Hardening channel algae biofilm removing system based on high-pressure jet flow and intelligent control method

Abstract

The invention discloses a hardened channel algae biofilm removing system based on high-pressure jet flow and an intelligent control method. The system comprises an unmanned catamaran, a high-pressure jet generating device, an intelligent sensing module and an embedded central controller module. The unmanned catamaran is a system carrier, the high-pressure jet flow generating device achieves targeted removal of the algae biological membrane through self-adaptive jet flow, and the intelligent sensing module comprises a multispectral imager for recognizing the distribution characteristics of the biological membrane in real time and a laser distance measuring sensor for obtaining the distance between the removal system and the algae biological membrane. The embedded central controller module is a fuzzy PID algorithm for dynamically adjusting jet parameters and the motion trail of the mechanical arm and an artificial intelligence algorithm for optimizing the operation cycle based on historical data. The system adopts a full-automatic intelligent working mode, and integrates technologies of intelligent sensing, a self-adaptive cleaning mode, a water-saving algorithm, automatic nest-returning charging and the like. The system is easy and convenient to operate and low in running cost, the clearing efficiency reaches 92% or above, water is saved by 30% or above, and the system is an efficient and applicable technology for guaranteeing stable water quality and safe water delivery of the long-distance water delivery trunk canal.

Description

Technical Field

[0001] This invention relates to the field of ecological environment protection and water conservancy engineering maintenance technology, specifically to an automated device and intelligent control method for removing algal biofilm from the surface of hardened channels using an intelligent adjustable high-pressure jet device. This method utilizes high-pressure jets to remove algal biofilm attached to channels, reducing the fouling effect of biofilm on channels and the negative impact of biofilm detachment and decay on water quality. It is suitable for the maintenance and management of artificial water conveyance channels. Background Technology

[0002] Algal biofilms are complexes formed by algae as the dominant group, with other microorganisms such as bacteria adhering to each other through the secretion of extracellular polymers such as polysaccharides and proteins. They typically attach to the surface of solid substrates. Algal biofilms are widely used in wastewater treatment, effectively removing nitrogen and phosphorus pollutants and degrading organic matter. They also have the characteristics of low residual sludge production and high potential for biomass resource utilization, making them a commonly used treatment process for wastewater. On the other hand, hardened channels in water conveyance systems are exposed to a humid environment for extended periods, making them prone to algal biofilm growth. The phenomenon of algal biofilm epiphytism is frequently observed, and under certain conditions, rapid growth and proliferation of algal biofilms can occur, accumulating in large quantities on the channel walls. Such biofilm accumulation can cause biofouling of the channel walls, and algal metabolic products (such as organic acids) accelerate concrete carbonization, shortening its service life. Furthermore, large amounts of biofilm form rough surfaces, increasing wall roughness and reducing water conveyance efficiency (increasing the Manning coefficient by 10-30%). Some algae and bacteria in the biofilm may release toxins and odorous substances, threatening water safety. The release of nutrients and organic matter from the shedding and decay of biofilm threatens water quality safety and stability.

[0003] Given the numerous negative effects and water quality risks posed by algal biofilms in artificial water conveyance channels, they have received considerable attention and concern in recent years. Traditional methods for treating algal biofilms on channel walls include mechanical scrubbing, chemical cleaning, and manual high-pressure water jets. Mechanical treatment can damage the channel surface and fail to remove biofilms within the micropores; chemical cleaning may introduce secondary pollution; and manual high-pressure water jets are inefficient and consume large amounts of water (≥50L / m³). 2Traditional methods have significant shortcomings and limitations, including the inability to respond to biofilm growth in real time. Consequently, several new inventions targeting algal biofilms have emerged in the last five years. One such method (application number 2024101548835) predicts algal growth and shedding in water conveyance channels, taking into full account factors such as hydrodynamics, water quality, aquatic ecology, and meteorology. It couples hydrodynamic models, water quality models, and algal growth and shedding models to simulate and predict algal growth and shedding. Another method (application number 2022104760357) discloses an algae removal device for rivers and water conveyance channels. This device separates algae from water using a filter screen and a collection cloth. By setting a difference in height between the water collection block and the river water surface, algae collected on both sides of the collection plate are prevented from drifting away. The difference in water surface height inside and outside the filter box improves algae collection efficiency. A method for controlling algae growth in large-scale artificial water conveyance channels (application number 2020107861914) is based on the principle of biomanipulation and combines it with an in-situ net cage device. It utilizes the highly adaptable feeding habits of the triangular bream to limit its conversion and utilization of algae on the channel walls within the net cages, thereby reducing the algae biomass in the water conveyance channels. These techniques provide helpful assistance for the management of algal biofilms in water conveyance channels and have a certain degree of applicability; however, they heavily rely on human resources, and the treatment effect cannot be guaranteed.

