Track type inspection robot for sewage treatment biochemical tank

Abstract

The application relates to a sewage treatment biochemical pool track type inspection robot, which comprises a moving platform, a magnetic attraction track, a driving assembly, a cleaning assembly, a mechanical arm and a detection assembly; the moving platform is suspended on the magnetic attraction track and moves along the magnetic attraction track; the moving platform moves through the driving assembly; the cleaning assembly is suspended on the moving platform and is used for cleaning the attachments on the surface of the magnetic attraction track when the moving platform moves; the mechanical arm is suspended on the moving platform; one end of the mechanical arm is movably connected with the moving platform; the other end of the mechanical arm is connected with the detection assembly. The technical problem to be solved is how to provide the track type inspection robot which can cover the whole pool area and resist environmental interference, so as to realize the unmanned biochemical pool and the safe monitoring of the whole coverage.

Description

Technical Field

[0001] This application relates to the field of wastewater treatment automation, and in particular to a track-type inspection robot for wastewater treatment biochemical tanks. Background Technology

[0002] Currently, regular inspections of biological treatment tanks in wastewater treatment plants are a crucial step in ensuring stable process operation and preventing sudden failures, and have become an important standard for standardized operation and maintenance in the industry. However, existing inspection systems still face multiple technical challenges in practical applications: traditional manual inspection methods not only require operators to be frequently exposed to high-risk areas of the biological treatment tanks, facing significant safety risks such as hydrogen sulfide poisoning and falls from heights, but also, due to labor cost limitations, the inspection frequency is generally less than twice a day, making it difficult to detect and address process anomalies in a timely manner; while fixed online monitoring systems have achieved continuous collection of some water quality parameters, their limited monitoring points can only cover 5%-10% of the tank area, resulting in significant spatial limitations in the monitoring data and an inability to accurately reflect the gradient distribution characteristics of water quality parameters within the tank.

[0003] To overcome the limitations of traditional monitoring methods, some advanced wastewater treatment plants have begun to explore the use of track-mounted mobile robot technology to expand the monitoring range. However, in actual operation, problems such as operational instability caused by biofilm adhesion on the track surface often occur, severely restricting the real-time monitoring accuracy of the biological treatment tank's operating status and the timeliness of process control. Utility Model Content

[0004] In view of this, this application proposes a track-type inspection robot for sewage treatment biochemical ponds. The technical problem to be solved is how to provide a track-type inspection robot that can cover the entire pond area and resist environmental interference, so as to realize unmanned, full-coverage, and high-precision safety monitoring of biochemical ponds.

[0005] The objective of this application and the technical problem it solves are achieved by the following technical solution. A track-type inspection robot for a wastewater treatment biochemical tank, according to this application, includes: a mobile platform, a magnetic track, a drive assembly, a cleaning assembly, a robotic arm, and a detection assembly;

[0006] The magnetic track is suitable for installation on the upper part of the interior of a wastewater treatment biochemical tank;

[0007] The mobile platform is suspended on the magnetic track and moves along the magnetic track; the mobile platform moves via the drive component.

[0008] The cleaning component is suspended on the mobile platform and is used to clean the adhering substances on the surface of the magnetic track when the mobile platform moves;

[0009] The robotic arm is suspended on the mobile platform; one end of the robotic arm is movably connected to the mobile platform; the other end of the robotic arm is connected to the detection component; the detection component is used to detect water samples in the wastewater treatment biochemical tank.

[0010] In one possible implementation, the robotic arm includes a telescopic arm, a drive shaft, and a sampling arm;

[0011] One end of the telescopic arm is movably connected to the mobile platform; the other end of the telescopic arm is connected to one end of the drive shaft; the other end of the drive shaft is connected to one end of the sampling arm via a lead screw; the other end of the sampling arm is provided with the detection component.

