Digital management and control system for whole process of river channel garbage cleaning

Abstract

Provided is a digital management and control system for the whole process of river channel garbage cleaning, relating to the technical field of intelligent control. A data acquisition module is used for acquiring basic data; a data processing module is used for receiving the basic data from the data acquisition module and instruction data issued by an analysis control module, and storing the basic data and the instruction data to obtain processed data; the analysis control module is used for receiving the processed data from the data processing module, processing and transforming the processed data to generate a control instruction for salvage equipment, and sending the control instruction to the salvage equipment by means of the data processing module; and an input and output module is used for receiving output data from the analysis control module, displaying the output data, and performing human-computer interaction, wherein the output data comprises the basic data, the instruction data, a water level change rate, a predicted time when the water level reaches a warning water level, a predicted time when garbage reaches the salvage equipment, a garbage weight visualization chart, and digital coordinates.

Description

A digital management and control system for the entire process of river garbage cleaning Technical Field

[0001] The present invention belongs to the field of intelligent control technology, and in particular relates to a digital management and control system for the entire process of river garbage cleaning. Background Art

[0002] River garbage salvage projects have the characteristics of a wide range of applications, complex types of river garbage, and the need to cope with changing working conditions. Especially during the flood season, the river water level fluctuates greatly and the water flow rate changes rapidly, making it difficult to achieve unmanned intelligent salvage.

[0003] In recent years, a wide variety of riverside debris removal equipment has emerged, replacing manual salvage in some scenarios. However, existing equipment still requires manual operation, making it difficult to achieve round-the-clock control. This is especially true during the rainy season, where workers still need to monitor the river at night to prevent debris from clogging the river. Therefore, utilizing multiple sensors to collect data and analyze it to enable intelligent control of the equipment is a key development direction for riverside debris removal technology.

[0004] Summary of the Invention

[0005] In order to solve the technical problems existing in the known technology, the present invention provides a digital management and control system for the entire process of river garbage cleaning, which combines image processing technology, wireless communication technology and remote control technology to realize remote monitoring and salvage of river garbage.

[0006] The purpose of the present invention is to provide a digital management and control system for the entire process of river garbage cleaning, including a data acquisition module for collecting basic data; the basic data includes water level, flow rate, garbage location, garbage quantity, garbage weight, spatial coordinates of salvage equipment, and operating parameters of the salvage equipment;

[0007] The data processing module receives the basic data from the data acquisition module, analyzes the instruction data issued by the control module, and stores the basic data and instruction data to obtain processed data;

[0008] The analysis and control module receives the processed data from the data processing module, processes and transforms the processed data, and then generates control instructions for the salvage equipment, and sends the control instructions to the salvage equipment through the data processing module. The processing includes: calculating the water level change rate based on the water level, and calculating the predicted time when the water level reaches the warning water level based on the water level change rate; calculating the predicted time when the garbage reaches the salvage equipment based on the garbage location and flow rate; and generating a garbage weight visualization chart based on the weight of the garbage salvaged within a period of time. The transformation is to transform the spatial coordinates of the salvage equipment into spatial data for GIS system application.

[0009] The input and output module receives the output data of the analysis and control module, displays the output data, and performs human-computer interaction. The output data includes basic data, instruction data, water level change rate, predicted time for the water level to reach the warning level, predicted time for the garbage to reach the salvage equipment, garbage weight visualization chart and digital coordinates.

[0010] The data acquisition module, data processing module, analysis and control module, and input and output module perform data exchange in sequence through a wireless network.

[0011] Preferably, a plurality of stations are built across the river channel, and a plurality of salvaging equipment are installed in each station. The plurality of salvaging equipment in each station are arranged in a line from one side of the river channel to the other side.

[0012] Preferably, the analysis and control module divides the river into several areas along the water flow direction according to the position of the salvaging equipment, matches the garbage position with the area, and then controls the corresponding salvaging equipment action.

[0013] The lifting of the lifting of the lifting paddle shifters is a key issue in the lifting of the lifting of the lifting paddle shifters, and the lifting of the lifting paddle shifters is a key issue in the lifting of the lifting paddle shifters.