[0004] The high-pressure jet technology in this invention removes biofilm through water hammer and shear force, offering environmental friendliness with purely physical removal and no chemical residue. The jet velocity can reach 200-400 m / s, and the instantaneous impact force effectively penetrates the bottom layer of the biofilm. Combined with intelligent sensing, it achieves precise targeted cleaning. This invention generates a biofilm thermal map through multispectral imaging and uses a laser thickness gauge to measure the biofilm thickness in real time and a laser rangefinder to determine the distance between the removal system and the biofilm, facilitating the calibration of the high-pressure jet angle based on a fuzzy PID algorithm. This invention employs adaptive jet control, a pulse water-saving mode, electromechanical integration design, and an autonomous mobile platform to achieve system automation, intelligence, and high efficiency. It boasts advantages such as simple operation, low operating costs, and high removal efficiency, making it a highly efficient and applicable technology for ensuring stable water quality and safe water transport in long-distance water conveyance canals. Summary of the Invention

[0005] The purpose of this invention is to provide an artificial high-pressure jet cleaning device and its intelligent control method for treating algae-covered hardened channels. Addressing the fouling effect of algae biofilm on hardened channels and the negative impact of biofilm detachment and decay on water quality, this invention employs high-pressure jet cleaning of the biofilm without affecting the physical structure of the channel wall. This achieves scientific management and effective maintenance of the water conveyance canal, ensuring the achievement of water conveyance targets and water quality stability, and guaranteeing the sustainable use of the water conveyance canal. The specific details of this invention are as follows:

[0006] A system for removing algal biofilm from hardened channels based on high-pressure jet and an intelligent control method are disclosed. The system consists of an unmanned catamaran, a high-pressure jet generator, an intelligent sensing module, and an embedded central controller module. The intelligent control method integrates technologies such as "intelligent sensing + adaptive cleaning mode + water-saving algorithm + automatic recharge", which can realize the fully automatic working mode of the removal system.

[0007] The unmanned catamaran, serving as the carrier of the cleaning system, utilizes the reaction force generated by the controlled jet to adjust its hull attitude and propulsion direction, achieving automatic balance and movement, and automatically searching for and entering nearby charging stations to complete charging. The high-pressure jet generator includes a hydraulically driven robotic arm with a stroke of 1-3m and a 304 stainless steel rotating nozzle (0.5-3mm replaceable nozzle) with adjustable and adaptive pressure regulation within a 5-20MPa range. The dynamic adjustment of the jet employs an adaptive jet pressure control method based on a formula... (Where: K is the channel material coefficient, A is the biofilm coverage, and ρ is the algae adhesion strength index). Combined with channel material hardness feedback control, the jet pressure is determined to remove algae biofilm while avoiding damage to the substrate. This pressure needs to be adjusted in real time to maintain the target impact force and cleaning effect. The adaptive cleaning mode dynamically adjusts the pressure (8-15 MPa) and spray angle (30°-75°) according to the wall distance. For light biofilms <3 mm thick, a 10 MPa + Φ2 mm nozzle fan-shaped spray is used; for heavily adhered areas >3 mm, a 15 MPa + Φ0.8 mm nozzle pulse mode is switched.

