CN113682433B - Ship sewage onshore intelligent receiving method and device - Google Patents
Ship sewage onshore intelligent receiving method and device Download PDFInfo
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- CN113682433B CN113682433B CN202111244117.0A CN202111244117A CN113682433B CN 113682433 B CN113682433 B CN 113682433B CN 202111244117 A CN202111244117 A CN 202111244117A CN 113682433 B CN113682433 B CN 113682433B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B29/00—Accommodation for crew or passengers not otherwise provided for
- B63B29/16—Soil water discharges
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Abstract
The embodiment of the invention relates to the technical field of ships, and discloses an onshore intelligent receiving method and device for ship sewage, wherein the onshore intelligent receiving device for the ship sewage is started; identifying a first hose state, wherein the first hose state comprises a coil pipe knotting state and a pipe releasing knotting state, controlling the pipe releasing speed based on a first hose state identification result, and controlling sewage discharge; and responding to the hose collecting signal, identifying the state of the second hose, and controlling the hose collecting speed based on the identification result of the state of the second hose until the hose is completely collected. The invention calculates according to the pipe diameters of the hose and the disc, and the matching of the angular velocity and the linear velocity in the operation process, so that the hose can be freely folded and unfolded, the labor is saved, the abnormal phenomena of pipe breakage or hose winding and the like in the operation process are avoided, the safety of sewage transfer is improved by reasonably laying the hose, and the operation complexity and the dependence degree on the manpower are reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of ships, in particular to the field of ship sewage receiving.
Background
In recent years, inland river shipping is rapidly developed and becomes an important support for the development of economic society. However, large-scale shipping activities inevitably cause pollution to the surrounding environment, and inland ship domestic sewage is of increasing concern in countries around the world as the most common ship pollutant. According to the requirements of the national environmental regulations for preventing and controlling ship pollution in inland waters of China, the ships sailing, berthing and operating in the inland waters can not violate laws, administrative laws, regulations, standards and regulations of the department of transportation to discharge pollutants into the inland waters. Ship contaminants that do not meet emission regulations should be handled by ports, docks, loading and unloading stations or qualified entities. Therefore, the sewage generated by the ship needs to be transported to the shore. The ship sewage storage cabinet is stored in a cabin at the tail of a ship, the berthing positions of most of the ships are generally vertical to a bank, the ships are berthed in a mode that the ship bow is firstly berthed on the bank when the ships are berthed, and the existing transfer mode is to transfer sewage to the bank by using a specially-equipped transfer pump or a transfer pump which is temporarily installed additionally at the outlet of the ship sewage storage cabinet.
Present transportation can be directly carry out the standard through the export with the direct and storage cabinet of hose with shore receiving arrangement and be connected, then sweep the sign indicating number through shore receiving arrangement's special two-dimensional code to carry out the identity of boats and ships and relevant data on special APP and confirm the back, control system can allow the suction pump in the device to carry out work, transports the boats and ships sewage that will need to transport. In the existing sewage transfer, a transfer pump of a sewage storage cabinet on a ship is needed or a temporary transfer pump is installed for sewage transfer, although the transfer of the sewage of the ship to the shore is realized, a hose between an onshore receiving device and the transfer pump is manually laid, and the laying of the hose is time-consuming and labor-consuming; when the hose is laid manually, the length of the hose is selected according to experience, the actual use length of the hose can change at any time due to the position of the ship when the ship is parked, the hose is laid too long and is easy to bend, so that the hose is burst, the receiving device and the delivery pump cannot be connected smoothly when the hose is laid too short, and multiple manual adjustment and inspection are needed; when the pipe is manually collected, the sewage in the hose can be spilled and leaked to a ship or a water source when the pipe is collected after the sewage rotates; in addition, flow monitoring and automatic recording can not be realized to current device, and the sewage transportation at every turn all needs the staff to carry out the manual work to each item information of boats and ships and confirm and need in time carry out the record, and the operation is complicated.
In the prior art, a motor is used for controlling the hose winding and unwinding of some devices, however, in the winding and unwinding process, only automatic winding and unwinding control of the hose or limitation and alarm of the winding and unwinding length are realized, the automatic control device in the prior art is only simple switch control, namely, the hose winding and unwinding is performed in response to an instruction of a worker, and the length of the winding and unwinding pipe can be calculated, the simple winding and unwinding switch control in the prior art cannot realize intelligent detection and self-adaptive processing of the hose, cannot intelligently detect the knotting state of the hose in the winding and unwinding process, further cannot realize intelligent regulation and control of the winding and unwinding process on the basis of an automatic identification state, and in addition, the problem of knotting of the hose cannot be solved through self-adaptive regulation.
In the prior art, although a cable take-up and pay-off control device exists, for example, an automatic take-up and pay-off control device of a common cable or a solid cable, from the perspective of a controlled object, the cable materials of the common cable or the solid cable are hard, knotting states of the cables are less likely to occur, and a working space still exists between the cables in the knotting state due to the hard cable materials, so that the influence on the total amount and speed of transmission substances is less, and once the knotting state exists, the knotting problem cannot be automatically solved through take-up and pay-off control due to the hard cable materials; and on the other hand, the sewage discharge pipeline material that boats and ships were used is softer, in case the state of knoing produces because the material is soft transmission space rapidly reduces partially to the speed that leads to transmission speed and flow reduces, greatly influenced sewage discharge's efficiency, the automatic controlling means that receive and releases of cable in other fields among the prior art does not have the demand that detects and solve the state of knoing, and because the difference of material and application demand, the automatic controlling means that receive and release of cable in other fields is difficult to directly pass on boats and ships sewage discharge field. There is an urgent need in the art for a method and apparatus for intelligently receiving ship sewage in the field of ship sewage discharge.
Disclosure of Invention
The embodiment of the invention aims to provide an onshore intelligent receiving method and device for ship sewage, which can accurately, intelligently and safely receive the ship sewage automatically and release people from daily hose reeling and unreeling labor.