[0014] Preferably, the analysis and control module compares the received water level with a preset water level threshold. When the water level is greater than or equal to the preset water level threshold, the analysis and control module sends a flood discharge instruction to the salvage equipment through the data processing module.

[0015] Preferably, the data acquisition module includes:

[0016] Water level monitoring unit, flow rate detection unit, and garbage identification unit located upstream of the salvage equipment;

[0017] Equipment signal unit and weight sensing unit installed on salvage equipment.

[0018] Preferably, the data acquisition module includes a garbage identification unit, which is used to detect the amount of garbage in the river channel upstream of the salvage equipment. The analysis and control module controls the rotation speed of the salvage equipment according to the amount of garbage. When the amount of garbage within the shooting range of the garbage identification unit is less than 5, the motor rotation speed is 2m / min. When the amount of garbage within the shooting range of the garbage identification unit is less than 5 and less than 9, the motor rotation speed is 4m / min. When the amount of garbage within the shooting range of the garbage identification unit is greater than or equal to 10, the motor rotation speed is 8m / min.

[0019] Preferably, the equipment signal unit detection includes a plurality of sensors installed on each salvaging equipment, and the operating parameters of the salvaging equipment are obtained through the sensors.

[0020] Preferably, the analysis and control module includes:

[0021] GIS system, which converts the coordinates of the salvage equipment into longitude and latitude coordinates;

[0022] Meteorological early warning system, connects to network meteorological data, obtains station weather forecast, forms meteorological forecast data and applies it to analysis control module to generate equipment control instructions;

[0023] A data collating system, which collates and summarizes the water level, flow rate, garbage location, garbage quantity, garbage weight, spatial coordinates of the salvage equipment, and operating parameters of the salvage equipment transmitted by the data processing module;

[0024] Intelligent control platform, including station navigation unit, data display unit and equipment control unit.

[0025] Preferably, the equipment control unit includes an automatic control part and a manual control part; the automatic control part is based on a data collation system, judges the reasonable operating status of the equipment according to the data, and issues equipment control instructions; the manual control part receives personnel control instructions through the input and output module and issues equipment control instructions.

[0026] The advantages and positive effects of the present invention are:

[0027] This invention combines image processing, wireless communication, and remote control technologies to achieve digital management of the entire river garbage removal process. Using a variety of sensors, it digitizes garbage salvage conditions, displays salvage data and equipment operating status in real time through a visual interface, and enables unmanned, intelligent control of garbage salvage equipment. This invention promotes the development of river garbage salvage towards all-weather, unmanned salvage, promoting more precise and energy-efficient operation of garbage salvage equipment, and improving work efficiency and construction effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is a schematic structural diagram of an embodiment of the present invention;

[0029] FIG2 is a schematic diagram of a collection sensor according to an embodiment of the present invention;

[0030] FIG3 is a diagram showing the arrangement of acquisition sensors according to an embodiment of the present invention;

[0031] FIG4 is a schematic diagram of a river garbage cleaning machine according to an embodiment of the present invention;

[0032] FIG5 is a left view of the river garbage cleaning machine according to an embodiment of the present invention.

[0033] FIG6 is a schematic diagram of a garbage recognition image according to the present invention.

[0034] In the figure: 1. Base; 2. Transmission chain; 3. Hook; 4. Folding reel; 5. Upper door frame; 6. Lower door frame; 7. Grille; 8. Limit block; 9. Transfer conveyor belt; 10. Motor; 11. Pin; 12. Equipment bracket; 13. Reel bracket; 14. Hook. DETAILED DESCRIPTION

[0035] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings:

[0036] As shown in Figures 1 to 6, the technical solution of the present invention is:

[0037] A digital management and control system for the entire process of river garbage cleaning mainly includes a data acquisition module, a data processing module, an analysis and control module, and an input and output module; the data acquisition module, data processing module, analysis and control module, and input and output modules exchange data in sequence through a wireless network; in this embodiment, the data acquisition module and the data processing module communicate through a wireless network, the data processing module and the analysis and control module communicate through 5G, and the input and output module and the data analysis module communicate through 5G.

