CN110627143B - Cleaning robot for aerator in sewage tank and state monitoring method - Google Patents

Cleaning robot for aerator in sewage tank and state monitoring method Download PDF

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Publication number
CN110627143B
CN110627143B CN201910914844.XA CN201910914844A CN110627143B CN 110627143 B CN110627143 B CN 110627143B CN 201910914844 A CN201910914844 A CN 201910914844A CN 110627143 B CN110627143 B CN 110627143B
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aerator
elastic
detection
state
robot
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CN110627143A (en
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魏延辉
李强强
马博也
牛家乐
刘东东
姜瑶瑶
蒋志龙
贺佳林
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Harbin Engineering University
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Harbin Engineering University
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    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F1/00—Treatment of water, waste water, or sewage
    • C02F1/008—Control or steering systems not provided for elsewhere in subclass C02F
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F3/00—Biological treatment of water, waste water, or sewage
    • C02F3/02—Aerobic processes
    • C02F3/12—Activated sludge processes
    • C02F3/1278—Provisions for mixing or aeration of the mixed liquor
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F2209/00—Controlling or monitoring parameters in water treatment
    • C02F2209/44—Time
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F2303/00—Specific treatment goals
    • C02F2303/14—Maintenance of water treatment installations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W10/00—Technologies for wastewater treatment
    • Y02W10/10—Biological treatment of water, waste water, or sewage

Abstract

The invention belongs to the technical field of sewage treatment, and particularly relates to a cleaning robot for an aerator in a sewage tank and a state monitoring method. The aerator state detection system comprises a pressure sensor, an inertial navigation system and an elastic aerator position detection system. The pressure sensor is used for detecting the pressure state of the aerator during working and indirectly detecting the blockage and fracture states of the aerator; the inertial navigation system is used for detecting the posture and the position of the cleaning robot and recording the position of the fault aerator, so that the fault aerator is convenient to clean, maintain and replace; the elastic aerator position detection system is used for accurately detecting the position of the circular aerator. The invention also provides an evaluation method of the state of the aerator and an accurate positioning method of the position of the fault aerator. The invention ensures the real-time monitoring of the state of the aerator in the operating state and provides a solution for ensuring the safe and effective operation of sewage treatment.