In order to solve the technical problems, the embodiment of the invention provides an onshore intelligent receiving method for ship sewage, which is applied to an onshore intelligent receiving device for the ship sewage and is characterized in that the onshore intelligent receiving device for the ship sewage mainly comprises a code scanning module, a PLC (programmable logic controller) pipe receiving and releasing module and a flow measurement recording module,
the onshore intelligent receiving method for ship sewage specifically comprises the following steps:
s1: starting the intelligent onshore receiving device for ship sewage: code scanning login is performed to obtain first device information, and the code scanning module identifies the first device information so as to start the ship sewage onshore intelligent receiving device;
s2: placing a hose: detecting the radius of a coil pipe, the radius of a hose pipe, the brake number information of the hose pipe wound on the coil pipe, the current angular speed of the coil pipe, the real-time radius of the coil pipe wound with the hose pipe and the linear speed of the hose pipe at a first outlet, identifying the state of the first hose pipe, wherein the state of the first hose pipe comprises a coil pipe knotting state and a pipe releasing knotting state, the PLC pipe releasing and releasing module controls the pipe releasing speed based on the identification result of the state of the first hose pipe, and the PLC pipe releasing and releasing module places the hose pipe to arrange a pipeline of the intelligent receiving device on the ship sewage shore;
s3: controlling sewage discharge: controlling sewage discharge based on a pipeline arranged in S2;
s4: calculating flow and hose collecting: the flow measurement recording module comprises a flowmeter, the flowmeter receives medium parameters of the discharged sewage and calculates the volume of the discharged sewage based on the medium parameters; the PLC receive and release the pipe module and receive the pipe signal, respond to receive the pipe signal, detect present winding hose brake number information on coil pipe radius, hose radius and the coil pipe, discernment second hose state, the second hose state includes the state of knoing of winding the hose on the coil pipe, PLC receive and release the pipe module and receive the pipe speed based on the control of second hose state recognition result, and the hose is accomodate and is accomplished.
Preferably, a ship owner logs in a management page through code scanning, and first device information is acquired from the management page, wherein the first device information comprises a wharf number where the ship is located, a control system controller number and a controller available state; the code scanning module identifies a first device, determines an object to be activated, and starts the ship sewage onshore intelligent receiving device corresponding to the object to be activated.
Preferably, discernment first hose state, PLC receive and releases pipe module controls based on first hose state recognition result and releases the pipe speed, specifically includes: the first hose state comprises a hose state at the initial hose releasing time, the protection sensor detects the knotting state of the hose on the coil at the initial hose releasing time, and if the first hose state is recognized that the hose on the coil is knotted, the PLC is prohibited from releasing and releasing the hose of the hose releasing module; otherwise, recognizing the state of the first hose as normal winding of the hose, setting the initial angular speed of the coil pipe, and controlling the pipe unwinding module to start unwinding the pipe by the PLC.
Preferably, the radius of the coil, the radius of the hose and the brake number information of the hose wound on the coil are detectedThe current angular velocity of the coil pipe, the real-time radius of the coil pipe of the winding hose and the linear velocity of the hose at the first outlet recognize the state of the first hose, and specifically comprise: detecting the height of the tube-placing bulge
If the height of the pipe releasing projection is larger than or equal to the first protrusion threshold value, the first hose state is identified as knotting of the hose on the coil pipe; and if the height of the pipe placing protrusion is smaller than the first protrusion threshold value, identifying the first hose state as normal winding of the hose.
Preferably, the identifying the first hose state specifically includes: coil based current angular velocity
Real-time radius of coil of wound hose
And hose line speed at the first outlet
Judging whether knotting occurs in the process of putting the pipe, if so
If so, knotting does not occur in the pipe placing process; if it is
And if p is a speed factor, knotting occurs in the pipe releasing process.
Preferably, the identifying the second hose state specifically includes: detecting the height of the pipe receiving bulge, wherein the height of the pipe receiving bulge is the distance from the highest position of the pipe receiving bulge to the center of the coil pipe, calculating a second bulge threshold value based on the radius of the coil pipe, the radius of the hose pipe and the current wound hose brake number information on the coil pipe, and if the height of the pipe receiving bulge is larger than or equal to the second bulge threshold value, identifying the state of the second hose pipe as that the wound hose pipe on the coil pipe is knotted; and if the height of the pipe receiving protrusion is smaller than a second protrusion threshold value, identifying that the second hose is in a normal winding state.
Preferably, the PLC receive and release pipe module controls the pipe receiving speed based on the second hose state recognition result, and specifically comprises: in the whole pipe collecting process, the protection sensor detects the knotted state of the wound hose on the coil pipe, and if the second hose state is identified as the knotted hose wound on the coil pipe, the PLC pipe collecting and releasing module is paused to collect the pipe and send a prompt; otherwise, the state of the second hose is identified to be that the hose is normally wound, the wound hose on the coil pipe does not have the knotting condition, and the PLC pipe collecting and releasing module continues to collect the pipe.
Preferably, the PLC receive and release pipe module controls the pipe receiving speed based on the second hose state recognition result, and specifically comprises:
if the second hose is identified to be normally wound, keeping the initial hose retracting speed unchanged;
if the second hose is identified to be in a state that the hose is wound on the coil pipe and knotted, the PLC hose retracting module sets a second hose retracting speed, and the direction of the second hose retracting speed is opposite to the direction of the initial hose retracting speed;
after the first preset duration, the PLC pipe collecting and releasing module sets the initial pipe collecting speed again.
