Multi-unit interconnected circulating water bed cleaning device and method

Abstract

The invention discloses a multi-unit interconnected circulating water bed cleaning device and method, and belongs to the technical field of livestock and poultry breeding equipment. The device comprises a water bed main body, a water inlet pipe, a spray pipe, a servo motor, a main controller and an electromagnetic flow valve, a pressure sensor is arranged in the water inlet pipe, and a temperature sensor is arranged on the surface of the water bed main body. The method comprises the steps of spray pipe positioning, pulse type intermittent spray cleaning, disinfection solution proportion adjustment according to the temperature for disinfection, multi-unit cooperative time sequence control and the like. The main controller controls the electromagnetic flow valve to be opened and closed in a pulse mode to achieve intermittent spraying, the duty ratio is adjusted according to pressure feedback to achieve stable pressure control, the disinfectant concentration is adjusted according to temperature feedback to achieve temperature self-adaptive disinfection, multiple units are divided into a plurality of sets, cleaning is conducted according to a time sequence, and pressure compensation is conducted on the tail end unit of the series system. The cleaning efficiency can be improved, the water consumption is reduced, and the stability of the disinfection effect and the multi-unit cleaning uniformity are ensured.

Description

Technical Field

[0001] This invention belongs to the technical field of livestock and poultry breeding equipment, specifically relating to a multi-unit interconnected circulating water bed cleaning device and method. Background Technology

[0002] Waterbeds are widely used in large-scale livestock farms as resting and reclining facilities for livestock. During use, the surface of the waterbeds continuously accumulates pollutants such as feces, urine, and organic residue. These pollutants not only breed a large number of pathogenic microorganisms that harm livestock health but also affect the hygienic quality of livestock products. Therefore, regular cleaning and disinfection of the waterbeds are necessary. Traditional waterbed cleaning methods mainly rely on manual handheld high-pressure water guns. This method is labor-intensive, inefficient, consumes a lot of water, and has inconsistent cleaning results, making it difficult to meet the demands of modern large-scale farms for efficient, water-saving, and standardized cleaning operations.

[0003] Existing automated waterbed cleaning equipment typically uses continuous spraying for cleaning. While this achieves automation, it suffers from high water consumption and low cleaning efficiency. This is because a large amount of liquid is directly lost along the waterbed surface during continuous spraying, failing to fully penetrate and soften the dirt. Furthermore, existing equipment usually uses a fixed concentration of disinfectant for disinfection, failing to consider the impact of ambient temperature on the chemical activity of the disinfectant. This results in insufficient disinfection at low temperatures and excessive waste of disinfectant at high temperatures.

[0004] For large systems consisting of interconnected waterbed units, existing technologies typically employ simultaneous cleaning. When all units start simultaneously, the system's total water supply capacity often cannot meet the needs of all units, leading to a general decrease in spray pressure across all units and impacting the cleaning effect. For multi-unit systems with series piping, due to the accumulation of frictional resistance along the pipeline, the water supply pressure of the units at the end is significantly lower than that of the units at the front. Existing technologies lack effective pressure compensation measures, resulting in significant differences in cleaning effects between units and affecting the uniformity and stability of the overall cleaning quality. This invention employs a pulsed intermittent spray cleaning method. The main controller controls the electromagnetic flow valve to open and close periodically according to a set pulse cycle and duty cycle, allowing the cleaning fluid to be sprayed intermittently from the nozzle. During the spray intervals, the sprayed liquid can fully penetrate the texture and crevices of the waterbed surface and soften the dirt. Subsequent pulse sprays can more effectively flush and remove dirt, thereby significantly reducing water consumption and improving water efficiency while ensuring cleaning effectiveness. Meanwhile, the main controller monitors the spray pressure inside the water inlet pipe in real time through a pressure sensor and compares it with the target pressure. When the actual pressure deviates from the target value, it automatically adjusts the pulse duty cycle to compensate, thereby achieving closed-loop stable control of the spray pressure and ensuring the consistency and reliability of the cleaning effect. Summary of the Invention