[0012] In one possible implementation, the detection assembly includes a DO sensor, an antimony electrode ORP sensor, and a PT100 temperature sensor; a cleaning nozzle is provided at one end of the telescopic arm connected to the drive shaft for cleaning the detection assembly.

[0013] In one possible implementation, the extension stroke of the sampling arm is 0.5 to 3 m.

[0014] In one possible implementation, the surface of the magnetic track is provided with a biofilm-resistant coating.

[0015] In one possible implementation, the drive assembly is a four-wheel drive system, which includes a servo motor, a harmonic reducer, and drive wheels; the servo motor, the harmonic reducer, and the drive wheels are electrically connected.

[0016] In one possible implementation, the cleaning component includes integrated nylon bristles and a high-pressure air nozzle.

[0017] In one possible implementation, the magnetic track is laid above the sewage treatment biochemical tank; a support frame is laid above the sewage treatment biochemical tank to support the magnetic track.

[0018] In one possible implementation, the inspection robot further includes a control system; the control system is electrically connected to the mobile platform, drive components, cleaning components, robotic arm, and detection components.

[0019] In one possible implementation, the cleaning nozzle is tilted at an angle of 45°.

[0020] The beneficial effects of this utility model are:

[0021] This utility model provides a track-type inspection robot for sewage treatment biochemical pools, which is equipped with a magnetic track and a cleaning component. The magnetic track can achieve an adhesion force of over 200 N / m, and the cleaning component can remove the deposits on the track surface while the mobile platform is moving, thereby solving the problem of traditional tracks being prone to derailment.

[0022] This invention provides a track-mounted inspection robot specifically designed for biological treatment ponds in wastewater treatment. The robot comprises two core components: a magnetic track and a cleaning assembly. The magnetic track boasts excellent adsorption properties, with an adhesion force consistently exceeding 200 N / m, ensuring stable movement of the mobile platform along the track. Simultaneously, the robot's cleaning assembly automatically removes various deposits from the track surface during the platform's movement, effectively preventing derailment due to track contamination and completely solving the problem of traditional track derailment.

[0023] Other features and aspects of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0025] Figure 1 A schematic diagram of an orbital inspection robot according to an embodiment of this application is shown;

[0026] Figure 2 A schematic diagram of a robotic arm device according to an embodiment of this application is shown;

[0027] Figure 3 A schematic diagram of a control system device according to an embodiment of this application is shown;

[0028] Figure 4 A schematic diagram of a monitoring backend device according to an embodiment of this application is shown;

[0029] Figure 5 A schematic diagram of an inspection robot device according to an embodiment of this application is shown;

[0030] Figure 6 A schematic diagram of the magnetic track setting device is shown when the wastewater treatment biochemical tank of this application is rectangular;

[0031] The components include: 1. Mobile platform; 2. Magnetic track; 3. Drive assembly; 31. Servo motor; 32. Harmonic reducer; 33. Drive wheel; 4. Cleaning assembly; 41. Nylon brush; 42. High-pressure air nozzle; 5. Robotic arm; 51. Telescopic arm; 52. Drive shaft; 53. Sampling arm; 6. Detection assembly; 61. DO sensor; 62. Antimony electrode ORP sensor; 63. PT100 temperature sensor; 7. Cleaning nozzle; 71. Tilting angle of cleaning nozzle; 8. Wastewater treatment biochemical tank; 9. Support frame; 10. Inspection robot; 11. Control system; 12. Monitoring backend; 121. Alarm setting and management; 122. Implementation of audible and visual alarms; 123. Historical data query; 124. Curve report summary; 125. pH detection; 126. Temperature detection; 127. ORP detection; 128. Video acquisition. Detailed Implementation

[0032] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0033] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0036] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0037] Specific references Figures 1-6 As a specific embodiment of the track-type inspection robot for a wastewater treatment biochemical pool according to this application, the robot includes: a mobile platform 1, a magnetic track 2, a drive component 3, a cleaning component 4, a robotic arm 5, and a detection component 6;

[0038] Two magnetic rails are suitable for installation on the upper part of the interior of the sewage treatment biological tank 8;

[0039] The mobile platform 1 is suspended on the magnetic track 2 and moves along the magnetic track 2; the mobile platform 1 moves via the drive component 3.