The embodiment of the invention also provides an onshore intelligent receiving device for ship sewage, which is characterized by comprising: a code scanning module, a PLC pipe collecting and releasing module, a suction module, a flow measurement recording module and a control system, wherein,
the code scanning module is used for scanning a code, logging in to obtain first device information and identifying the first device information so as to trigger the control system to start the ship sewage onshore intelligent receiving device;
the PLC pipe deploying and retracting module comprises a pipe retracting and retracting device, a protection sensor and a controller, the radius of a coil pipe, the radius of a hose pipe, the brake number information of the hose pipe wound on the coil pipe, the current angular velocity of the coil pipe, the real-time radius of the coil pipe wound on the hose pipe and the linear velocity of the hose pipe at a first outlet are detected, the protection sensor identifies a first hose state, the first hose state comprises a coil pipe knotting state and a pipe deploying and knotting state, the controller controls the pipe retracting speed of the pipe retracting and retracting device based on the identification result of the first hose state, and the hose pipe is placed to lay a pipeline of the intelligent receiving device on the ship sewage bank; the controller receives a pipe receiving signal, detects the radius of the coil pipe, the radius of the hose pipe and the current brake number information of the hose pipe wound on the coil pipe, the protection sensor identifies the state of a second hose pipe, the state of the second hose pipe comprises the knotting state of the hose pipe wound on the coil pipe, and the controller controls the pipe receiving speed of the pipe receiving and releasing device based on the second hose pipe state identification result until the hose pipe is completely received;
the suction module is used for sucking sewage based on a laid pipeline in response to the control of the control system;
the flow measurement recording module comprises a flowmeter, the flowmeter receives medium parameters of the discharged sewage, and the volume of the discharged sewage is calculated based on the medium parameters.
Compared with the prior art, the onshore intelligent receiving method and device for ship sewage, provided by the invention, can automatically control the process of hose reeling and unreeling, automatically complete the connection between the receiving device and the delivery pump, liberate people from the daily labor of hose reeling and unreeling, save manpower, and prevent excessive bending in the operation process and breakage of the hose; carry out detailed intelligent record to the transportation process of sewage in sewage receipt, reduced the complexity of operation and to the degree of dependence of manpower, the hose of rationally laying simultaneously has improved the security that sewage was transported, has avoided the improper water source or the environmental pollution that brings because of the hose whipping of hose length in receiving the pipe process, avoids the running of transportation process to fall the water clock.
In addition, at the initial moment of pipe discharging, the PLC pipe discharging and releasing module responds to the recognition result of the protection sensor to control whether pipe discharging is carried out or not, a mode of pre-checking is adopted, the condition that the hose is not knotted can be ensured before pipe discharging, the influence on the current pipe discharging effect caused by previous knotting is avoided, the probability of knotting of the hose is reduced, the hose is ensured to be normally placed, and therefore a sewage discharge channel is favorably established; the mode that the unusual position of edge detected has improved the speed of discernment under the prerequisite of having guaranteed the discernment degree of accuracy, has reduced the latency of putting the pipe, and then has improved sewage discharge's efficiency, to having the further accurate discernment of prominent condition, has reduced the wrong report frequency that has the suggestion of knoing, has improved the degree of accuracy that the state detected.
In addition, in the pipe discharging process, based on the relationship between the angular speed and the linear speed of the coil pipe, the knotting phenomenon in the pipe discharging process is intelligently identified, the hose is ensured to be normally placed, so that the sewage discharge channel is favorably established, the pipe discharging fault caused by slight environmental interference is avoided, the pipe discharging process is intelligently controlled, the accuracy of the knotting phenomenon prompt is improved, the frequent repeated checking of workers is avoided, and the pipe discharging efficiency is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of a ship sewage shore intelligent receiving device connection;
fig. 2 is a schematic view of the pipe retracting device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.
The invention relates to an onshore intelligent receiving method for ship sewage, which can realize onshore collection and metering of ship domestic sewage and oil sewage. An onshore intelligent receiving method for ship sewage is applied to an onshore intelligent receiving device for the ship sewage, and the onshore intelligent receiving device for the ship sewage mainly comprises a code scanning module, a PLC (programmable logic controller) pipe collecting and releasing module and a flow measurement recording module.
The onshore intelligent receiving method for the ship sewage specifically comprises the following steps:
s1: the device is started: sweep the sign indicating number login and acquire first device information, sweep a sign indicating number module discernment first device information to start boats and ships sewage on-shore intelligent receiving arrangement.
Sweep a yard module and integrate in boats and ships sewage bank intelligence receiving arrangement control system. When a ship is berthed on the shore, sewage needs to be transported, the ship owner logs in a management page through code scanning, and first device information is acquired from the management page, wherein the first device information comprises the number of a wharf where the ship is located, the number of a control system controller and the available state of the controller. The code scanning module identifies the first device, determines an object to be activated, and starts the ship sewage onshore intelligent receiving device corresponding to the object to be activated.
S2: pipe laying and connecting: the protection inductor discerns first hose state, and PLC receive and releases the pipe module and controls the speed of releasing based on first hose state recognition result, places the hose in order to lay boats and ships sewage on-shore intelligent receiving device's pipeline.
The first hose state is a hose state in the whole pipe placing process. The protection inductor always identifies the state of the hose at the initial moment of the hose discharging and in the hose discharging process until the hose is connected, controls the hose discharging speed based on the state identification result, realizes automatic hose connection, lays a pipeline of the intelligent receiving device on the ship sewage shore, and forms a passage as shown in figure 1. At the initial tube placing time, the protection inductor identifies the state of the hose, and based on the hose state identification result, the PLC tube placing and releasing module controls the beginning of tube placing and sets the tube placing speed; in the pipe placing process, the protection inductor identifies the state of the hose, and the PLC pipe placing and releasing module controls the pipe placing speed based on the hose state identification result, so that the hose is prevented from being bent.
S3: emission control: the sewage discharge is controlled based on the piping laid in step S2.
As shown in fig. 1, after the pipeline is laid, a sewage discharge passage is formed by using a hose, and at this time, sewage discharge is started, and sewage discharge is controlled to continue until the sewage discharge is completed.
S4: flow calculation and pipe collection: the flow measurement recording module comprises a flowmeter, and in the sewage discharge process, the flowmeter receives medium parameters of the discharged sewage and calculates the volume of the discharged sewage based on the medium parameters; after sewage discharges, the PLC receive and releases the pipe module and receive the pipe signal, and the protection inductor discerns the second hose state, and PLC receive and releases the pipe module and receive the pipe speed based on second hose state recognition result control, accomodate and finish until the hose.
The flow measurement recording module is integrated in the control system of the intelligent receiving device on the ship sewage shore. The flow measurement recording module comprises a flow meter, the connection mode of the flow measurement recording module is shown in fig. 1, the flow meter obtains medium parameters of liquid when the liquid passes through the flow meter, the flow meter can carry out comprehensive calculation according to the medium parameters identified by the control system, the volume of the passing liquid is measured, the data are sent to the control system, the control system generates an electronic receipt based on the volume information, and further the electronic receipt comprises first device information, the starting time and the ending time of discharge and the volume of discharge.