[0005] To address the problems existing in the background art, the present invention provides a multi-unit interconnected circulating waterbed cleaning device, including a waterbed body and a guardrail and support frame installed on the waterbed body; an equipment box installed on the support frame; a water inlet pipe installed above the guardrail; a servo motor and a main controller installed inside the equipment box; four rotating pipes are rotatably installed at the bottom of the water inlet pipe through four rotating joints, and a spray pipe is fixedly installed at the bottom of each rotating pipe; a cleaning water hose is fixedly installed on one side of the top of the water inlet pipe, one end of the cleaning water hose is connected to an external water source, and a disinfectant water hose is fixedly installed on the other side of the top of the water inlet pipe, the disinfectant water hose is connected to a water pump in an external disinfectant storage tank; Both the cleaning water hose and the disinfectant water hose are equipped with electromagnetic flow valves, which control the opening degree of the electromagnetic flow valves through PWM pulse width modulation signals; the output end of the servo motor is equipped with a transmission component, which is connected to the water inlet pipe. When the servo motor is running, it drives the water inlet pipe to move back and forth along the length of the water bed body through the transmission component, and drives the four nozzles to move synchronously. The control output terminal of the main controller is electrically connected to the control input terminal of the servo motor; the output terminal of the servo motor is equipped with an encoder, and the signal output terminal of the encoder is electrically connected to the signal input terminal of the main controller; a pressure sensor is installed inside the water inlet pipe, and the signal output terminal of the pressure sensor is electrically connected to the signal input terminal of the main controller. Temperature sensors are installed on the surface of the waterbed body. The signal output terminal of the temperature sensor is electrically connected to the signal input terminal of the main controller. The control output terminal of the main controller is electrically connected to the control input terminals of the electromagnetic flow valves on the cleaning water hose and the disinfection water hose, respectively. The main controller controls the opening degree of the two electromagnetic flow valves according to the feedback signals from the pressure sensor and the temperature sensor.

[0006] In a preferred embodiment, the transmission assembly includes a driving bevel gear fixedly installed at the output end of the servo motor. A driven bevel gear is meshed with one side of the surface of the driving bevel gear, and one side of the driven bevel gear is rotatably connected to the inside of the equipment box via a rotating seat. A rotating shaft is fixedly installed on the other side of the driven bevel gear. The surface of the rotating shaft is rotatably connected to the support frame via a bearing. A lead screw is fixedly installed at one end of the rotating shaft. One end of the lead screw is rotatably connected to the inner wall of one end of the support frame via a positioning seat. A threaded sleeve is threaded onto the surface of the lead screw, and the threaded sleeve is fixedly connected to the bottom of the water inlet pipe.

[0007] In the preferred embodiment, a slider is fixedly installed on the top of the threaded sleeve, and a groove is provided on the inner top of the support frame, with the slider slidably installed inside the groove.

[0008] In the preferred embodiment, an anti-slip slope is fixedly installed on one side of the waterbed body; limit blocks are fixedly installed at both ends of the water inlet pipe, and limit rails are slidably fitted on the surface of the two limit blocks. The two limit rails are respectively fixedly connected to the two ends of the waterbed body through two support rods on the opposite sides.

[0009] In a preferred embodiment, transmission gears are fixedly installed on the surface of each rotating tube, and racks are meshed with one side of each transmission gear. The four racks are fixedly connected to the guardrail through a fixing bracket.

[0010] This invention also provides a cleaning method for multi-unit interconnected circulating water beds, comprising the following steps: S1: Start and position the nozzles: The main controller controls the servo motor to start, and the servo motor drives the water inlet pipe and four nozzles to move to the starting cleaning position above the waterbed body through the transmission component. The main controller confirms that the nozzles have reached the starting position through the position signal fed back by the encoder. S2: Perform pulse-type intermittent spray cleaning: The main controller controls the electromagnetic flow valve on the cleaning water hose to open and close in a pulse manner, and supplies water to the inlet pipe in a pulse-type intermittent manner, and supplies water to the four spray pipes through four rotary joints and four rotary pipes; at the same time, the main controller controls the servo motor to drive the spray pipe to move along the water bed surface, and makes the spray pipe rotate and spray cleaning through the cooperation of the transmission gear and rack. S3: Adjusting the disinfectant ratio and disinfecting: The main controller calculates the target concentration of the disinfectant based on the ambient temperature detected by the temperature sensor, controls the opening of the two electromagnetic flow valves on the cleaning water hose and the disinfectant hose, adjusts the flow ratio of the cleaning water and the disinfectant so that the mixed disinfectant reaches the target concentration, and performs spray disinfection in the same pulsed intermittent manner as in step S2. S4: Coordinated cleaning sequence control for multi-unit waterbed systems: When the cleaning object is a system with multiple interconnected waterbed units, the main controller divides the multiple units into several groups according to the total water supply flow of the system and the demand flow of a single unit, controls each group of units to be cleaned in sequence, and increases the cleaning time and spray intensity of the units at the end of the series-connected system to implement pressure compensation control.

