Search

CN-121976601-A - Intelligent cleaning system and method for floaters in inspection well

CN121976601ACN 121976601 ACN121976601 ACN 121976601ACN-121976601-A

Abstract

The invention relates to the technical field of municipal pipeline cleaning, and discloses an intelligent cleaning system and method for floaters in an inspection well, wherein the cleaning system comprises a perception and identification unit, a control unit, a medicament adding unit and a mechanical cleaning unit, and the perception and identification unit is arranged in the inspection well and is used for acquiring water surface images and identifying distribution areas of solid floaters, greasy dirt and adhesive mixtures thereof; the control unit generates a time sequence operation instruction of the reagent adding unit which takes precedence over the action of the mechanical cleaning unit according to the identification result, the reagent adding unit adds chemical treatment agent to the oil stain and adhesion mixture area, and the mechanical cleaning unit grabs and removes solid floaters and residues after treatment. The invention adopts a time sequence operation mode of firstly chemical decomposition and then physical grabbing, solves the problem of incomplete cleaning of greasy dirt diffusion and adherends, and realizes the efficient and complete automatic cleaning of solid-oil mixed pollutants in the inspection well.

Inventors

  • WU YOU
  • WANG FUZHI
  • WANG WANQIONG
  • YIN WEI
  • PENG SHOUHAI
  • XIE JIAQIANG
  • LUO PEISHENG
  • LIU WUSHUANG
  • LUO XINRAN
  • ZHOU HAO

Assignees

  • 三峡环境科技有限公司
  • 中国长江三峡集团有限公司

Dates

Publication Date
20260505
Application Date
20260320

Claims (10)

  1. 1. An inspection shaft floater intelligence clearance system, characterized in that includes: The sensing and identifying unit (4) is suitable for being arranged in the inspection well, and the sensing and identifying unit (4) is used for collecting image information of the water surface in the inspection well so as to identify the distribution areas of solid floaters, greasy dirt and adhesion mixtures of the solid floaters and the greasy dirt; The control unit (2) is in communication connection with the perception recognition unit (4); the chemical treatment agent adding unit (3) is in communication connection with the control unit (2), and the chemical treatment agent adding unit (3) is used for adding the chemical treatment agent to an oil pollution area or a distribution area of the solid floating object and oil pollution adhesion mixture; the mechanical cleaning unit is in communication connection with the control unit (2) and is used for grabbing and removing the solid floaters and the treated adhesive mixture; Wherein the control unit (2) is configured to generate a time-series operation instruction for controlling the medicine adding unit (3) to take precedence over the mechanical cleaning unit according to the distribution area.
  2. 2. The cleaning system according to claim 1, characterized in that the perception recognition unit (4) comprises: The main camera is configured to collect visible light images so as to identify solid floaters; and the auxiliary camera is configured to collect oil pollution spectrums so as to identify oil pollution.
  3. 3. The cleaning system according to claim 2, characterized in that the control unit (2) comprises: The scene understanding module is used for dividing the water surface in the well into a solid garbage area, an oil pollution coverage area and an adhesion mixture area according to the image information acquired by the perception and identification unit (4); And the decision module is used for planning time sequence operation instructions for firstly carrying out chemical treatment on the oil stain coverage area and the adhesion mixture area through the medicament adding unit (3) and then cleaning all the solid floaters through the mechanical cleaning unit according to the division areas of the scene understanding module.
  4. 4. The cleaning system according to claim 2, wherein the medicament dosing unit (3) comprises: a chemical bin (9) for storing a chemical treatment agent; and the quantitative adding device is connected with the medicament bin (9) and is used for adding quantitative chemical treatment agents to the oil stain coverage area and/or the area of the adhesion mixture area according to the time sequence operation instructions.
  5. 5. The cleaning system according to claim 4, wherein the chemical treatment agent is a demulsifier or a bio-enzyme agent, and the dosing device is an ejector device (10) or a dosing pump.
  6. 6. The cleaning system of claim 1, wherein the mechanical cleaning unit comprises: the slide bar (5) is vertically arranged in the inspection well; The motion module (6) is arranged on the sliding rod (5), the motion module (6) is suitable for lifting and moving on the sliding rod (5), and a grabbing device is arranged on the motion module (6).
  7. 7. The cleaning system according to claim 6, characterized in that the gripping means is a net piece (8), which net piece (8) is rotatably arranged on the movement module (6).
  8. 8. The cleaning system according to claim 1, wherein the control unit (2) further comprises a safety interlock module configured to: Locking the mechanical cleaning unit during the working phase of the medicament adding unit (3) and/or; and when the water level is detected to exceed the safety threshold, controlling the mechanical cleaning unit to be lifted to the safety height.
  9. 9. A cleaning method based on the inspection well floater intelligent cleaning system of any one of claims 1 to 8, comprising: The identification step is that image information of the water surface in the well is collected through a perception identification unit (4) so as to identify the distribution areas of solid floaters, greasy dirt and adhesion mixtures of the solid floaters and the greasy dirt; According to the time sequence operation instruction, firstly controlling the chemical treatment agent adding unit (3) to add chemical treatment agent to the oil stain coverage area and/or the adhesion mixture area, and after the reaction time is preset, controlling the mechanical cleaning unit to grasp and remove the solid floaters; after the cleaning step is finished, acquiring an image through a perception recognition unit (4), and evaluating the residual pollutant condition; and if the evaluation result does not reach the preset standard, executing the cleaning step.
  10. 10. The cleaning method of claim 9, further comprising: And uploading the process data, the images and the results of the identification step and the cleaning step to the cloud platform.

