Floating debris cleaning method of cleaning robot

Abstract

A method for cleaning floating debris by a cleaning robot, which uses a combination of manual and unmanned aerial vehicles to confirm the gate to be cleaned, and then determines and numbers the conventional floating debris gate according to manual observation, and sends the information corresponding to the number to the cleaning The robot and the cleaning robot perform self-inspection on the gripper. If the gripper corresponds to the received command, the diameter enters the cleaning and bleaching program. Otherwise, replace the gripper and then enter the cleaning and bleaching program. After reaching the storage capacity, unload and transfer. The invention overcomes the problem of tedious time-consuming and labor-intensive selection and replacement of grippers during the cleaning of the original floating objects, which leads to the reduction of drift cleaning efficiency. The method is simple and convenient to operate, high in cleaning efficiency, and the grippers corresponding to self-inspection and command sending have the characteristics of good adaptability .

Description

technical field [0001] The invention belongs to the technical field of cleaning conventional targets, and relates to a method for cleaning floating objects by a cleaning robot. Background technique [0002] Trash racks are generally installed at the water turbine inlets of hydropower stations to intercept floating or suspended debris in the river. In order to ensure the smooth flow of the trash racks, the dirt in front of the trash racks needs to be cleaned regularly. However, during the flood season, due to the impact of heavy rain, a large number of floating objects in the upper reaches of the reservoir area will quickly gather in front of the trash rack. In addition to conventional floating objects such as foam blocks and woven bag plastic debris, large floating objects, large floating objects Including tree poles, wood, etc., usually accompanied by tree poles, wood and other large floating objects. In order to improve the cleaning efficiency, it is necessary to clean up...

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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