[0011] Furthermore, the pulsed intermittent spray cleaning performed in step S2 includes the following steps: S21: Set pulse parameters: Set the pulse period in the main controller. and duty cycle ,in The duration of a single pulse, in seconds, with a range of 0.5-2 seconds; The ratio of spraying time to pulse cycle is dimensionless and ranges from 0.4 to 0.8. S22: Generate and execute pulse control: The main controller uses PWM pulse width modulation to generate pulse control signals and outputs them to the electromagnetic flow valve on the cleaning water hose; in each pulse cycle... Inside, define the current time. The relative position within the period is ,in Indicates the modulo operation; when When spraying occurs, the main controller outputs an open signal to open the electromagnetic flow valve and begin spraying; otherwise, it outputs a close signal to close the electromagnetic flow valve and stop spraying, thus achieving intermittent spraying. S23: Monitor and adjust spray pressure: The main controller receives the actual spray pressure detected by the pressure sensor in real time. and the preset target pressure Comparison, among which and All units are ;when At that time, the main controller will change the duty cycle. Increase by 0.05; when At that time, the main controller will change the duty cycle. Decrease by 0.05; after each adjustment, if If the value exceeds the range of 0.4-0.8, it is limited to the boundary value; the spray pressure is stably controlled by adjusting the duty cycle.

[0012] Furthermore, adjusting the disinfectant concentration according to the ambient temperature in step S3 includes the following steps: S31: Acquire ambient temperature and determine basic concentration: The main controller receives the ambient temperature of the waterbed surface collected by the temperature sensor. The unit is ℃; the basic concentration of the disinfectant solution is set according to the degree of contamination of the waterbed. The unit is mg / L. The setting is 200 mg / L for light pollution, 400 mg / L for moderate pollution, and 600 mg / L for heavy pollution. S32: Calculate the temperature compensation coefficient and final concentration: when Temperature compensation coefficient is taken at time ;when Time to take ;when At that time, the main controller follows the formula Calculate the temperature compensation coefficient, where is the temperature compensation coefficient, dimensionless; 0.02 is the temperature compensation constant preset based on the kinetic characteristics of the disinfectant, in units of . ;25 is the preset reference ambient temperature, in °C; The actual ambient temperature is given in °C; then, according to the formula... Calculate the final target concentration, where The final target concentration is expressed in mg / L. This is the basic concentration, expressed in mg / L. 1.1 is the temperature compensation coefficient, dimensionless; 1.1 is the safety factor, dimensionless. S33: Adjust the flow ratio to achieve the target concentration: The main controller uses the formula... Calculate the flow rate ratio of cleaning water and disinfectant, where The flow rate of the disinfectant is expressed in L / min. The flow rate of the cleaning water is expressed in L / min. The final target concentration is expressed in mg / L. The concentration of the original solution in the disinfectant storage tank is expressed in mg / L. The main controller controls the opening of two electromagnetic flow valves on the cleaning water hose and the disinfectant hose according to the flow ratio to ensure that the two flow rates meet the calculated ratio, thereby achieving the mixing of disinfectant solutions with the target concentration. Then, the same pulse spraying method as in step S2 is used to perform disinfection.

