Floating object cleaning method of cleaning robot

Abstract

The invention provides a floating object cleaning method of a cleaning robot. The method comprises the following steps of: confirming a gate to be cleaned by adopting a manual and unmanned aerial vehicle combined mode, determining a conventional floating object gate according to manual observation and numbering, sending information corresponding to the number to the cleaning robot, performing self-inspection on a gripper by the cleaning robot, entering a cleaning program if the gripper corresponds to a received instruction, otherwise, entering the cleaning program after replacing the gripper, sequentially lifting and temporarily storing after cleaning, and unloading and transferring after the storage capacity is reached. According to the method disclosed by the invention, the problem that the cleaning efficiency is reduced due to tedious, time-consuming and labor-consuming gripper selection and replacement during original floating object cleaning is solved, and the method has the characteristics of simplicity and convenience in operation, high cleaning efficiency, self-inspection of the gripper corresponding to instruction sending and high adaptability.

Description

Technical field [0001] The present invention belongs to the field of conventional target cleansing technology, and involves a method of cleaning the floating material for cleaning robots. Background technique [0002] In the hydropower turbine water, there is generally provided with a barrier gate, which is used to block floating or suspended in the river. In order to ensure that the barrier water flow is smooth, it is necessary to periodically clean up the front dirt. However, in the flood season, it is affected by heavy rain, a large number of floating objects upstream of the reservoir area will quickly aggregate before the barrier, in addition to the foam blocks, woven bag plastic debris, etc., etc., large floats, large floats Including a tree rod, wood, etc., is usually accompanied by large floats such as a tree rod, wood. In order to improve the cleaning efficiency, it is necessary to separately and clear the conventional floats and large floats. [0003] In the prior art, a...

AI Technical Summary

Problems solved by technology

[0004] (1) The degree of intelligence is low, and the grasping method cannot be automatically selected according to the type of floating objects, which is time-consuming and laborious

[0005] (2) In the actual cleaning process, the speed of pollution is fast, but it usually takes a lot of time to change from the rotary cleaning machine to the flap cleaning grab, which greatly affects the cleaning efficiency and even threatens the trash rack and the unit. safe operation

[0006] (3) It needs to be equipped with professional licensed personnel to lift, the technical requirements for cleaning are high, and the operation is relatively difficult

[0007] (4) Due to the limitations of the steel wire rope hoisting structure and working conditions, it is impossible to clean up the dirt at a relatively large depth in front of the trash rack (<1.5m)

[0008] (5) A large number of coordinators are required on the cleaning site, and the weight of the lifted dirt is difficult to monitor, and there are certain safety risks when lifting

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