[0008] The multispectral imager has more than seven spectral channels, including wavelengths of 435nm, 470nm, 525nm, 620nm, 660nm, 720nm, and 850nm, enabling real-time identification of biofilm distribution characteristics. A laser rangefinder can acquire the thickness of the algal biofilm and sense the distance between the removal system and the biofilm. The laser rangefinder has an accuracy ≥1mm and a range ≥50m. The algorithm for intelligently sensing algal biofilm distribution characteristics based on multispectral information includes pixel-level biofilm segmentation and spatiotemporal dynamic prediction. Pixel-level biofilm segmentation uses an improved U-Net model; inputting a multispectral image, it outputs a biofilm probability map. A band attention module (such as an SE Block) is added to the U-Net skip connections to enhance the weight of feature bands and ensure the reliability of the biofilm data. The spatiotemporal dynamic prediction algorithm uses a ConvLSTM+3D CNN or Transformer-based model; inputting a time-series multispectral image, it predicts the spatiotemporal distribution of biofilm thickness. Based on the above algorithms, an algal distribution heatmap is established through image recognition training.

[0009] The embedded central controller module includes a fuzzy PID algorithm and an artificial intelligence algorithm. The fuzzy PID algorithm employs dual closed-loop control: the outer loop controls position / attitude to track the robotic arm's trajectory, while the inner loop controls pressure / flow rate to dynamically adjust jet parameters. The two loops share environmental parameters and state feedback such as end-effector force / jet coverage area through a fuzzy inference engine. The artificial intelligence algorithm generates a biofilm growth heat map based on historical data, constructing an AI algorithm model with cleaning effect as the dependent variable to optimize the independent variables of operating parameters and operating cycle. Furthermore, a water-saving algorithm is built into the system. This water-saving algorithm is a multimodal perception-decision-execution closed-loop control system that establishes a mapping between biofilm parameters and jet parameters. It guides spatially selective spraying through a thickness distribution heat map, avoiding full-coverage cleaning. By real-time monitoring of algae and biofilm parameters (biomass, thickness), a pulse is triggered when local biomass / thickness exceeds a threshold, and the pulse frequency, duration, and pressure of the high-pressure jet are dynamically adjusted to minimize water consumption while ensuring cleaning effectiveness and avoiding over-cleaning.

[0010] Compared with the prior art, the present invention has the following advantages and effects:

[0011] 1. Fully Automatic Working Mode: The cleaning system of this invention has a fully automatic working mode. The unmanned catamaran operates according to the set working mode and can automatically find a charging station to complete charging. Based on multispectral information intelligent sensing technology, it can ensure the system's confirmation and targeting of the work area, and achieve efficient targeted cleaning through adaptive jet pressure control method and water-saving algorithm, while saving water consumption. On this basis, with the assistance of artificial intelligence, the operation parameters and operation cycle are optimized.

[0012] 2. High efficiency and low energy consumption: This invention adopts a fully automatic artificial intelligence mode, with a jet velocity of 200-400m / s. The instantaneous impact force penetrates the bottom layer of the biofilm, and the targeted cleaning has the characteristics of high efficiency. At the same time, water-saving algorithms, intelligent sensing and recognition technology and AI-assisted operation parameter optimization help to minimize water consumption and minimize operation energy consumption.

[0013] 3. Clean and pollution-free: The core technology of this invention is high-pressure jet, which peels off the biofilm through water hammer effect and shear force. It has the characteristics of pure physical removal and no chemical residue, making it environmentally friendly. The entire process of this invention does not generate pollution and does not introduce external pollution. Attached Figure Description

[0014] Figure 1 A schematic diagram of a hardened channel algae biofilm removal system based on high-pressure jetting; Figure 2 This is a top view of a hardened channel algae biofilm removal system based on high-pressure jetting. Detailed Implementation

[0015] Example 1: A Hardened Channel Algal Biofilm Removal System Based on High-Pressure Jet

[0016] A hardened channel algae biofilm removal system based on high-pressure jet consists of an unmanned catamaran, a high-pressure jet generator, an intelligent sensing module, and an embedded central controller module.