[0013] Furthermore, the multi-unit collaborative cleaning timing control in step S4 includes the following operational steps: S41: Divide the cleaning groups: The main controller determines the cleaning groups according to the formula. Calculate the number of groups, where The number of groups is dimensionless. This indicates the rounding up operation; The total number of waterbed units, dimensionless; The required flow rate for a single unit, in L / min; The total water supply flow rate of the system is expressed in L / min; then, according to the formula... Calculate the number of units typically contained in each group, where The number of units in each group is dimensionless. This indicates the floor function; it rounds down the previous floor. Groups are allocated One unit, the remaining ones The unit is allocated to the first Group; S42: Execute timing cleanup: The main controller controls the first group to the second... The groups are cleaned sequentially. The solenoid flow valve corresponding to the first group is activated for cleaning, and then the solenoid flow valve for that group is closed after a delay time. Then start the second group of units for cleaning until the... The cleaning process is complete, including... This is the time for switching between groups, in seconds, with a range of 30-60 seconds. S43: Implement pressure compensation control: For multi-unit waterbed systems arranged in series, the main controller implements pressure compensation control according to the formula... Calculate the first The pressure compensation coefficient of each unit, where This is the pressure compensation coefficient, dimensionless. The pressure compensation constant is preset according to the system operating conditions. It is dimensionless and its value ranges from 0.1 to 0.3. Unit number, starting from 1, dimensionless; The total number of units is dimensionless; the main controller will... The cleaning time for each unit is set to the standard cleaning time. This will increase the pulse duty cycle of the unit by a factor of [number]. Set to standard duty cycle The water supply to this unit is doubled, and the water supply is turned on 10% of the standard cleaning time in advance to compensate for the pressure loss of the terminal unit in the series system.

[0014] Furthermore, in step S23, the duty cycle The adjusted value range remains between 0.4 and 0.8; when the adjusted value... When the value exceeds this range, the main controller stops adjusting and outputs a pressure abnormality alarm signal.

[0015] The beneficial effects achieved by this invention are as follows: The device of this invention uses a waterbed as its supporting foundation. A guardrail and support frame are installed above the waterbed. The guardrail defines the boundary of the cleaning area along the edge of the waterbed and provides fixed support for the transmission components. The support frame extends along the length of the waterbed to provide guiding support for the mobile spraying mechanism, ensuring a stable, integrated installation of the cleaning device and the waterbed, facilitating device fixation and maintenance. This invention employs a structure of meshing active and driven bevel gears to achieve transmission direction conversion, converting the horizontal output of the servo motor into transmission along the length of the waterbed. The driven bevel gear is rotatably connected to the inside of the device box via a rotating seat and a fixedly mounted rotating shaft. The rotating shaft is rotatably connected to the support frame via bearings to reduce rotational friction. A lead screw is fixedly installed at one end of the rotating shaft and fixedly connected to the bottom of the water inlet pipe via a threaded sleeve, precisely converting rotational motion into linear reciprocating motion, resulting in smooth transmission and high positioning accuracy. A slider fixedly installed at the top of the threaded sleeve and a groove opened at the top of the support frame form a guiding mechanism, bearing the lateral force during the movement of the water inlet pipe and preventing the threaded sleeve from rotating relative to the lead screw, ensuring stable movement of the water inlet pipe along a straight trajectory. The limiting blocks fixed at both ends of the water inlet pipe slide in cooperation with the limiting rail to form an auxiliary guide pair. The limiting rail is fixedly connected to both ends of the water bed body through the support rod, which further improves the straightness and stability of the water inlet pipe movement. The setting of the dual guide structure effectively eliminates the shaking and deviation during the movement of the nozzle.

[0016] The present invention features multiple rotating tubes rotatably mounted at the bottom of the inlet pipe via a rotating joint. The rotating joint employs a rotary sealing structure, allowing the rotating tubes to rotate freely relative to the inlet pipe while maintaining a leak-proof seal. A spray nozzle is fixedly mounted at the bottom of each rotating tube, forming a rotatable spraying unit. A transmission gear fixedly mounted on the surface of the rotating tube meshes with a rack fixed to the guardrail via a mounting bracket. When the inlet pipe drives the rotating tubes to move along the length of the waterbed body, the transmission gear rotates along the fixed rack, causing the spray nozzle to rotate around its own axis. This achieves the rotational movement of the spray nozzle without an additional power source, resulting in a simple, reliable structure that requires no independent control. Cleaning water hoses and disinfectant water hoses are fixedly mounted on both sides of the top of the inlet pipe, forming a dual-supply structure. Electromagnetic flow valves are installed on each hose, allowing independent control of the flow rate of the two liquids. This enables flexible switching between cleaning and disinfection operations and online adjustment of the disinfectant concentration. The dual-supply structure simplifies the liquid mixing process and improves operational efficiency.

