameters are fluctuating normally, and promptly investigate the cause if abnormalities such as persistently low water pressure or frequent equipment start-ups and shutdowns are found.

[0023] Based on the information fed back by the LiDAR 8, the host computer accurately determines the timing of dredging and sends instructions to the PLC control system according to the location of the sludge 10 and the surrounding environment. The PLC control system controls the start of the high-pressure water gun 9, controls the spray angle of the high-pressure water gun 9, and adjusts the position and posture of the robotic arm 6. The host computer uses SLAM technology to analyze and judge relevant data to generate an environmental model, and combines motion planning algorithms to perform obstacle avoidance and path planning for the robotic arm 6. It then issues a flushing command, which controls the position and posture of the robotic arm 6, the start of the high-pressure pump 4, and the spray angle and start of the high-pressure water gun 9. After a certain time interval, a sludge pumping command is issued, which controls the start of the sludge suction pump 5 to pump the sludge 10 from the bottom of the pool 1. The vision camera 7 feeds back the dredging image data in the pool to the host computer in real time, which can be supplemented by manual control. The host computer visually judges whether the dredging is completely clean by comparing the point cloud data before and after the dredging. If the dredging effect is satisfactory, the host computer issues a command to stop the dredging operation.

[0024] The high-pressure water gun 9 can generate sufficient pressure and flow to effectively flush the sludge 10. For different types and hardnesses of sludge 10, an appropriate pressure range needs to be selected, generally between 100-250 bar, and a flow rate between 50-150 L / min. The spray angle and coverage of the high-pressure water gun 9 must meet the sludge removal requirements of the pool to ensure no blind spots in the flushing. The water circuit of the high-pressure water gun 9 is equipped with a pressure sensor, which can monitor the flushing pressure in real time and issue an alarm. With the help of the host computer and PLC control system, the sludge removal operation can be automatically paused. The robotic arm 6 and its installed high-pressure water gun 9 can be replaced by a water cannon equipped with a 360° pan-tilt head. The water cannon can be controlled by wired and remote control.

Claims

1. A closed pool automatic dredging system, characterized by, The application relates to a pool cleaning system, which comprises a control station, an in-pool sensing and dredging module and an out-of-pool water supply and mud pumping module. The control station is installed outside the pool body and comprises an upper computer and a PLC control system; the in-pool sensing and dredging module comprises a guide rod and a mechanical arm; a support is arranged on a manhole of the pool body, the guide rod is arranged at the center of the support, and the other end of the guide rod is installed at the bottom of the pool body; the guide rod is provided with an electric sliding rail, the electric sliding rail is inversely installed with the mechanical arm, the mechanical arm is provided at the tail end with a visual camera, a laser radar and a high-pressure water gun; the out-of-pool water supply and mud pumping module comprises a high-pressure pump and a sewage suction pump; the high-pressure pump and the sewage suction pump are installed on the ground outside the pool body; the other end of the high-pressure water gun is connected to the high-pressure pump, and the high-pressure pump is connected with industrial water; one end of the sewage suction pump is connected with a sewage suction pipe, and the bottom of the sewage suction pipe extends into the bottom of the pool body; the other end of the sewage suction pipe is connected with a sludge storage tank.

2. The closed pool automatic dredging system according to claim 1, wherein, The mechanical arm is a six-axis mechanical arm; the bottom seat side end of the mechanical arm is connected with the electric sliding rail of the guide rod; the sixth axis of the mechanical arm is provided at one side with the visual camera and the laser radar, and the sixth axis of the mechanical arm is provided at the other side with the high-pressure water gun.

3. The closed pool automatic dredging system according to claim 1, wherein, The laser radar is closer to the tail end of the mechanical arm than the visual camera, and the visual camera is higher than the laser radar; the upper computer analyzes and processes information data returned by the visual camera and the laser radar, sends instructions to the PLC control system, and the PLC control system controls the mechanical arm, the high-pressure water gun, the high-pressure pump and the sewage suction pump.

4. The closed pool automatic dredging system according to claim 1, wherein, The bottom of the sewage suction pipe is provided with a pipe opening support, the pipe opening support is in contact with the pool bottom, and there is a gap between the bottom of the sewage suction pipe and the bottom of the pool body.

5. The closed pool automatic dredging system according to claim 1, wherein, The high-pressure water gun is provided with a pressure sensor in the water channel.

Images