Description

Intelligent cleaning system and method for floaters in inspection well Technical Field The invention relates to the technical field of municipal pipeline cleaning, in particular to an intelligent cleaning system and method for floaters in an inspection well. Background Municipal drainage inspection wells are important nodes of urban underground pipe networks, and the internal conditions influence drainage efficiency and flood control safety. In a specific operation and maintenance process, solid garbage such as plastic bags, beverage bottles and the like often floats on the water surface in a well and adheres to viscous oil dirt formed by restaurant emission to form a compact heterogeneous mixture, and the contaminants seriously obstruct the line of sight, so that operation and maintenance staff cannot observe pipeline mouth conditions and water levels and need to clean regularly. At present, cleaning work is mostly dependent on manual work to use tools such as net bags, rakes and the like to go into the well or salvage at the wellhead, and the safety risks of low efficiency, high labor intensity, toxic gas poisoning, falling and the like exist, and adhesion greasy dirt cannot be cleaned. In the related art, the mechanical cleaning equipment can be used for salvaging, the functions are single, the oil stains cannot be identified and treated only aiming at discrete solid wastes, the complex working condition of solid oil stain adherends is difficult to effectively treat, and the oil stains are easy to diffuse due to the mechanical action of the cleaning stage, so that secondary pollution is caused. Disclosure of Invention In view of the above, the present invention provides an intelligent cleaning system and method for floaters in an inspection well, so as to solve the problems set forth in the background art. In a first aspect, the present invention provides an inspection shaft float intelligent cleaning system comprising: The sensing and identifying unit is used for collecting image information of the water surface in the well so as to identify the distribution areas of solid floaters, greasy dirt and adhesion mixtures of the solid floaters and the greasy dirt; The control unit is in communication connection with the perception recognition unit; The chemical treatment agent is added to the oil pollution area or the distribution area of the solid floating object and oil pollution adhesion mixture; the mechanical cleaning unit is in communication connection with the control unit and is used for grabbing and removing the solid floaters and the treated adhesive mixture; wherein the control unit is configured to generate a time-series operation instruction for controlling the medicine adding unit to take precedence over the mechanical cleaning unit according to the distribution area. The application has the beneficial effects that the technical scheme capable of automatically treating the solid oil heterogeneous mixed pollutants in the inspection well is provided, the pollution distribution area is identified through the perception and identification unit, then the control unit generates a time sequence operation instruction according to the pollution distribution area, and the chemical addition is performed before the mechanical cleaning action, so that the operation sequence of carrying out chemical decomposition on oil stains and then carrying out physical grabbing on solids on the system is realized, the problems of oil stain diffusion and secondary pollution caused when the traditional mechanical cleaning mode directly acts on the mixture are effectively solved, the problem that solid garbage is difficult to clean due to oil stain adhesion is simultaneously solved, and the efficient and complete cleaning of heterogeneous mixtures is realized. In some embodiments, the perceptual identification unit comprises: The main camera is configured to collect visible light images so as to identify solid floaters; and the auxiliary camera is configured to collect oil pollution spectrums so as to identify oil pollution. The sensing and identifying unit has the beneficial effects that the sensing and identifying unit is provided with the main camera and the auxiliary camera which are respectively used for collecting visible light images and oil stain characteristic spectrums, so that the system can simultaneously obtain the form information of the solid garbage and the distribution information of oil stains, and the sensing mode of the camera can be used for effectively identifying transparent or dark oil stains in a dim and reflective environment in a well, thereby providing accurate and multidimensional data base for generating follow-up zoning and time sequence operation instructions. In some embodiments, the control unit comprises: The scene understanding module is used for dividing the water surface in the well into a solid garbage area, an oil stain coverage area and an adhesion mixture area according to the image