[0017] This invention uses a temperature sensor to collect the ambient temperature of the waterbed surface. The main controller calculates a temperature compensation coefficient based on this temperature and determines the target concentration of the disinfectant. This, in turn, controls the opening of two electromagnetic flow valves on the cleaning water hose and the disinfectant hose to adjust the flow ratio of the two liquids, ensuring the mixed disinfectant concentration reaches the target value. This achieves adaptive adjustment of the disinfectant concentration based on ambient temperature. Since the chemical activity of disinfectants is significantly affected by temperature, low temperatures slow down the movement of disinfectant molecules, leading to reduced sterilization efficiency, while high temperatures enhance disinfectant activity and may accelerate decomposition. The temperature compensation mechanism of this invention can increase the disinfectant concentration at low temperatures and decrease it at high temperatures, ensuring stable disinfection effects under different seasons and regional conditions. Furthermore, this invention implements coordinated cleaning sequence control for a multi-unit interconnected waterbed system. The main controller divides multiple units into groups based on the total system water supply flow and the flow demand of individual units. Each group of units is cleaned sequentially, ensuring each group has exclusive access to the system's water supply capacity during cleaning, obtaining sufficient water flow and spray pressure. This avoids the problem of insufficient water supply leading to decreased spray pressure and overall reduced cleaning effect when all units are cleaned simultaneously. Setting an appropriate delay time when switching between groups can avoid sudden changes in the flow rate of the water supply system, allow sufficient time for the pressure in the pipeline to stabilize, and prevent water hammer effect from impacting the pipeline and valves.

[0018] This invention implements pressure compensation control on a multi-unit waterbed system arranged in series. The main controller calculates the pressure compensation coefficient based on the unit's position in the system. For units near the end, the cleaning time is increased, the pulse duty cycle is improved, and water supply is started earlier. This actively compensates for pressure losses caused by frictional resistance and local resistance along the pipeline, allowing the end units to achieve a cleaning intensity comparable to the beginning units. Furthermore, the nozzles of this invention, through the meshing of a transmission gear and a fixed rack, move along the length of the waterbed while rotating around their own axis. This causes the sprayed liquid to be distributed along a rotational trajectory, expanding the coverage area of ​​a single nozzle, improving the uniformity of cleaning and disinfection, and ensuring that all areas on the waterbed surface receive sufficient cleaning and disinfection. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the multi-unit interconnected circulating water bed cleaning device of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the multi-unit interconnected circulating water bed cleaning device of the present invention. Figure 2 ; Figure 3 For the present invention Figure 2 Enlarged structural diagram at point A in the middle; Figure 4 This is a schematic diagram of the internal structure of the support frame and equipment box of the present invention. Figure 1 ; Figure 5 This is a schematic diagram of the internal structure of the support frame and equipment box of the present invention. Figure 2 ; Figure 6 This is a bar chart comparing the cleaning performance of Examples 1, 2, and 3 with Comparative Examples 1 and 5. Figure 7 This is a line graph comparing the sterilization rates of Examples 1, 4, and 5 with Comparative Example 2 under different temperature conditions; Figure 8 These are scatter plots and trend lines showing the cleaning effect distribution of the multi-unit waterbed systems in Examples 1 and 6 and Comparative Examples 3 and 4. Figure 9 This is a control principle diagram of the multi-unit interconnected circulating water bed cleaning device of the present invention.