[0038] The data acquisition module is used to collect basic data; the basic data includes water level, flow rate, garbage location, garbage quantity, garbage weight, spatial coordinates of salvage equipment, and working parameters of salvage equipment; the data acquisition module transmits the basic data to the data processing module. The data acquisition module includes two parts: sensors and communication equipment for collecting data, wherein the sensors include a water level monitoring unit 16, a garbage identification unit 15 (which obtains the location and quantity of garbage through image processing technology), a flow rate detection unit 17, a weight sensing unit and an equipment signal unit, wherein: the water level monitoring unit, the garbage identification unit and the flow rate detection unit are connected to the data processing module. The placement of the measurement units is shown in Figures 2 and 3. The equipment signal unit and weight sensor unit are installed in the salvage equipment. The water level monitoring unit monitors river flow parameters in real time, such as river water level and flow rate. The garbage identification unit records video footage of the river upstream of the station and identifies the amount and location of garbage in the river. The flow rate detection unit measures the river flow rate in real time. The weight sensor unit detects the weight of garbage when it is salvaged. The equipment signal unit records the operating data of the salvage equipment, such as the operating time, number of times, and operation type of the salvage equipment. The communication unit sends the data collected by the acquisition sensor to the data processing module. The garbage identification unit is used to detect the amount of garbage in the river upstream of the salvage equipment. The analysis and control module controls the speed of the salvage equipment based on the amount of garbage. When the amount of garbage within the garbage identification unit's shooting range is less than 5, the motor speed is 2m / min. When the amount of garbage within the garbage identification unit's shooting range is less than 5 and less than 9, the motor speed is 4m / min. When the amount of garbage within the garbage identification unit's shooting range is greater than or equal to 10, the motor speed is 8m / min.

[0039] The data processing module receives the basic data from the data acquisition module, analyzes the instruction data issued by the control module, and stores the basic data and instruction data to obtain processed data;

[0040] The analysis and control module receives the processed data from the data processing module, processes and transforms the processed data, and then generates control instructions for the salvage equipment, and sends the control instructions to the salvage equipment through the data processing module. The processing includes: calculating the water level change rate based on the water level, and calculating the predicted time when the water level reaches the warning water level based on the water level change rate; calculating the predicted time when the garbage reaches the salvage equipment based on the garbage location and flow rate; and generating a garbage weight visualization chart based on the weight of the garbage salvaged within a period of time. The transformation is to transform the spatial coordinates of the salvage equipment into spatial data for GIS system application.

[0041] Please refer to Figure 6. It is known that the projection point of the recognition camera of the garbage recognition unit 15 is recognition point A, and the recognition range of the recognition camera corresponds to the remaining recognition points B, recognition point C, and recognition point D; the distance between recognition point A and recognition point B, that is, the longitudinal shooting distance of recognition is l0; the shooting distance between recognition point A and recognition point D, that is, the shooting distance between the two banks is m0; the shooting distance between the garbage and recognition point A is x1; the shooting distance between the garbage and recognition point B is x2; the shooting distance between the garbage and recognition point D is x4; the longitudinal field measurement distance between recognition point A and recognition point B is L0; the field measurement distance between recognition point A and recognition point D, that is, the field measurement distance between the two banks is M0; the field measurement distance between the recognition camera and the salvage equipment is L2; ​​the height of the recognition camera is H, the water level sensor measures the water depth h1; the river bank height is h2; the flow velocity detection speed is v.

[0042] It can be calculated that:

[0043] Vertical shooting distance from garbage to camera

[0044] Actual vertical distance from garbage to camera

[0045] Shooting distance from garbage to right bank

[0046] Actual distance from garbage to right bank

[0047] Shooting distance from garbage to the left bank

[0048] Actual distance from garbage to the left bank

[0049] Garbage arrival time

[0050] The input and output module receives the output data of the analysis and control module, displays the output data, and performs human-computer interaction; the output data includes basic data, instruction data, water level change rate, predicted time for the water level to reach the warning water level, predicted time for the garbage to reach the salvage equipment, garbage weight visualization chart and digital coordinates.