[0017] The unmanned catamaran uses the reaction force generated by the jet to adjust the hull attitude and propulsion direction, achieving automatic balance and movement, and automatically searching for and entering nearby charging stations to complete charging.

[0018] The high-pressure jet generator comprises a robotic arm, a rotating nozzle, and a control chip. The robotic arm is hydraulically driven with a stroke of 2.0m. The rotating nozzle is made of 304 stainless steel, is adaptive, and has an interchangeable nozzle size of 0.8-3mm. The spray pressure is adjustable within the range of 10-20MPa. The adaptive cleaning mode dynamically adjusts the pressure to 8-15MPa and the spray angle to 30°-75° based on the distance from the wall surface. For light biofilms <3mm thick, a fan-shaped spray with a 10MPa nozzle and a Φ2-3mm nozzle is used; for heavily adhered areas >3mm thick, a pulse mode with a 15-20MPa nozzle and a Φ0.8-2mm nozzle is switched. The dynamic jet adjustment uses an adaptive jet pressure control method, combined with channel material hardness feedback control, to determine the jet pressure that effectively removes algae biofilm while avoiding damage to the substrate.

[0019] The multispectral imager includes spectral channels with wavelengths of 435nm, 470nm, 525nm, 620nm, 660nm, 720nm, and 850nm, enabling real-time identification of biofilm distribution characteristics. A laser rangefinder sensor acquires the thickness of the algal biofilm and senses the distance between the removal system and the biofilm. The laser rangefinder sensor has an accuracy ≥1mm and a range ≥50m. Algorithms for sensing algal biofilm distribution characteristics include pixel-level biofilm segmentation and spatiotemporal dynamic prediction. Pixel-level biofilm segmentation uses an improved U-Net model; inputting a multispectral image, it outputs a biofilm probability map. A band attention module (such as SEBlock) is added to the U-Net skip connections to enhance the weights of feature bands and ensure the reliability of the biofilm data. The spatiotemporal dynamic prediction algorithm uses a ConvLSTM+3D CNN or Transformer-based model; inputting a time-series multispectral image, it predicts the spatiotemporal distribution of biofilm thickness. Based on these algorithms, a biofilm distribution heatmap is established using image recognition through training with historical data.

[0020] The embedded central controller module includes a fuzzy PID algorithm and an artificial intelligence algorithm. The fuzzy PID algorithm employs dual closed-loop control: the outer loop controls position / attitude to track the robotic arm's trajectory, while the inner loop controls pressure / flow rate to dynamically adjust jet parameters. The two loops share environmental parameters and state feedback such as end-effector force / jet coverage area through a fuzzy inference engine. The artificial intelligence algorithm generates a biofilm growth heat map based on historical data. Using cleaning effectiveness as the dependent variable, it constructs an AI algorithm model to optimize the independent variables, operating parameters, and operating cycle. Furthermore, a water-saving algorithm is built into the system, establishing a mapping between biofilm parameters and jet parameters. A thickness distribution heat map guides spatially selective spraying, avoiding over-cleaning with full coverage. By real-time monitoring of algae and biofilm parameters (biomass, thickness), a pulse is triggered when local biomass / thickness exceeds a threshold, and the pulse frequency, duration, and pressure of the high-pressure jet are dynamically adjusted to minimize water consumption while ensuring cleaning effectiveness.

Claims

1. A hardened channel algae biofilm removal system and intelligent control method based on high-pressure jet, the system consisting of an unmanned catamaran, a high-pressure jet generator, an intelligent sensing module, an embedded central controller module, etc.; the intelligent control method integrates technologies such as "intelligent sensing + adaptive cleaning mode + water-saving algorithm + automatic recharge", which can realize the fully automatic working mode of the removal system.

2. The algal biofilm removal system and intelligent control method for hardened channels based on high-pressure jetting according to claim 1, characterized in that: The unmanned catamaran, serving as the carrier of the clearance system, uses the reaction force generated by the controllable jet to adjust the hull attitude and propulsion direction, relies on the propeller to achieve automatic balance and movement, and automatically searches for and enters a nearby charging station to complete charging.