[0040] The cleaning component 4 is suspended on the mobile platform 1 and is used to clean the surface of the magnetic track 2 when the mobile platform 1 moves;

[0041] The robotic arm 5 is suspended on the mobile platform 1; one end of the robotic arm 5 is movably connected to the mobile platform 1; the other end of the robotic arm 5 is connected to the detection component 6; the detection component 6 is used to detect the water sample in the sewage treatment biochemical tank 8.

[0042] like Figure 1 and Figure 5 As shown, this utility model adopts a suspension design, which makes the connection between the mobile platform and the magnetic track more stable and flexible. The magnetic track provides a stable running path for the mobile platform, ensuring that it will not deviate from the track during movement. At the same time, the drive component drives the mobile platform to move along the track. This design enables the robot to inspect above the sewage treatment biochemical tank according to a predetermined route, with a wide coverage area and precise movement, which can effectively improve inspection efficiency.

[0043] like Figure 1 As shown, integrating the cleaning components onto a mobile platform combines cleaning functionality with mobile functionality. Figure 1 As shown, during the movement of the mobile platform in the direction of the arrow, the cleaning component can clean the adhering substances on the track surface in real time, avoiding problems such as increased track friction, robot movement obstruction, or even derailment caused by the accumulation of adhering substances. This design ensures the stability and reliability of robot operation, reduces downtime caused by track problems, and improves the robot's working efficiency and service life.

[0044] In one possible implementation, the robotic arm includes a telescopic arm 51, a drive shaft 52, and a sampling arm 53;

[0045] like Figure 2 and Figure 5 As shown, one end of the telescopic arm 51 is movably connected to the mobile platform 1; the other end of the telescopic arm 51 is connected to one end of the drive shaft 52; the other end of the drive shaft 52 is connected to one end of the sampling arm 53 via a lead screw; and the other end of the sampling arm 53 is provided with a detection component 6.

[0046] like Figure 2 and Figure 5 As shown, this invention connects the drive shaft and sampling arm via a lead screw, a design that offers advantages such as high transmission precision and smooth movement. The lead screw drive enables precise linear motion, allowing for accurate control of the sampling arm's position and speed during extension and retraction, thus ensuring the detection component accurately reaches the target detection position. Furthermore, this connection method is simple, reliable, easy to maintain and repair, and reduces the failure rate of the robotic arm.

[0047] In one possible implementation, the detection component 6 includes a DO sensor 61, an antimony electrode ORP sensor 62, and a PT100 temperature sensor 63; a cleaning nozzle 7 is provided at one end of the telescopic arm connected to the drive shaft for cleaning the detection component.

[0048] The detection component of this invention integrates multiple sensors, enabling simultaneous detection of key parameters such as dissolved oxygen (DO), oxidation-reduction potential (ORP), and temperature in the biological treatment tank of wastewater treatment, providing comprehensive and accurate data support for the wastewater treatment process. Figure 2 As shown, the inclusion of a cleaning nozzle demonstrates the thoughtful design. During the inspection process, dirt or impurities may adhere to the surface of the inspection components, affecting inspection accuracy. The cleaning nozzle can promptly clean the inspection components, ensuring the accuracy and reliability of the inspection data and improving the robot's inspection performance.

[0049] In addition, the detection components disclosed in this utility model also include devices such as a pH detection device and a video acquisition device.

[0050] In one possible implementation, the extension stroke of the sampling arm 53 is 0.5 to 3 m.