[0051] In the above embodiment, the data acquisition module is used to identify river garbage, detect river water level, detect river water flow rate and equipment operation information; the data processing module is used to preliminarily process the collected data and transmit it to the analysis and control module; the analysis and control module analyzes and processes the received data and issues equipment operation instructions based on this data; the input and output module is used to visually display the equipment operation status in real time and accept external direct instructions;

[0052] The salvaging equipment includes: a base 1, on the upper surface of which is mounted an equipment bracket 12, on which an upper gantry 5 is fixedly mounted, and the lower end of the upper gantry 5 is connected to the lower gantry 6 via a pin 11; both ends of a drum bracket 13 of a door-shaped structure are fixed on both sides of the river channel, and a folding drum 4 is mounted on the crossbeam of the drum bracket 13; a hook 14 is mounted on the lower side of the water-facing surface of the lower gantry 6, and the hook 14 is connected to the folding drum 4 via a winding rope, and the folding drum 4 drives the hook 14 and the lower gantry 6 to rotate around the pin 11 via the winding rope, thereby realizing the folding action of the lower gantry 6; transmission chains 2 are respectively mounted on the two side walls of the upper gantry 5 and the lower gantry 6, and a transmission chain 2 is mounted between the two transmission chains 2. A number of rake hooks 3 are provided, and garbage salvage is achieved through the rake hooks 3, and the rake hooks 3 are arranged in a horizontal direction; a motor 10 for driving the transmission chain 2 to rotate is installed on the inner side of the upper door frame 5; a limit block 8 is provided on the lower side of the water-facing surface of the lower door frame 6, and the limit block 8 is located below the hook 14 and the transmission chain 2; a grille 7 for filtering water flow is installed on the lower door frame 6, and the grille 7 is used to intercept garbage, and a transfer conveyor belt 9 is installed on the base 1, and the transfer conveyor belt 9 is located directly below the upper end of the transmission chain 2; the transfer conveyor belt 9 is used to collect the garbage salvaged by the row rake hooks 3 and transfer it out of the equipment range; the controller of the motor 10 exchanges data with the data processing module through a wireless network.

[0053] The data acquisition module includes a garbage detection unit and a flow rate monitoring unit. These units capture images of the water surface within a preset area in front of the river garbage salvage equipment. When the images identify river garbage, they analyze the location and quantity of the garbage. Combining the garbage location and the river flow rate, the analysis control module calculates the time required for the garbage to reach the garbage salvage equipment's grille 7. Using this time as a benchmark, the control module issues a command for the transmission chain's drive motor 10 to operate. If no garbage is detected within the preset area for a certain period of time, the motor 10 is instructed to stop. This invention effectively reduces garbage removal labor costs, improves garbage salvage efficiency, and enables intelligent, unmanned, all-weather garbage salvage, demonstrating its high practical value.

[0054] The data acquisition module is used to identify river garbage, detect river water levels, detect river water flow rates and equipment operation information; the data processing module is used to preliminarily process the collected data and transmit it to the analysis and control module; the analysis and control module analyzes and processes the received data and issues equipment operation instructions based on this data; the input and output module is used to display the equipment operation status in real time and intuitively, and to accept external direct instructions.

[0055] The data acquisition module includes a water level monitoring unit and an equipment signal unit. When the water level monitoring unit detects that the river water level is above a preset warning level, this information is transmitted via the data processing module to the analysis and control module. Based on this information, the analysis and control module issues a stop command for the motor 10 and an operation command for the folding drum 4. This command folds and raises the lower mast 6, grille 7, and limit block 8 above the riverbank via the hook 14. If the equipment control unit receives water level data from the water level monitoring unit indicating that the water level has remained below the warning level for 30 consecutive minutes and that there is no sign of rising water level, the analysis and control module issues a lowering command for the folding drum 4, returning the lower mast 6, grille 7, limit block 8, and hook 14 to their original positions. After the equipment signal unit detects that the limit block 8 has been reset, the analysis and control module issues a stop command for the folding drum 4. The present invention enables automatic folding, lifting, and resetting of salvage equipment, improving its ability to cope with floods, avoiding safety accidents, and enabling all-weather unmanned intelligent control, thereby increasing safety.