3. The algal biofilm removal system and intelligent control method for hardened channels based on high-pressure jetting according to claim 1, characterized in that: The high-pressure jet generator includes a hydraulically driven robotic arm with a stroke of 1-3m and a 304 stainless steel rotary nozzle (0.5-3mm replaceable nozzle) with adjustable and adaptive pressure regulation within a pressure range of 5-20MPa. The jet dynamic adjustment employs an adaptive jet pressure control method based on a formula... (Where: K is the channel material coefficient, A is the biofilm coverage rate, and ρ is the algae adhesion strength index). Combined with the channel material hardness feedback control, the jet pressure that can remove algae biofilm while avoiding damage to the substrate is determined. This pressure needs to be adjusted in real time to maintain the target impact force and cleaning effect.

4. The algal biofilm removal system and intelligent control method for hardened channels based on high-pressure jetting as described in claim 1, characterized in that: A multispectral imager that can identify biofilm distribution characteristics in real time should have at least seven spectral channels with wavelengths of 435nm, 470nm, 525nm, 620nm, 660nm, 720nm, and 850nm. The laser rangefinder should be able to obtain the thickness of algal biofilm and the distance between the removal system and the algal biofilm. It should have the characteristics of fast ranging and data transmission to the central controller, with an accuracy of ≥1mm and a range of ≥50m.

5. The algal biofilm removal system and intelligent control method for hardened channels based on high-pressure jetting according to claim 1, characterized in that: The embedded central controller module includes a fuzzy PID algorithm and an artificial intelligence algorithm. The fuzzy PID algorithm employs dual closed-loop control: the outer loop controls position / attitude to track the robotic arm's trajectory, while the inner loop controls pressure / flow rate to dynamically adjust jet parameters. The two loops share environmental parameters and state feedback such as end-effector force / jet coverage area through a fuzzy inference engine. The artificial intelligence algorithm generates a biofilm growth heatmap based on historical data. Using cleaning effectiveness as the dependent variable, it constructs an AI algorithm model to optimize the independent variables, operating parameters, and operating cycle.

6. The algal biofilm removal system and intelligent control method for hardened channels based on high-pressure jetting according to claim 1, characterized in that: The algorithm for intelligently sensing algal biofilm distribution characteristics based on multispectral information includes pixel-level biofilm segmentation and spatiotemporal dynamic prediction. Pixel-level biofilm segmentation employs an improved U-Net model; inputting a multispectral image, it outputs a biofilm probability map. A band attention module (such as an SE Block) is added to the U-Net skip connections to enhance the weights of feature bands and ensure the reliability of the biofilm data. The spatiotemporal dynamic prediction algorithm uses a ConvLSTM+3D CNN or Transformer-based model; inputting a time-series multispectral image, it predicts the spatiotemporal distribution of biofilm thickness. Based on these algorithms, an algal distribution heatmap is established through image recognition training.

7. The algal biofilm removal system and intelligent control method for hardened channels based on high-pressure jetting according to claim 1, characterized in that: The adaptive cleaning mode dynamically adjusts the pressure (8-15MPa) and spray angle (30°-75°) according to the distance from the wall. For light biofilms (<3mm thick), it uses a fan-shaped spray with a 10MPa + Φ2mm nozzle; for heavily adhered areas (>3mm thick), it switches to a pulse mode with a 15MPa + Φ0.8mm nozzle.

8. The algal biofilm removal system and intelligent control method for hardened channels based on high-pressure jetting according to claim 1, characterized in that: The water-saving algorithm is a multimodal perception-decision-execution closed-loop control system. It establishes a mapping between biofilm parameters and jet parameters, and guides spatially selective spraying through a thickness distribution heat map to avoid full-coverage cleaning. By monitoring algae and biofilm parameters (biomass, thickness) in real time, a pulse is triggered when the local biomass / thickness exceeds a threshold, and the pulse frequency, duration, and pressure of the high-pressure jet are dynamically adjusted to minimize water consumption while ensuring cleaning effectiveness and avoiding over-cleaning.

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