[0051] This invention specifies the telescopic stroke range of the sampling arm, enabling the robotic arm to adapt to detection needs at different depths and positions. In wastewater treatment biochemical tanks, detection points in different areas may have different depths; a telescopic stroke range of 0.5–3 m can cover most common detection scenarios, improving the robot's versatility and practicality. Simultaneously, the reasonable stroke range ensures the structural strength and stability of the robotic arm, avoiding problems such as deformation or excessive vibration caused by excessive stroke.

[0052] It is worth noting that the lead screw disclosed in this utility model refers to a lead screw drive mechanism; the telescopic stroke refers to the drive stroke of the lead screw transmission mechanism. During use, the descent speed of the sampling arm is controlled at 0.2 m / s to avoid disturbing the water body.

[0053] In one possible implementation, the surface of the magnetic track 2 is provided with an anti-biofilm coating.

[0054] The robot disclosed in this invention is used to detect wastewater in a biological treatment tank for sewage treatment. However, the environment of a biological treatment tank for sewage treatment is complex and prone to biofilm growth. The presence of biofilm increases the friction on the track surface, affecting the smoothness of the robot's movement and may even cause the robot to derail. Therefore, this invention provides an anti-biofilm coating on the surface of the magnetic track, which can effectively prevent biofilm from growing and adhering to the track surface, reduce track maintenance costs, and ensure the long-term stable operation of the robot.

[0055] In one possible implementation, the drive component 3 is a four-wheel drive system, which includes a servo motor 31, a harmonic reducer 32, and drive wheels 33; the servo motor 31, harmonic reducer 32, and drive wheels 33 are electrically connected.

[0056] like Figure 1 and Figure 3 As shown, this utility model discloses a four-wheel drive system as the drive assembly. The four-wheel drive system provides the robot with powerful performance and excellent stability. The servo motor features high control precision and fast response speed, enabling precise control of the drive wheel speed and direction, achieving accurate robot movement. The harmonic reducer offers advantages such as a large transmission ratio, smooth transmission, and low noise, converting the high-speed rotation of the servo motor into the low-speed, high-torque required by the drive wheels, thus improving the robot's load capacity and motion stability. This drive assembly design allows the robot to operate stably in complex terrains and environments, adapting to different working conditions in wastewater treatment biochemical tanks.

[0057] This invention combines a servo motor and a harmonic reducer, enabling the mobile platform to climb slopes of ≥15°.

[0058] In one possible implementation, the cleaning component 4 includes an integrated nylon bristle 41 and a high-pressure air nozzle 42.

[0059] like Figure 1As shown, this utility model discloses a cleaning component design consisting of nylon bristles and a high-pressure air nozzle. The nylon bristles remove larger particles and stubborn stains from the track surface through physical friction; the high-pressure air nozzle generates a high-pressure airflow to blow away dust, fine particles, and residual moisture from the track surface. These two cleaning methods complement each other, improving the cleaning effect and thoroughly removing various deposits from the track surface, ensuring track cleanliness and thus guaranteeing the normal operation of the robot.

[0060] In one possible implementation, the magnetic track 2 is laid above the sewage treatment biochemical tank 8; a support 9 is laid above the sewage treatment biochemical tank 8 to support the magnetic track 2.

[0061] like Figure 6 As shown, this invention lays a magnetic track above a wastewater treatment biochemical tank and supports it with brackets. This design makes full use of the space above the biochemical tank without occupying space inside the tank, thus avoiding interference with the wastewater treatment equipment and processes within the tank. Simultaneously, the bracket support method ensures the stability and levelness of the magnetic track, providing a foundation for the smooth operation of the robot. Furthermore, this layout facilitates the installation, debugging, and maintenance of the track, reducing construction difficulty and costs.

[0062] like Figure 6 As shown, the spacing of the support structure disclosed in this utility model can be adjusted according to actual needs. The magnetic tracks on the support structure can be laid in a straight line, U-shape, cross shape, or ring shape. The laying method can be set according to the shape of the sewage treatment biochemical tank. If the sewage treatment biochemical tank is circular, the magnetic tracks can be set as a ring track with a diameter of 40m, and 8 charging piles can be set. The inspection robot can complete a full scan every 2 hours, and the abnormal point detection of the sewage treatment biochemical tank can reach 15 minutes / time. If the sewage treatment biochemical tank is rectangular, the magnetic tracks can be set as a cross shape with a total length of 120m.