After sewage discharge is finished, the PLC pipe collecting and releasing module receives a pipe collecting signal, the protection sensor is triggered to identify the state of the second hose, and the state of the second hose is the hose state of the whole pipe collecting process. The PLC pipe collecting and releasing module controls the pipe collecting speed based on the second hose state recognition result so as to ensure that the hose is smoothly collected on the coil pipe.
According to the ship sewage onshore intelligent receiving method provided by the embodiment of the invention, the process of winding and unwinding the hose is automatically controlled by using the PLC hose winding and unwinding module, the connection between the receiving device and the delivery pump and the recovery of the hose are automatically completed, people are liberated from the daily hose winding and unwinding labor, and the labor is saved; the PLC pipe collecting and releasing module controls the pipe collecting and releasing speed based on the recognition result of the protection sensor, so that excessive bending of the hose and breakage of the hose in the pipe releasing process are avoided, the hose is ensured to be normally collected in the pipe collecting process, and knotting and bending of the hose on the coil pipe are avoided; the volume information of the sewage discharge is automatically recorded and kept while the sewage is discharged, and the intelligent onshore reception of the ship sewage is realized.
A second embodiment of the present invention relates to an onshore intelligent receiving method for ship sewage, which is substantially the same as the first embodiment, and mainly differs therefrom in that: the onshore intelligent receiving method for the ship sewage specifically comprises the following steps:
s1: the device is started: sweep the sign indicating number login and acquire first device information, sweep a sign indicating number module discernment first device information to start boats and ships sewage on-shore intelligent receiving arrangement.
When a ship berths on the shore, sewage needs to be transported, the ship owner logs in through scanning a code, the device automatically confirms login information, and after the information is confirmed to be correct, a subsequent flow is opened through a control system to allow the device to be started for sewage transportation operation. If the device cannot identify the login information or the information is incorrect, the sewage transfer operation is not allowed; at this time, the ship owner needs to register or change the information from the new information.
The primary condition for device operation is to identify each item of relevant information by scanning a code. The code scanning login for acquiring the first device information specifically comprises the following steps: after the ship is mainly logged in, the code system information on the equipment is scanned, the first device information is obtained based on the code system information on the equipment, and the first device information is displayed through the management page, so that a user can conveniently verify an object to be activated. As an alternative embodiment, the code system information on the device may be a two-dimensional code.
Further, since the ship environment is complex, if the code system on the equipment is damaged, the scanning equipment fails to recognize the ship, as an optional embodiment, the ship owner shoots an identification picture of the ship, the device searches the identification picture to obtain a first object group to be confirmed, the first object group to be confirmed is displayed through the management page, and the ship owner selects to confirm the object to be activated.
S2: pipe laying and connecting: the protection inductor discerns first hose state, and PLC receive and releases the pipe module and controls the speed of releasing based on first hose state recognition result, places the hose in order to lay boats and ships sewage on-shore intelligent receiving device's pipeline.
The PLC pipe winding and unwinding module comprises a pipe winding and unwinding device, as shown in figure 2, the pipe winding and unwinding device comprises a coil pipe and an inductor arranged on a frame, the coil pipe is wound with a hose, the hose is discharged and wound from a first outlet, and the pipe winding and unwinding device further comprises a coil pipe motor, a coil pipe driving wheel, a coil pipe driven wheel 3, a limiting rod driven wheel 2 and a limiting rod inductor 1. When the pipe is placed, firstly, whether the state of the hose on the coil pipe is normal is identified through an inductor arranged on the frame, and when the state is normal, the PLC pipe placing and releasing module can continue to perform the pipe placing operation, namely, a coil pipe motor works to drive a coil pipe driving wheel to place the pipe, the coil pipe driving wheel drives a coil pipe driven wheel in the process, the coil pipe driven wheel drives a limiting rod driven wheel, and finally the limiting rod is driven to rotate, so that the positions of a limiting device and the position of the coil pipe placed are kept consistent; both ends all are equipped with the gag lever post inductor about the gag lever post, and when the gag lever post reachd the assigned position, the gag lever post inductor can convey the instruction to PLC receive and releases the pipe module, and PLC receives and releases the pipe module and carries out coil pipe motor stop work.
First hose state includes that the coil pipe is knotted state, coil pipe angular velocity, first exit hose linear velocity, and first hose state is the hose state of putting the pipe overall process, including putting the pipe initial moment, putting the pipe in-process, as an optional embodiment, the protection inductor can be infrared ray check out test set. Protection inductor discernment first hose state, first hose state include the coil pipe state of knoing, put the pipe state of knoing, the coil pipe state of knoing is for beginning to put the state of knoing on the coil pipe before managing, puts the pipe state of knoing for putting the state of knoing that the pipe in-process appears, and PLC receive and releases the pipe module and puts a tub speed based on first hose state recognition result control, specifically includes: at the initial moment of pipe releasing, a protection sensor detects the knotted state of the coil pipe of the hose on the coil pipe, if the first hose state is identified as the knotted state of the hose on the coil pipe, the PLC is forbidden to release the pipe of the pipe releasing and releasing module and prompt a worker to check the hose on the coil pipe; otherwise, recognizing the state of the first hose as normal winding of the hose, setting the initial angular speed of the coil pipe, and controlling the pipe unwinding module to start unwinding the pipe by the PLC. At the initial moment of pipe placing, the PLC pipe placing and releasing module responds to the recognition result of the protection sensor to control whether pipe placing is carried out or not, and compared with the operation of directly placing the pipe after the device starts to work, the invention adopts a mode of pre-checking under the cooperation of the PLC pipe placing and releasing module and the protection sensor, the hose can be ensured to be in an unknotted state before the pipe is placed, the current pipe placing effect is prevented from being influenced by previous knotting, the knotting probability of the hose is reduced, the hose is ensured to be normally placed, and thus the establishment of a sewage discharge channel is facilitated.