Description

Cleaning robot for aerator in sewage tank and state monitoring method
Technical Field
The invention belongs to the technical field of sewage treatment, and particularly relates to a cleaning robot for an aerator in a sewage tank and a state monitoring method.
Background
With the continuous progress and development of human society, more and more domestic and industrial wastewater is generated by human beings, and the living environment of the human beings is seriously polluted, so that the sewage treatment is a very important link. Aerobic biological treatment is a central link of a sewage treatment plant, and aeration equipment is a core component of the aerobic biological treatment. The aeration can not only provide dissolved oxygen required by aerobic microorganisms, but also stir water, increase the contact area of the microorganisms and suspended matters, and improve the removal rate of pollutants.
The aerator in a long time is easy to be blocked or the aeration disc is easy to be broken for the following three reasons: calcium, iron and other impurities in the sewage form scale on the surface of the corundum; after the aeration disc is stopped for a long time, sludge is adhered to the surface of the aeration disc and permeates into corundum pores to cause blockage; the long-time addition of the phosphorus removal agent containing iron salt causes the iron salt to scale on the surface of corundum, so that the system cannot work normally. Therefore, the regular detection of the aerator in the sewage tank is necessary, the working state of the aerator is scientifically mastered, and the timely cleaning and replacement are carried out, so that the timeliness and effectiveness of sewage treatment can be ensured.
Because the proportion of muddy water mixture in the sewage pond is very high, the outward appearance of aerator can not be observed to traditional visual detection mode, and because the production and the fracture of a large amount of bubbles also can lead to the sensor based on acoustic image to receive the interference, can not detect aerator shape and accurate position under the muddy water condition, this all provides a difficult problem for the state monitoring of aerator.
Disclosure of Invention
The invention aims to provide a cleaning robot for an aerator in a sewage tank, which can overcome the problems of unclear visual images and high acoustic noise under turbid conditions and can detect the aerator under turbid water conditions.
The purpose of the invention is realized as follows: comprises an aerator state detection system; the aerator state detection system comprises a pressure sensor, an inertial navigation system and an elastic aerator position detection system; the pressure sensor is arranged in the middle of the cleaning robot; the inertial navigation system is arranged in the middle of the cleaning robot; the elastic aerator position detection system comprises an elastic rod; the two elastic rods are respectively arranged at two sides of the front part of the cleaning robot, one ends of the two elastic rods are intersected at one point, and the other ends of the two elastic rods are respectively connected to the cleaning robot through rotating shafts; the rod body of the elastic rod is connected to the cleaning robot through a restoring spring.
The present invention may further comprise:
the washing robot is characterized in that the number of the pressure sensors is five, one of the pressure sensors is arranged in the center of the washing robot, the other four pressure sensors are respectively arranged on the periphery of the center of the washing robot, and the five pressure sensors are integrally distributed in a shape of a Chinese character mi.
The invention also aims to provide a state detection method for the aerator in the sewage tank.
A method for detecting the state of an aerator in a sewage pool mainly comprises the following steps:
step 1, placing a cleaning robot at the bottom of a sewage pool, and sequentially detecting according to the position sequence of an aerator according to a layout of the aerator in the sewage pool;
step 2, when the angle of an elastic rod rotating shaft of the elastic aerator position detection system changes, the front end of the cleaning robot is in contact with the edge of an aeration head, a horizontal propeller of the cleaning robot is driven to continue to move, attitude information output by the inertial navigation system is detected, the horizontal propeller is controlled to output forward thrust, and if the position of the aerator is not centered, the elastic rods on the two sides output pressure, so that the cleaning robot is automatically adjusted to move laterally, and the automatic centering of the aerator is realized; continuously detecting the rotation angles of the elastic rods at the two sides until the aerator reaches the target point position;
step 3, recording the current pressure value generated by the aerator by the pressure sensor, and further judging the state of the aerator; for the aerator with the abnormal state, recording the position of the current fault aerator through an inertial navigation system;
and 4, repeating the step 2 and the step 3, and sequentially detecting the aerators in the sewage tank in sequence until the state detection of all the aerators is completed.
In the step 2, after the detection robot enters the sewage tank, the detection robot moves to the position near the target aerator according to the position and posture information output by the inertial navigation system; when an elastic rod at one side below the detection robot contacts with the aerator, the rotating shaft of the elastic rod is connected with an angle sensor to output signals, the system senses the aerator, meanwhile, the detection robot continues to move according to the current direction, senses the position condition of the current aerator according to the output signals of the two elastic rods connected with the angle sensor, adjusts the movement direction of the detection robot until the output values of the two angle sensors are equal, and records the movement course of the current robot; the detection robot keeps the current course angular motion, when the output angles of the angle sensors on the two sides reach a target point, the target detection position of the aerator is reached, and the state detection of the target aerator can be carried out.