[0063] Furthermore, the inspection robot disclosed in this utility model is equipped with a visual recognition system, which can accurately detect and automatically avoid various floating objects on the water surface, ensuring the smooth progress of inspection tasks. Simultaneously, the robot also employs LoRa self-organizing network technology, effectively achieving comprehensive signal coverage in complex underground areas, greatly improving the flexibility and reliability of inspections.

[0064] In one possible implementation, the inspection robot 10 also includes a control system 11; the control system 11 is electrically connected to the mobile platform 1, the drive component 3, the cleaning component 4, the robotic arm 5, and the detection component 6.

[0065] This utility model discloses a control system that enables inspection robots to operate automatically and intelligently. Through electrical connections, the control system can coordinate and control various components in a unified manner, realizing the automated operation of the robot's movement, cleaning, and inspection functions.

[0066] The mobile platform disclosed in this utility model includes a shell with an internal cavity. The shell is waterproof and has an IP68 protection rating. The internal cavity houses an equipment compartment and a battery compartment. The equipment compartment is used to install equipment, such as control systems and components of the robotic arm. The battery compartment stores batteries to power the inspection robot.

[0067] The control system disclosed in this utility model includes an edge computing unit and a wireless communication module. The edge computing unit is an ARM Cortex-A72 processor, which can implement a path planning algorithm. The wireless communication module supports 4G / 5G and Modbus dual-mode transmission.

[0068] The control logic of the control system disclosed in this utility model is as follows:

[0069] 1. Start-up phase:

[0070] 1) System self-test: Detects the working status of the robot's power supply, communication, and sensor equipment;

[0071] At the start-up, the system will automatically perform a comprehensive self-check to check the robot's power supply, communication connection, and the working status of core devices such as sensors, ensuring that everything is ready.

[0072] 2) Download inspection path planning data from the cloud: The system will download pre-planned inspection path data from the cloud to provide routes for subsequent accurate inspections.

[0073] 2. Movement Phase:

[0074] 1) Real-time SLAM map construction using LiDAR (update frequency 10Hz);

[0075] During movement, the LiDAR uses a high frequency of 10Hz to build and update the SLAM map in real time, ensuring that the robot has an accurate and real-time understanding of its surroundings.

[0076] 2) Dynamic obstacle avoidance algorithm trigger condition: Obstacle detected at a distance d < 0.5m;

[0077] When the lidar detects an obstacle less than 0.5 meters away, it immediately triggers a dynamic obstacle avoidance algorithm to ensure that the robot can flexibly and safely bypass the obstacle.

[0078] 3. Testing phase:

[0079] 1) The sampling arm descends at a speed of v = 0.2 m / s (with overload protection mechanism);

[0080] The sampling arm descends at a stable speed of 0.2 m / s, and is equipped with an overload protection mechanism to ensure a smooth and safe sampling process and prevent excessive descent speed from disturbing the water in the wastewater treatment biochemical tank.

[0081] 2) Data acquisition period Δt = 5s, abnormal data are resampled and verified in real time;

[0082] The data acquisition cycle is set to Δt = 5 seconds. The system will perform real-time verification on the acquired data. Once abnormal data is detected, it will immediately resample and verify to ensure the accuracy and reliability of the data.

[0083] 4. Communication Phase:

[0084] 1) Edge computing units perform data filtering (Kalman filtering algorithm);

[0085] The edge computing unit uses the Kalman filtering algorithm to perform fine filtering on the collected data, further improving data quality.

[0086] 2) Upload compressed data packets using the MQTT protocol (compression rate ≥ 70%).