As an optional embodiment, the protection sensor detects the edge of the coil pipe wound around the hose, judges whether there is a protrusion based on the edge detection result, and if not, identifies that the first hose is in a normal winding state; otherwise, the first hose state is identified as a knotted hose on the coil. Further, if it is determined that there is a protrusion based on the edge detection result, the protection sensor obtains the coil radius
Radius of flexible pipe
And the information L of the number of the brakes of the hose wound on the coil pipe, and the height of the projection of the pipe placing is detected
The height of the tube placing bulge is the distance from the highest position of the tube placing bulge to the circle center of the coil pipe and is based on the radius of the coil pipe
Radius of flexible pipe
Calculating a first protrusion threshold value with the hose gate number information L
If the height of the pipe placing bulge is larger than or equal to the first bulge threshold value, identifying that the first hose is in a state that the hose on the coil pipe is knotted; and if the height of the pipe placing protrusion is smaller than the first protrusion threshold value, identifying the first hose state as normal winding of the hose. As an alternative embodiment, the first protrusion threshold value
Where n is the first bump factor. Compared with a complex image recognition technology, the detection method is simplified, accurate recognition of the knotted state is achieved through the edge abnormal position detection mode, the recognition speed is improved on the premise that the recognition accuracy is guaranteed, the waiting time for pipe placing is shortened, and further the sewage discharge efficiency is improved. Furthermore, the accuracy of recognition is further improved under the condition that the protrusions exist, the rear surface of the wound hose is uneven due to the fact that the environment of the ship is complex and tiny impurities are easy to carry when the hose is wound, and in order to improve the accuracy of knotted state recognition, the protrusions caused by the tiny impurities are filtered out only under the condition that the protrusions exist, the false alarm frequency of the knotted prompt is reduced, and the accuracy of state detection is improved.
The first hose state of protection inductor discernment, PLC receive and releases the pipe module and control based on first hose state recognition result and put a tub speed, specifically still include: in the pipe placing process, the protection inductor acquires the current angular velocity of the coil pipe, the real-time radius of the coil pipe wound with the hose and the linear velocity of the hose at the first outlet, and the current angular velocity of the coil pipe is based on
Real-time radius of coil of wound hose
And hose line speed at the first outlet
Judging whether knotting occurs in the pipe releasing process, if knotting occurs, pausing the pipe releasing and giving an abnormal prompt to prompt a worker to check the released hose; otherwise, continuing the pipe placing operation. In the pipe placing process, the PLC pipe placing and releasing module responds to the recognition result of the protection sensor to control the pipe placing process, and compared with the operation of always placing the pipe after the device is started, the invention adopts an in-situ supervision mode under the cooperation of the two modules to detect the knotting phenomenon of the hose in the whole pipe placing process, prevent the excessive bending of the hose and the breakage of the hose in the operation process, reduce the knotting probability of the hose, ensure the normal placement of the hose and further contribute to the establishment of a sewage discharge channel.
As an alternative embodiment, the current angular velocity based on the coil is
Real-time radius of coil of wound hose
And hose line speed at the first outlet
Whether appear tying in the pipe laying process is judged, and the method specifically comprises the following steps: if it is
If so, the knotting phenomenon does not occur in the pipe placing process; if it is
If the fault exists in the pipe releasing process, the PLC pipe releasing and releasing module responds to the recognition result of the protection sensor to reduce the pipe releasing angular speed of the coil pipe; if it is
And p is a speed factor,if the knotting occurs in the process of releasing the hose, the hose releasing is suspended and an abnormal prompt is given to prompt a worker to check the released hose. In the pipe releasing process, the rotation of the coil pipe drives the flexible pipe to be released, and the knotting phenomenon in the pipe releasing process is intelligently identified based on the relation between the angular speed and the linear speed of the coil pipe, so that the flexible pipe is ensured to be normally placed, and a sewage discharge channel is favorably established. Furthermore, the invention adopts the multi-stage regulation and control of the pipe discharging speed, compared with the mode of alarming when the pipe discharging speed is in failure, the invention firstly adopts the mode of reducing the pipe discharging speed to automatically solve the pipe discharging failure, intelligently control the pipe discharging process for the pipe discharging failure caused by slight environmental interference, improve the accuracy of the knotting phenomenon prompt, avoid frequent and repeated checking by the working personnel and improve the pipe discharging efficiency.
Further, when the pipe winding and unwinding device is designed, the radius of the coil driving wheel, the coil driven wheel and the limiting rod driven wheel needs to be calculated, the moving speed of the limiting device is guaranteed to be consistent with the horizontal moving speed of the flexible disk on the coil when the pipe is wound and unwound by calculating the radius relation of each wheel in the transmission process, and the linear speed and the angular speed of the coil driving wheel, the coil driven wheel and the limiting rod driven wheel are calculated respectively at the moment. The transverse moving speed of the hose on the coil pipe wound on the coil pipe is equal to that of the limiting groove, namely
The length of the coil pipe is equal to the distance of the transverse movement of the limiting groove, and in order to ensure the principle of equal speed, the ratio of the pipe diameter of the hose to the tooth pitch of the screw teeth 4 of the limiting rod is equal to the ratio of the radius of the driven wheel of the coil pipe to the radius of the driven wheel of the limiting rod, namely
And the angular speeds of the coil pipe and the limiting rod are consistent, the angular speeds of the coil pipe and the limiting rod which are different from each other can be calculated, the angular speeds of the coil pipe driving wheel, the coil pipe driven wheel and the limiting rod driven wheel can be calculated based on the angular speeds of the coil pipe and the limiting rod which are different from each other and the angular speed of the original coil pipe motor driving wheel, and finally, the angular speeds of the coil pipe driving wheel, the coil pipe driven wheel and the limiting rod driven wheel can be obtained based on the calculated angular speeds and linear speeds of the wheelsThe radius of each wheel guarantees through such mode that the hose lateral shifting speed on the coil pipe is unanimous with the lateral shifting speed of spacing groove, guarantees that the hose can not lead to the error of receiving and releasing the pipe because of external factors's influence.
S3: emission control: the sewage discharge is controlled based on the piping laid in step S2.