In the step 3, the state monitoring of the aerator is that five pressure sensors are distributed above the aerator in a shape like a Chinese character 'mi', a paste state quantity value table of the aerator is established by detecting the pressure state of the normal aerator, the currently detected aerator is judged according to the fuzzy state quantity value table, and five aerator states are set: complete rupture, partial rupture, normal, partial occlusion, complete occlusion; the values of the five pressure sensors for detecting the aerators are independent, five interval values are set according to detection experiences and respectively represent complete rupture, local rupture, normality, local blockage and complete blockage of the areas of the detected aerators, and then the comprehensive state of the aerators is judged according to the corresponding detection areas.
The invention has the beneficial effects that:
(1) the robot is used for detecting the state of the aerator in the sewage treatment tank, so that the working state of the aerator can be visually measured under the condition of not interrupting the normal work of the sewage treatment tank, the working efficiency and the state of the sewage treatment tank are scientifically carried out, and the scientific management is facilitated.
(2) The invention overcomes the defect that the visual camera shooting can not realize the state detection of the aerator of the sewage tank under the condition of mixing the mud and the water, and solves a great problem in the industry.
(3) The invention provides an effective solution and a method aiming at the problem that the position of an aerator cannot be accurately detected due to the noise generated by the aerator of an acoustic sensor in a sewage tank.
Drawings
Fig. 1 is an overall schematic view of a cleaning robot for an aerator in a wastewater tank.
Fig. 2 is a general flowchart of a state detection method for an aerator in a wastewater tank.
Fig. 3 is a schematic diagram of a system for detecting the position of a resilient aerator of a cleaning robot for an aerator in a wastewater tank.
Fig. 4(a) is a schematic view of the initial contact state of the aerator and the elastic aerator position detection system.
Fig. 4(b) is a schematic diagram of the aerator position adjustment and automatic centering state 1.
Fig. 4(c) is a schematic diagram of the aerator position adjustment and automatic centering state 2.
Fig. 4(d) is a schematic diagram of the time when the position of the aerator is adjusted to the detection position.
FIG. 5 is a pressure sensor profile;
fig. 6(a) is a schematic view showing a completely clogged state of the aerator.
Fig. 6(b) is a schematic view showing a partial clogging state of the aerator.
Fig. 6(c) is a schematic view of the normal state of the aerator.
Fig. 6(d) is a schematic diagram of a partially exploded state of the aerator.
Fig. 6(e) is a schematic view of the aerator in a fully exploded state.
Detailed Description
The invention is described in more detail below with reference to the accompanying drawings.
The invention belongs to the technical field of sewage treatment, and particularly relates to a cleaning robot for an aerator in a sewage tank and a state monitoring method.
The invention can overcome the defects that the sludge-water mixture of the sewage tank is not beneficial to visual observation and the aerator generates a large amount of bubbles which are not beneficial to detection of the acoustic sensor, realizes the state detection of the aerator under the sewage condition by adopting a mode of combining the pressure sensor, the inertial navigation system and the elastic aerator position detection system, effectively ensures the safe and effective operation of sewage treatment, and provides a solution for the long-time reliable work of the sewage tank.
As shown in fig. 1, a cleaning robot for an aerator in a wastewater tank includes an aerator state detection system; the aerator state detection system comprises a pressure sensor 1, an inertial navigation system 3 and an elastic aerator position detection system 2; the pressure sensor is arranged in the middle of the cleaning robot; the inertial navigation system is arranged in the middle of the cleaning robot; the elastic aerator position detection system comprises an elastic rod; the two elastic rods are respectively arranged at two sides of the front part of the cleaning robot, one ends of the two elastic rods are intersected at one point, and the other ends of the two elastic rods are respectively connected to the cleaning robot through rotating shafts; the rod body of the elastic rod is connected to the cleaning robot through a restoring spring.
The pressure sensor is arranged at the center of the middle part of the aerator cleaning robot and used for detecting the pressure state of the aerator during working and indirectly detecting the blockage and fracture states of the aerator; the inertial navigation system is arranged in the middle of the cleaning robot and used for detecting the posture and the position of the cleaning robot and recording the position of the fault aerator, so that the fault aerator is convenient to clean, maintain and replace; the elastic aerator position detection system is placed at the front part of the cleaning robot, consists of two elastic rods and a plurality of contact switches and is used for accurately detecting the position of the circular aerator.