[0056] The data acquisition module includes an equipment signal unit. Before the salvage equipment is started, it is necessary to confirm that the equipment signal unit sends a signal that the limit block 8 is in the lowest position. Only after the analysis and control module receives this signal can it issue a start command for the motor 10; before the salvage equipment is folded and lifted, the equipment signal unit needs to send a stationary signal for the motor 10, transmission chain 2, and rake hook 3. Only after the analysis and control module receives this signal can it issue a start command for the folding reel 4. This can avoid equipment failure problems caused by performing different operations at the same time during equipment operation, reduce equipment failure rate, increase equipment life, and reduce operation and maintenance costs.

[0057] The analysis and control module includes a data collation system and an intelligent control platform. After the salvage equipment salvages the garbage to the station, it needs to pass through the transfer equipment to transport the garbage out of the river. The weight identification unit is installed under the transfer equipment to monitor the weight of the garbage salvaged by the salvage equipment in real time, forming a data signal that is transmitted to the data collation system of the analysis and control module through the data processing module to generate a garbage salvage statistical chart. The water level monitoring unit generates river water level data in real time, which is transmitted to the data collation system of the analysis and control module through the data processing module to generate a river water level statistical chart. The analysis and control module generates a garbage salvage plan for the next year based on the garbage salvage volume and river water level trend analysis of the current year. The application of the present invention can measure and record the garbage salvage volume and river water level data in real time, which can be used as a basis for evaluating the ecological environment management of the river, and can be used to make preliminary plans for garbage salvage in the next year, reducing garbage salvage costs, and providing early warning of river water level changes, reducing the possibility of safety problems.

[0058] The analysis and control module includes a meteorological warning system and an intelligent control platform. The meteorological warning system obtains real-time weather forecasts near the salvage equipment by connecting to online meteorological data. When it detects that prolonged rainfall is expected near the equipment, it generates a river water level warning signal. After receiving the water level warning signal, the intelligent control platform combines the water level sensor data to calculate the river water level growth rate, deriving an estimated time when the water level will reach the warning level. It then issues a stop command to the motor 10 three minutes in advance. Upon receiving a signal from the equipment signal unit indicating that the motor 10, transmission chain 2, and row-type rake hook 3 are stationary, it issues a start command to the folding reel 4. By using the present invention, water level changes can be predicted in advance based on real-time online weather forecast data, allowing the folding and lifting equipment to be folded in advance without affecting the flow of water in the river, thus ensuring the safe and stable operation of the salvage equipment.

[0059] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A digital control system for the entire process of river garbage cleaning, characterized in that: include: A data acquisition module is used to collect basic data; the basic data includes water level, flow rate, garbage location, garbage quantity, garbage weight, spatial coordinates of salvage equipment, and working parameters of salvage equipment; The data processing module receives the basic data from the data acquisition module, analyzes the command data issued by the control module, and stores the basic data and command data to obtain processed data; The analysis control module receives the processed data from the data processing module, processes and transforms the processed data, and then generates control instructions for the salvage equipment, and sends the control instructions to the salvage equipment through the data processing module; the processing includes: obtaining the water level change rate according to the water level calculation, and calculating the predicted time when the water level reaches the warning water level according to the water level change rate; calculating the predicted time when the garbage reaches the salvage equipment according to the garbage location and flow rate; generating a garbage weight visualization chart according to the weight of the garbage salvaged within a period of time; the transformation is to transform the spatial coordinates of the salvage equipment into digital coordinates for GIS system application; The input and output module receives the output data of the analysis and control module, displays the output data, and performs human-computer interaction; the output data includes basic data, instruction data, water level change rate, predicted time for the water level to reach the warning water level, predicted time for the garbage to reach the salvage equipment, garbage weight visualization chart and digital coordinates; wherein: The data acquisition module, data processing module, analysis and control module, and input and output module perform data exchange in sequence through a wireless network.

2. According to the digital control system for the whole process of river garbage cleaning in claim 1, it is characterized in that: Several stations are built across the river channel, and several salvage equipment are installed in each station. The several salvage equipment in each station are arranged in a line from one side of the river channel to the other.