As shown in fig. 1, after the pipeline is laid, a sewage discharge passage is formed by using a hose, and at this time, sewage discharge is started, and sewage discharge is controlled to continue until the sewage discharge is completed.
As an optional embodiment, after the hose is placed, the pipeline is placed completely, a sewage discharging passage is formed, a worker triggers sewage to start discharging through the control of the management page, after the sewage starts to discharge, the control of the management page is changed into a second display state, when the sewage is discharged completely or in the sewage discharging process, the worker triggers the sewage to stop discharging through the control of the management page again, and the control of the management page changes into a first display state. After the hose is laid, the interface on the equipment can be simply operated to control the start, pause and end of sewage discharge, so that the convenience and flexibility of sewage discharge control are improved, and the safety of sewage discharge operation is also improved.
S4: flow calculation and pipe collection: the flow measurement recording module comprises a flowmeter, and in the sewage discharge process, the flowmeter receives medium parameters of the discharged sewage and calculates the volume of the discharged sewage based on the medium parameters; after sewage discharges, the PLC receive and releases the pipe module and receive the pipe signal, and the protection inductor discerns the second hose state, and PLC receive and releases the pipe module and receive the pipe speed based on second hose state recognition result control, accomodate and finish until the hose.
The flow measurement recording module is integrated in the control system of the intelligent receiving device on the ship sewage shore. The flow measurement recording module comprises a flow meter, the connection mode of the flow meter is shown in figure 1, the flow meter obtains medium parameters of liquid when the liquid passes through the flow meter according to the flow calculation, the flow meter can carry out comprehensive calculation according to the medium parameters identified by the control system, the volume of the passing liquid is measured, and data are transmitted to the control system.
After sewage discharge finishes, the PLC receive and releases the pipe module and receive the pipe signal, trigger protection inductor discernment second hose state, and the second hose state is the hose state of receiving the pipe overall process, and the second hose state includes the state of knoing that twines the hose on the coil pipe. The protection sensor recognizing the state of the second hose specifically includes: in the whole pipe collecting process, the protection sensor detects the knotted state of the wound hose on the coil pipe, and if the second hose state is identified as the knotted hose wound on the coil pipe, the PLC pipe collecting and releasing module is paused to collect the pipe and send a prompt to prompt a worker to check the hose on the coil pipe; otherwise, the state of the second hose is identified to be that the hose is normally wound, the wound hose on the coil pipe does not have the knotting condition, and the PLC pipe collecting and releasing module continues to collect the pipe. In the whole process of pipe collection, the PLC pipe collection and release module responds to the recognition result of the protection sensor to control whether to collect the pipe or not, and compared with a simple working mode of continuously collecting the pipe, the invention supervises the pipe collection process in the whole process under the cooperation of the PLC pipe collection and release module and the protection sensor, ensures the normal collection of the hose, avoids the damage of the hose and ensures the normal use of the hose at the next time, thereby being beneficial to improving the success rate of the collection and release of the hose.
As an optional embodiment, the protection sensor detects the edge of the coil pipe wound around the hose, judges whether a protrusion exists based on the edge detection result, and if not, identifies that the second hose is normally wound around the hose and the wound hose on the coil pipe does not have a knotting condition; otherwise, the state of the second hose is identified as that the knotted hose is wound on the coil. Further, if it is determined that there is a protrusion based on the edge detection result, the protection sensor obtains the coil radius
Radius of flexible pipe
And the current wound hose brake number information M on the coil pipe, and detecting the height of the pipe receiving bulge
The height of the pipe receiving bulge is the distance from the highest position of the pipe receiving bulge to the circle center of the coil pipe and is based on the radius of the coil pipe
Radius of flexible pipe
And the current wound hose brake number information M on the coil pipe is used for calculating a second protrusion threshold value
If the height of the pipe receiving bulge is larger than or equal to a second bulge threshold value, identifying that the second hose is in a state that the hose wound on the coil pipe is knotted; and if the height of the pipe receiving protrusion is smaller than a second protrusion threshold value, identifying that the second hose is in a normal winding state. As an alternative embodiment, the second protrusion threshold value
Where n is the first bump factor. Compared with a complex image recognition technology, the detection method is simplified, accurate recognition of the knotted state is achieved through the edge abnormal position detection mode, the recognition speed is improved on the premise that the recognition accuracy is guaranteed, the waiting time for pipe collection is shortened, and the using process of the device is simplified. Furthermore, the accuracy of recognition is further improved under the condition that the protrusions exist, the rear surface of the wound hose is uneven due to the fact that the environment of the ship is complex and tiny impurities are easy to carry when the hose is wound, and in order to improve the accuracy of knotted state recognition, the protrusions caused by the tiny impurities are further accurately recognized only under the condition that the protrusions exist, a second protrusion threshold value is set to filter the protrusions caused by the tiny impurities, the false alarm frequency of the knotted prompt is reduced, and the accuracy of state detection is improved.
The PLC receive and releases the pipe module and controls the speed of receiving the pipe based on the second hose state recognition result, further include: if the second hose is identified to be normally wound, keeping the initial hose retracting speed unchanged; if the second hose state is recognized, the hose is wound on the coil pipe and knotted, the PLC hose retracting and releasing module sets a second hose retracting speed, the direction of the second hose retracting speed is opposite to that of the initial hose retracting speed, and after the first preset duration, the PLC hose retracting and releasing module sets the initial hose retracting speed again; if the state of discerning the second hose again is that there is the knot in winding the hose on the coil pipe, then the PLC receive and releases the pipe module and receive the pipe and send the suggestion, suggestion staff inspection hose on the coil pipe. In the process of collecting the hose, when the fault of the winding of the hose is identified, a hierarchical regulation and control mode is adopted, firstly, the winding fault is intelligently solved to eliminate other winding faults except knotting, under the condition that the failure is intelligently solved, the manual inspection mode is adopted as supplement, the hierarchical regulation and control mode avoids frequent repeated checking of workers, the workload of the workers is reduced, and the hose collecting efficiency is improved.