[0020] Numbering on the map: 1. Waterbed body; 2. Anti-slip slope; 3. Guardrail; 4. Support frame; 5. Equipment box; 6. Servo motor; 7. Spray pipe; 8. Water inlet pipe; 9. Cleaning water hose; 10. Disinfectant water hose; 11. Rotary joint; 12. Rotary pipe; 13. Driving bevel gear; 14. Driven bevel gear; 15. Rotating seat; 16. Bearing; 17. Rotating shaft; 18. Lead screw; 19. Positioning seat; 20. Sleeve; 21. Slider; 22. Transmission gear; 23. Rack; 24. Fixing frame; 25. Limit block; 26. Limit rail; 27. Support rod; 28. Slide groove; 29. ​​Main controller; 30. Electromagnetic flow valve; 31. Temperature sensor; 32. Pressure sensor; 33. Encoder. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Reference Figures 1 to 5 This invention provides a multi-unit interconnected circulating waterbed cleaning device. The device uses a waterbed body 1 as its supporting foundation, providing an installation platform and cleaning surface for the entire cleaning device. A guardrail 3 is installed above the waterbed body 1, extending along its edge to define the cleaning area and provide fixed support for subsequent transmission components. A support frame 4 is also installed on the waterbed body 1, extending along its length to provide guiding support for the mobile spraying mechanism.

[0023] The equipment box 5 is mounted on the support frame 4, and its interior houses the servo motor 6 and the main controller 29. The servo motor 6 serves as the power source, and its output end is equipped with an encoder 33. The encoder 33 is a rotary encoder used to detect the rotation angle and direction of the output shaft of the servo motor 6 in real time, converting the mechanical displacement into an electrical signal that is fed back to the main controller 29, thereby achieving precise positioning of the nozzle 7. The main controller 29 is the control core of the entire device, implemented using a programmable logic controller or microcontroller. It is responsible for receiving signals from various sensors and outputting control commands to coordinate the actions of each actuator. The signal output end of the encoder 33 is electrically connected to the signal input end of the main controller 29, allowing the main controller 29 to determine the real-time position of the nozzle 7 based on the feedback signal from the encoder 33.

[0024] The water inlet pipe 8 is installed above the guardrail 3, extending along the width of the waterbed body 1. A cleaning water hose 9 is fixedly installed on one side of the top of the water inlet pipe 8, with one end connected to an external water source to supply cleaning water to the water inlet pipe 8. A disinfectant hose 10 is fixedly installed on the other side of the top of the water inlet pipe 8, connected to a water pump in an external disinfectant storage tank to supply disinfectant to the water inlet pipe 8. Both the cleaning water hose 9 and the disinfectant hose 10 are equipped with electromagnetic flow valves 30. The electromagnetic flow valves 30 are proportional electromagnetic valves, whose opening is controlled by a PWM pulse width modulation signal. PWM, or pulse width modulation, is a modulation method that controls output power or flow by adjusting the duty cycle of a pulse signal, allowing the main controller 29 to precisely adjust the flow rates of the cleaning water and disinfectant. The control output terminal of the main controller 29 is electrically connected to the control input terminals of the electromagnetic flow valves 30 on the cleaning water hose 9 and the disinfectant hose 10, respectively, thereby realizing independent control and proportioning adjustment of the two liquid flow rates.

[0025] Four rotating pipes 12 are rotatably mounted on the bottom of the water inlet pipe 8 via four rotating joints 11. The rotating joints 11 are rotary sealing joints, allowing the rotating pipes 12 to rotate freely relative to the water inlet pipe 8 while maintaining a leak-proof seal. Each of the four rotating pipes 12 has a fixed spray pipe 7 at its bottom. The outlet of each spray pipe 7 has a nozzle for atomizing and spraying liquid to cover the surface of the water bed. The four spray pipes 7 are evenly distributed along the width of the water bed body 1, and together with the moving mechanism, can achieve full coverage cleaning of the water bed surface.

[0026] A pressure sensor 32 is installed inside the water inlet pipe 8. The pressure sensor 32 is used to detect the liquid pressure inside the water inlet pipe 8 in real time and convert the pressure signal into an electrical signal. The signal output terminal of the pressure sensor 32 is electrically connected to the signal input terminal of the main controller 29, so that the main controller 29 can adjust the opening of the electromagnetic flow valve 30 according to the pressure feedback to achieve constant pressure control or adaptive pressure regulation.