3. The digital control system for the whole process of river garbage cleaning according to claim 2 is characterized in that: The analysis and control module divides the river into several areas along the water flow direction according to the position of the salvaging equipment, matches the garbage position with the area, and then controls the corresponding salvaging equipment action.

4. The digital control system for the whole process of river garbage cleaning according to claim 1 is characterized in that: The salvaging equipment comprises a base (1), an equipment bracket (12) is installed on the upper surface of the base (1), an upper gantry (5) is fixedly installed on the equipment bracket (12), and the lower end of the upper gantry (5) is connected to the lower gantry (6) via a pin shaft (11); the two ends of a drum bracket (13) of a door-shaped structure are fixed on both sides of a river channel, and a folding drum (4) is installed on the crossbeam of the drum bracket (13); a hook (14) is installed on the lower side of the water-facing surface of the lower gantry (6), and the hook (14) is connected to the folding drum (4) via a winding rope, and a transmission chain (14) is installed on the two side walls of the upper gantry (5) and the lower gantry (6). 2), a plurality of rake hooks (3) are arranged between the two transmission chains (2); a motor (10) for driving the transmission chain (2) to rotate is installed on the inner side of the upper door frame (5); a limit stopper (8) is arranged on the lower side of the water-facing surface of the lower door frame (6), and the limit stopper (8) is located below the hook (14) and the transmission chain (2); a grille (7) for filtering water flow is installed on the lower door frame (6), and a transfer conveyor belt (9) is installed on the base (1), and the transfer conveyor belt (9) is located directly below the upper end of the transmission chain (2); the controller of the motor (10) exchanges data with the data processing module through a wireless network.

5. According to claim 1, the digital control system for the whole process of river garbage cleaning is characterized in that: The analysis and control module compares the received water level with a preset water level threshold. When the water level is greater than or equal to the preset water level threshold, the analysis and control module sends a flood discharge instruction to the salvage equipment through the data processing module.

6. According to claim 1, the digital control system for the whole process of river garbage cleaning is characterized in that: The data acquisition module comprises: A water level monitoring unit, a flow rate detection unit, and a garbage identification unit located upstream of the salvage equipment; Equipment signal unit and weight sensing unit installed on salvage equipment.

7. The digital control system for the whole process of river garbage cleaning according to claim 6 is characterized in that: The garbage identification unit is used to detect the amount of garbage in the river channel upstream of the salvage equipment, and the analysis control module controls the rotation speed of the salvage equipment according to the amount of garbage. When the amount of garbage within the shooting range of the garbage identification unit is less than 5, the rotation speed of the motor (10) is 2 m / min. When the amount of garbage within the shooting range of the garbage identification unit is less than 5 and less than 9, the rotation speed of the motor (10) is 4 m / min. When the amount of garbage within the shooting range of the garbage identification unit is greater than or equal to 10, the rotation speed of the motor (10) is 8 m / min.

8. The digital control system for the whole process of river garbage cleaning according to claim 6 is characterized in that: The equipment signal unit detection includes a plurality of sensors installed on each salvaging equipment, and the operating parameters of the salvaging equipment are obtained through the sensors.

9. The digital control system for the whole process of river garbage cleaning according to claim 1 is characterized in that: The analysis control module comprises: GIS system, which converts the coordinates of salvage equipment into longitude and latitude coordinates; Meteorological early warning system, connects to network meteorological data, obtains station weather forecast, forms meteorological forecast data and applies it to the analysis control module to generate equipment control instructions; A data sorting system sorts and summarizes the water level, flow rate, garbage location, garbage quantity, garbage weight, spatial coordinates of the salvage equipment, and working parameters of the salvage equipment transmitted by the data processing module; The intelligent control platform includes a station navigation unit, a data display unit, and an equipment control unit.

10. The digital control system for the whole process of river garbage cleaning according to claim 9 is characterized in that: The equipment control unit includes an automatic control part and a manual control part; the automatic control part is based on a data sorting system, determines the reasonable operating status of the equipment according to the data, and issues equipment control instructions; the manual control part receives personnel control instructions through an input and output module and issues equipment control instructions.

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