[0087] The system uses the MQTT protocol to upload compressed data packets, achieving a compression rate of over 70%, which saves transmission bandwidth and improves data transmission efficiency.

[0088] In addition, such as Figure 3 and Figure 4 As shown, the control system disclosed in this utility model is also electrically connected to an external monitoring backend 12. The monitoring backend is powerful, supporting alarm settings and management, and can implement audible and visual alarms when necessary. It also provides convenient functions such as historical data query and curve report aggregation, providing strong support for system operation and maintenance management. The control system has a built-in abnormal data hierarchical alarm strategy, triggering a level-three alarm when the DO value fluctuates beyond ±0.5 mg / L.

[0089] In one possible implementation, the tilt angle 71 of the cleaning nozzle 7 is 45°.

[0090] like Figure 2As shown, this utility model discloses a cleaning nozzle with a 45° tilt angle. This angle setting allows the cleaning medium sprayed from the nozzle to impact the surface of the detection component at an optimal angle, improving the cleaning effect. The 45° angle ensures sufficient cleaning coverage while enhancing the impact force of the cleaning medium on the detection component surface, more effectively removing dirt and impurities adhering to it. Simultaneously, this angle design also considers the reflection and diffusion of the cleaning medium, avoiding waste of the cleaning medium and excessive impact on the surrounding environment.

[0091] It is worth noting that the cleaning medium disclosed in this utility model can be a gas or liquid used for cleaning, such as water flow or air flow.

[0092] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A track-mounted inspection robot for a wastewater treatment biochemical tank, characterized in that, It includes: a mobile platform, a magnetic track, a drive assembly, a cleaning assembly, a robotic arm, and a detection assembly; The magnetic track is suitable for installation on the upper part of the interior of a wastewater treatment biochemical tank; The mobile platform is suspended on the magnetic track and moves along the magnetic track; the mobile platform moves via the drive component. The cleaning component is suspended on the mobile platform and is used to clean the adhering substances on the surface of the magnetic track when the mobile platform moves; The robotic arm is suspended on the mobile platform; one end of the robotic arm is movably connected to the mobile platform; the other end of the robotic arm is connected to the detection component; the detection component is used to detect water samples in the wastewater treatment biochemical tank.

2. The inspection robot according to claim 1, characterized in that, The robotic arm includes a telescopic arm, a drive shaft, and a sampling arm; One end of the telescopic arm is movably connected to the mobile platform; the other end of the telescopic arm is connected to one end of the drive shaft; the other end of the drive shaft is connected to one end of the sampling arm via a lead screw; the other end of the sampling arm is provided with the detection component.

3. The inspection robot according to claim 2, characterized in that, The detection assembly includes a DO sensor, an antimony electrode ORP sensor, and a PT100 temperature sensor; a cleaning nozzle is provided at one end of the telescopic arm connected to the drive shaft for cleaning the detection assembly.

4. The inspection robot according to claim 2, characterized in that, The extension stroke of the sampling arm is 0.5 to 3 meters.

5. The inspection robot according to claim 1, characterized in that, The surface of the magnetic track is coated with an anti-biofilm coating.

6. The inspection robot according to claim 1, characterized in that, The drive assembly is a four-wheel drive system, which includes a servo motor, a harmonic reducer, and drive wheels; the servo motor, the harmonic reducer, and the drive wheels are electrically connected.

7. The inspection robot according to claim 1, characterized in that, The cleaning components include integrated nylon bristles and a high-pressure air nozzle.

8. The inspection robot according to claim 1, characterized in that, The magnetic track is laid above the sewage treatment biochemical tank; a support frame is laid above the sewage treatment biochemical tank to support the magnetic track.

9. The inspection robot according to claim 1, characterized in that, The inspection robot also includes a control system; the control system is electrically connected to the mobile platform, drive components, cleaning components, robotic arm, and detection components.

10. The inspection robot according to claim 3, characterized in that, The cleaning nozzle is tilted at an angle of 45°.

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