As shown in fig. 3, the elastic aerator position detecting system includes a rotating shaft 4, a restoring spring 5, and an elastic rod 6. The elastic aerator position detection system is composed of two symmetrical same mechanisms, and each side mechanism is composed of a recovery spring, an elastic rod, a rotating shaft and an angle sensor respectively: the restoring spring is used for enabling the aerator to rotate at an angle after contacting the elastic rod, so that certain restoring elastic force is provided, the elastic rod can be enabled to restore to the initial position after the aerator is detected, and in addition, the restoring elastic force provided for the elastic rod also provides adjusting force for the aerator in the automatic centering process, so that the aerator is ensured to be automatically centered; the elastic rod is mainly used for detecting the relative position of the aerator and the detection robot and ensuring the automatic centering of the aerator to provide force; the rotating shaft is used for supporting the rotation of the elastic rod; the angle sensor is arranged in the rotating shaft, detects the rotating angle of the elastic rod, and indirectly calculates the spatial position of the aerator relative to the detection robot.
As shown in the attached figure 2, the working steps of the aerator state detection are as follows:
step 1, placing the cleaning robot at the bottom of a sewage pool, and sequentially detecting according to the position sequence of the aerators according to a layout of the aerators in the sewage pool.
And 2, when the angle of an elastic rod rotating shaft of the elastic aerator position detection system changes, the front end of the cleaning robot is in contact with the edge of the aeration head, the horizontal propeller of the cleaning robot is driven to continue to move, the attitude information output by the inertial navigation system is detected, the horizontal propeller is controlled to output forward thrust, and if the position of the aerator is not centered, the elastic rods on the two sides output pressure, so that the cleaning robot is automatically adjusted to move laterally, and the automatic centering of the aerator is realized. And continuously detecting the rotation angles of the elastic rods at the two sides until the aerator reaches the target point position.
And 3, recording the current pressure value generated by the aerator by the pressure sensor, and further judging the state of the aerator. And for the aerator with the abnormal state, recording the position of the current fault aerator through an inertial navigation system.
And 4, repeating the step 2 and the step 3, and sequentially detecting the aerators in the sewage tank in sequence until the state detection of all the aerators is completed.
As shown in fig. 4(a), 4(b), 4(c) and 4(d), after the detection robot enters the sewage tank, the detection robot moves to the vicinity of the target aerator according to the position and posture information output by the inertial navigation system. After one side elastic rod below the detection robot contacts the aerator, the angle sensor output signal connected with the rotating shaft of the elastic rod, the system senses the aerator, meanwhile, the detection robot continues to move according to the current direction, the angle sensor output signal is connected with the two elastic rods, the position condition of the current aerator is sensed, the movement direction of the detection robot is adjusted, and the course of the current robot movement is recorded until the output values of the two angle sensors are equal or the difference is within a certain range. The detection robot keeps the current course angular motion, when the output angles of the angle sensors on the two sides reach a target point, the target detection position of the aerator is reached, and the state detection of the target aerator can be carried out.
As shown in fig. 5, the state monitoring of the aerator is distributed by five pressure sensors 1 in a shape of a Chinese character mi above the aerator 7, a paste state quantity value table of the aerator is established by detecting the pressure state of the normal aerator, the currently detected aerator is judged according to the fuzzy state quantity value table, and five aerator states are set: complete rupture, partial rupture, normal, partial occlusion, complete occlusion, etc.
As shown in fig. 6(a), 6(b), 6(c), 6(d) and 6(e), the values of the five pressure sensors for detecting the aerators are relatively independent, five interval values are set according to the detection experience, the interval values respectively represent the complete rupture, the partial rupture, the normality, the partial blockage and the complete blockage of the detected aerator area, and then the comprehensive state of the aerators is judged according to the corresponding detection area.
The invention designs a system for detecting the state of an aerator in a sewage tank according to the maintenance requirement of the aerator in the sewage tank. The system can overcome the defects that a sludge-water mixture in the sewage tank is not beneficial to visual observation and a large amount of bubbles generated by the aerator are not beneficial to detection of the acoustic sensor, and the state of the aerator under the sewage condition is detected by combining the pressure sensor, the inertial navigation system and the elastic aerator position detection system. The pressure sensor is arranged at the center of the middle part of the aerator cleaning robot and used for detecting the pressure state of the aerator during working and indirectly detecting the blockage and fracture states of the aerator; the inertial navigation system is arranged in the middle of the cleaning robot and used for detecting the posture and the position of the cleaning robot and recording the position of the fault aerator, so that the fault aerator is convenient to clean, maintain and replace; the elastic aerator position detection system is placed at the front part of the cleaning robot, consists of two elastic rods and a plurality of contact switches and is used for accurately detecting the position of the circular aerator. The invention also provides an evaluation method of the state of the aerator and an accurate positioning method of the position of the fault aerator. The invention provides an effective way for detecting the most critical aerator for biodegradation in the sewage pool, ensures real-time monitoring of the state of the aerator in an operating state, and further provides a solution for ensuring safe and effective operation of sewage treatment.