Furthermore, when the PLC pipe deploying and retracting module is operated, information of the protection sensor, angular velocity, linear velocity information and length of the pipe deploying and retracting process can be recorded by a program of the control system and code scanning information of the ship, so that the control system can directly feed back the data to equipment for operation through the program when the ship reuses the device next time, and running-in adjustment or fine adjustment is not needed; when the flow measurement recording module works, the control system firstly feeds back media related data to the flowmeter through a program, and then the flowmeter transmits the measured volume to the control system again through the data for recording; all operation related information and data in the process are counted through a control system program and uploaded to a system platform.
The on-shore intelligent receiving method for ship sewage provided by the embodiment of the invention comprises a code scanning module, a PLC (programmable logic controller) pipe collecting and releasing module, a flow measurement recording module and a control system, wherein the modules are matched with each other in a working mode so that the ship sewage is easy to transfer and the full-flow recording can be realized. Firstly, scanning a code system on equipment, and opening a device after confirming relevant information; then carry out laying and accommodating of hose through PLC receive and releases the pipe module to carry out self-adaptive control and memory to the parameter of hose laying process, effectively prevent on the one hand because of the phenomenon that the maloperation arouses the snapping of hose or can't receive the pipe completely, reduced people's work load, improved intelligent control level, on the other hand, the record of parameter is with the time of laying the hose when this boats and ships of greatly reduced later stage are transported once more. The actual demand that the ship sewage need be transported ashore and handle provides one kind can labour saving and time saving's operation to and can carry out the device of intelligent record to the full flow, whole outward appearance design becomes sled dress formula, takes up an area of fewly, and is lower to the influence of operation face, is one set of ship sewage transport ashore device that has fused numerous advanced technologies such as molding technique, machinery, electron, sensor. The on-shore intelligent ship sewage receiving method provided by the embodiment of the invention can automatically identify and process the knotting state based on the detection of the hose state, can automatically identify and adaptively process abnormal conditions in the pipe winding and unwinding process, improves the efficiency of laying and storing the hose, and further improves the operation efficiency of sewage discharge and reception.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
The third embodiment of the invention relates to an onshore intelligent receiving device for ship sewage, which comprises a code scanning module, a PLC (programmable logic controller) pipe collecting and releasing module, a suction module, a flow measurement recording module and a control system.
The code scanning module is used for scanning codes, logging in to obtain first device information, and identifying the first device information so as to trigger the control system to start the intelligent ship sewage onshore receiving device.
Sweep a yard module and integrate in boats and ships sewage bank intelligence receiving arrangement control system. When a ship is berthed on the shore, sewage needs to be transported, the ship owner logs in a management page through code scanning, and first device information is acquired from the management page, wherein the first device information comprises the number of a wharf where the ship is located, the number of a control system controller and the available state of the controller. The code scanning module identifies the first device, determines an object to be activated, and the control system starts the ship sewage onshore intelligent receiving device corresponding to the object to be activated.
The PLC pipe deploying and retracting module comprises a pipe retracting and releasing device, a protection sensor and a controller, wherein the protection sensor identifies the state of a first hose, the controller controls the pipe releasing speed of the pipe retracting and releasing device based on the state identification result of the first hose, and the hose is placed to lay a pipeline of the intelligent receiving device on the ship sewage bank; after sewage discharges, the controller receives and receives the pipe signal, and the protection inductor discerns the second hose state, and the controller is based on the receipts pipe speed of second hose state recognition result control receipts pipe device, and the hose is accomodate and is accomplished until the hose.
And the suction module is used for sucking sewage based on the arranged pipeline in response to the control of the control system.
And the flow measurement recording module comprises a flowmeter, and the flowmeter receives the medium parameters of the discharged sewage and calculates the volume of the discharged sewage based on the medium parameters in the sewage discharge process.
According to the intelligent ship sewage onshore receiving device provided by the embodiment of the invention, the processes of hose winding and unwinding are automatically controlled by the PLC hose winding and unwinding module, the connection between the receiving device and the delivery pump and the recovery of the hose are automatically completed, people are liberated from daily hose winding and unwinding labor, and the labor is saved; the PLC pipe collecting and releasing module controls the pipe collecting and releasing speed based on the recognition result of the protection sensor, so that excessive bending of the hose and breakage of the hose in the pipe releasing process are avoided, the hose is ensured to be normally collected in the pipe collecting process, and knotting and bending of the hose on the coil pipe are avoided; the volume information of the sewage discharge is automatically recorded and kept while the sewage is discharged, and the intelligent onshore reception of the ship sewage is realized.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first and second embodiments. The related technical details mentioned in the first embodiment and the second embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can be applied to the first embodiment and the second embodiment.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (9)
1. An onshore intelligent receiving method of ship sewage, which is applied to an onshore intelligent receiving device of the ship sewage, and is characterized in that the onshore intelligent receiving device of the ship sewage mainly comprises a code scanning module, a PLC (programmable logic controller) pipe receiving and releasing module and a flow measurement recording module,
the onshore intelligent receiving method for ship sewage specifically comprises the following steps:
s1: starting the intelligent onshore receiving device for ship sewage: code scanning login is performed to obtain first device information, the code scanning module identifies the first device information to start the ship sewage onshore intelligent receiving device, and the first device information comprises a wharf number where a ship is located, a control system controller number and a controller available state;
s2: placing a hose: detecting the radius of a coil pipe, the radius of a hose pipe, the brake number information of the hose pipe wound on the coil pipe, the current angular speed of the coil pipe, the real-time radius of the coil pipe wound with the hose pipe and the linear speed of the hose pipe at a first outlet, identifying the state of the first hose pipe, wherein the state of the first hose pipe comprises a coil pipe knotting state and a pipe releasing knotting state, the PLC pipe releasing and releasing module controls the pipe releasing speed based on the identification result of the state of the first hose pipe, and the PLC pipe releasing and releasing module places the hose pipe to arrange a pipeline of the intelligent receiving device on the ship sewage shore;
s3: controlling sewage discharge: controlling sewage discharge based on a pipeline arranged in S2;
s4: calculating flow and hose collecting: the flow measurement recording module comprises a flowmeter, the flowmeter receives medium parameters of the discharged sewage and calculates the volume of the discharged sewage based on the medium parameters; the PLC receive and release the pipe module and receive the pipe signal, respond to receive the pipe signal, detect present winding hose brake number information on coil pipe radius, hose radius and the coil pipe, discernment second hose state, the second hose state includes the state of knoing of winding the hose on the coil pipe, PLC receive and release the pipe module and receive the pipe speed based on the control of second hose state recognition result, and the hose is accomodate and is accomplished.