Claims (2)

1. A cleaning robot for an aerator in a sewage tank is characterized in that: comprises an aerator state detection system; the aerator state detection system comprises a pressure sensor, an inertial navigation system and an elastic aerator position detection system; the pressure sensor is arranged in the middle of the cleaning robot; the inertial navigation system is arranged in the middle of the cleaning robot; the elastic aerator position detection system comprises an elastic rod; the two elastic rods are respectively arranged at two sides of the front part of the cleaning robot, one ends of the two elastic rods are intersected at one point, and the other ends of the two elastic rods are respectively connected to the cleaning robot through rotating shafts; the rod body of the elastic rod is connected to the cleaning robot through a restoring spring; the restoring spring is used for generating angular rotation after the aerator contacts the elastic rod, provides certain restoring elastic force, ensures that the elastic rod can restore to the initial position after the aerator detects, and provides adjusting force for the aerator in the automatic centering process by the restoring elastic force provided for the elastic rod so as to ensure the automatic centering of the aerator; the elastic rod is used for detecting the relative position of the aerator and the detection robot and ensuring the automatic centering of the aerator to provide force; the rotating shaft is used for supporting the rotation of the elastic rod, the angle sensor is arranged in the rotating shaft, the rotating angle of the elastic rod is detected, and the spatial position of the aerator relative to the detection robot is indirectly calculated; the washing robot comprises a washing robot body, a plurality of pressure sensors and a control system, wherein the washing robot body is provided with a washing chamber, the washing chamber is provided with a washing chamber, and the washing chamber is provided with a washing chamber; the pressure sensor is used for detecting the pressure state of the aerator during working and indirectly detecting the blockage and fracture states of the aerator; the inertial navigation system is used for detecting the posture and the position of the cleaning robot and recording the position of the fault aerator, so that the fault aerator is convenient to clean, maintain and replace; the elastic aerator position detection system is used for accurately detecting the position of the circular aerator.
2. The method for detecting the state of the aerator in the wastewater tank of the cleaning robot for the aerator in the wastewater tank as claimed in claim 1, which mainly comprises the following steps:
step 1, placing a cleaning robot at the bottom of a sewage pool, and sequentially detecting according to the position sequence of an aerator according to a layout of the aerator in the sewage pool;
step 2, when the angle of an elastic rod rotating shaft of the elastic aerator position detection system changes, the front end of the cleaning robot is in contact with the edge of an aeration head, a horizontal propeller of the cleaning robot is driven to continue to move, attitude information output by the inertial navigation system is detected, the horizontal propeller is controlled to output forward thrust, and if the position of the aerator is not centered, the elastic rods on the two sides output pressure, so that the cleaning robot is automatically adjusted to move laterally, and the automatic centering of the aerator is realized; continuously detecting the rotation angles of the elastic rods at the two sides until the aerator reaches the target point position;
when the detection robot enters the sewage tank, the detection robot moves to the position near the target aerator according to the position and posture information output by the inertial navigation system; when an elastic rod at one side below the detection robot contacts with the aerator, the rotating shaft of the elastic rod is connected with an angle sensor to output signals, the system senses the aerator, meanwhile, the detection robot continues to move according to the current direction, senses the position condition of the current aerator according to the output signals of the two elastic rods connected with the angle sensor, adjusts the movement direction of the detection robot until the output values of the two angle sensors are equal, and records the movement course of the current robot; the detection robot keeps the current course angular motion, when the output angles of the angle sensors on the two sides reach a target point, the target detection position of the aerator is reached, and the state detection of the target aerator can be carried out;
step 3, recording the current pressure value generated by the aerator by the pressure sensor, and further judging the state of the aerator; for the aerator with the abnormal state, recording the position of the current fault aerator through an inertial navigation system;
the state monitoring of aerator is rice style of calligraphy by five pressure sensor and distributes in the aerator top, through detecting normal aerator pressure state, establishes the mushy attitude quantity value table of aerator, judges the aerator of present detection according to fuzzy attitude quantity value table, sets up five kinds of aerator states: complete rupture, partial rupture, normal, partial occlusion, complete occlusion; the values of the five pressure sensors for detecting the aerators are independent, five interval values are set according to detection experiences and respectively represent complete rupture, local rupture, normality, local blockage and complete blockage of the areas of the detected aerators, and then the comprehensive state of the aerators is judged according to the corresponding detection areas;
and 4, repeating the step 2 and the step 3, and sequentially detecting the aerators in the sewage tank in sequence until the state detection of all the aerators is completed.
CN201910914844.XA 2019-09-26 2019-09-26 Cleaning robot for aerator in sewage tank and state monitoring method Active CN110627143B (en)

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