2. The onshore intelligent receiving method for ship sewage according to claim 1, wherein the S1 specifically comprises: the ship owner logs in a management page through code scanning, first device information is obtained from the management page, the code scanning module identifies the first device, determines an object to be activated, and starts the ship sewage onshore intelligent receiving device corresponding to the object to be activated.
3. The onshore intelligent receiving method for ship sewage according to claim 1, wherein a first hose state is identified, and the PLC pipe unwinding and winding module controls the pipe unwinding speed based on the first hose state identification result, and specifically comprises: the first hose state comprises a hose state at the initial hose releasing time, the protection sensor detects the knotting state of the hose on the coil at the initial hose releasing time, and if the first hose state is recognized that the hose on the coil is knotted, the PLC is prohibited from releasing and releasing the hose of the hose releasing module; otherwise, recognizing the state of the first hose as normal winding of the hose, setting the initial angular speed of the coil pipe, and controlling the pipe unwinding module to start unwinding the pipe by the PLC.
4. The marine vessel sewage bank of claim 1Last intelligent receiving method, its characterized in that detects coil pipe radius, hose radius, the last winding hose brake number information of coil pipe, the current angular velocity of coil pipe, the real-time radius of the coil pipe of winding hose and first exit hose linear velocity, discerns first hose state, specifically includes: detecting the height of the tube-placing bulge
If the height of the pipe releasing projection is larger than or equal to the first protrusion threshold value, the first hose state is identified as knotting of the hose on the coil pipe; and if the height of the pipe placing protrusion is smaller than the first protrusion threshold value, identifying the first hose state as normal winding of the hose.
5. The onshore intelligent receiving method for ship sewage according to claim 1, wherein the identification of the state of the first hose specifically comprises: coil based current angular velocity
Real-time radius of coil of wound hose
And hose line speed at the first outlet
Judging whether knotting occurs in the process of putting the pipe, if so
If so, knotting does not occur in the pipe placing process; if it is
And if p is a speed factor, knotting occurs in the pipe releasing process.
6. The onshore intelligent receiving method for ship sewage according to claim 1, wherein the identification of the state of the second hose specifically comprises: detecting the height of the pipe receiving bulge, wherein the height of the pipe receiving bulge is the distance from the highest position of the pipe receiving bulge to the center of the coil pipe, calculating a second bulge threshold value based on the radius of the coil pipe, the radius of the hose pipe and the current wound hose brake number information on the coil pipe, and if the height of the pipe receiving bulge is larger than or equal to the second bulge threshold value, identifying the state of the second hose pipe as that the wound hose pipe on the coil pipe is knotted; and if the height of the pipe receiving protrusion is smaller than a second protrusion threshold value, identifying that the second hose is in a normal winding state.
7. The onshore intelligent receiving method for ship sewage according to claim 1, wherein the PLC pipe collecting and releasing module controls the pipe collecting speed based on the second hose state recognition result, and specifically comprises: in the whole pipe collecting process, the protection sensor detects the knotted state of the wound hose on the coil pipe, and if the second hose state is identified as the knotted hose wound on the coil pipe, the PLC pipe collecting and releasing module is paused to collect the pipe and send a prompt; otherwise, the state of the second hose is identified to be that the hose is normally wound, the wound hose on the coil pipe does not have the knotting condition, and the PLC pipe collecting and releasing module continues to collect the pipe.
8. The onshore intelligent receiving method for ship sewage according to claim 1, wherein the PLC pipe collecting and releasing module controls the pipe collecting speed based on the second hose state recognition result, and specifically comprises:
if the second hose is identified to be normally wound, keeping the initial hose retracting speed unchanged;
if the second hose is identified to be in a state that the hose is wound on the coil pipe and knotted, the PLC hose retracting module sets a second hose retracting speed, and the direction of the second hose retracting speed is opposite to the direction of the initial hose retracting speed;
after the first preset duration, the PLC pipe collecting and releasing module sets the initial pipe collecting speed again.
9. The utility model provides a boats and ships sewage on-shore intelligence receiving arrangement which characterized in that includes: a code scanning module, a PLC pipe collecting and releasing module, a suction module, a flow measurement recording module and a control system, wherein,
the code scanning module is used for scanning a code, logging in to obtain first device information, identifying the first device information and triggering the control system to start the ship sewage onshore intelligent receiving device, wherein the first device information comprises a wharf number of a ship, a control system controller number and a controller available state;
the PLC pipe deploying and retracting module comprises a pipe retracting and retracting device, a protection sensor and a controller, the radius of a coil pipe, the radius of a hose pipe, the brake number information of the hose pipe wound on the coil pipe, the current angular velocity of the coil pipe, the real-time radius of the coil pipe wound on the hose pipe and the linear velocity of the hose pipe at a first outlet are detected, the protection sensor identifies a first hose state, the first hose state comprises a coil pipe knotting state and a pipe deploying and knotting state, the controller controls the pipe retracting speed of the pipe retracting and retracting device based on the identification result of the first hose state, and the hose pipe is placed to lay a pipeline of the intelligent receiving device on the ship sewage bank; the controller receives a pipe receiving signal, detects the radius of the coil pipe, the radius of the hose pipe and the current brake number information of the hose pipe wound on the coil pipe, the protection sensor identifies the state of a second hose pipe, the state of the second hose pipe comprises the knotting state of the hose pipe wound on the coil pipe, and the controller controls the pipe receiving speed of the pipe receiving and releasing device based on the second hose pipe state identification result until the hose pipe is completely received;
the suction module is used for sucking sewage based on a laid pipeline in response to the control of the control system;
the flow measurement recording module comprises a flowmeter, the flowmeter receives medium parameters of the discharged sewage, and the volume of the discharged sewage is calculated based on the medium parameters.
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