[0027] A temperature sensor 31 is installed on the surface of the waterbed body 1 to collect the ambient temperature of the surface. Since the sterilization effect of the disinfectant is closely related to temperature, the chemical activity of the disinfectant decreases at low temperatures, and it may decompose and become ineffective at high temperatures. Therefore, the concentration of the disinfectant needs to be adjusted according to the ambient temperature to ensure the disinfection effect. The signal output terminal of the temperature sensor 31 is electrically connected to the signal input terminal of the main controller 29. Based on the feedback signals from the pressure sensor 32 and the temperature sensor 31, the main controller 29 controls the opening degree of the two electromagnetic flow valves 30 to achieve adaptive adjustment of the flow rates of the cleaning water and disinfectant.

[0028] The transmission assembly converts the rotary motion of the servo motor 6 into the linear reciprocating motion of the water inlet pipe 8. The transmission assembly includes a driving bevel gear 13 fixedly mounted on the output end of the servo motor 6, which rotates coaxially with the servo motor 6. A driven bevel gear 14 meshes with one side of the surface of the driving bevel gear 13, forming a bevel gear transmission pair that allows for a 90-degree change in transmission direction, converting the horizontal motor output into transmission along the length of the waterbed body 1. One side of the driven bevel gear 14 is rotatably connected to the interior of the equipment box 5 via a rotating seat 15, which provides rotational support for the driven bevel gear 14. A rotating shaft 17 is fixedly mounted on the other side of the driven bevel gear 14, coaxially arranged with and rotating synchronously with it. The surface of the rotating shaft 17 is rotatably connected to the support frame 4 via a bearing 16, which is a rolling bearing used to reduce rotational friction and provide radial support for the rotating shaft 17. A lead screw 18 is fixedly mounted on one end of the rotating shaft 17. The lead screw 18 is a precision ball screw or trapezoidal lead screw with helical grooves machined on its surface. One end of the lead screw 18 is rotatably connected to the inner wall of one end of the support frame 4 via a positioning seat 19. The positioning seat 19 is used to limit the axial position of the lead screw 18 and provide rotational support. A threaded sleeve 20 is threadedly connected to the surface of the lead screw 18. The threaded sleeve 20 has an internal thread that mates with the lead screw 18. When the lead screw 18 rotates, the threaded sleeve 20 moves axially along the lead screw 18. The threaded sleeve 20 is fixedly connected to the bottom of the water inlet pipe 8, thereby converting the rotational motion of the lead screw 18 into the linear reciprocating motion of the water inlet pipe 8. When the servo motor 6 is running, it drives the water inlet pipe 8 to move back and forth along the length of the water bed body 1 through the transmission assembly, and drives the four nozzles 7 to move synchronously, achieving full-length coverage cleaning of the water bed surface. A slider 21 is fixedly mounted on the top of the threaded sleeve 20. A groove 28 is opened on the inner top of the support frame 4, and the groove 28 extends along the length of the support frame 4. The slider 21 is slidably installed inside the slide groove 28. The cooperation between the slider 21 and the slide groove 28 forms a guide mechanism, which is used to withstand the lateral force during the movement of the water inlet pipe 8, prevent the threaded sleeve 20 from rotating relative to the lead screw 18, and ensure that the water inlet pipe 8 moves along a straight trajectory.

[0029] An anti-slip ramp 2 is fixedly installed on one side of the waterbed body 1. The surface of the anti-slip ramp 2 is provided with anti-slip texture or anti-slip material to facilitate operators to enter and exit the waterbed body 1 for maintenance work. Limiting blocks 25 are fixedly installed at both ends of the water inlet pipe 8 to limit the travel of the water inlet pipe 8. Limiting rails 26 are slidably fitted onto the surfaces of both limiting blocks 25. The limiting rails 26 extend along the length of the waterbed body 1 and cooperate with the limiting blocks 25 to form a guide pair, further improving the straightness and stability of the water inlet pipe 8's movement. The sides of the two limiting rails 26 that are far apart from each other are fixedly connected to both ends of the waterbed body 1 by two support rods 27, which support and fix the limiting rails 26 above the waterbed body 1.

[0030] Each rotating tube 12 is fixedly equipped with a transmission gear 22, which moves synchronously with the rotating tube 12. A rack 23 is meshed with one side of each transmission gear 22. The four racks 23 are fixedly connected to the guardrail 3 via a fixing bracket 24, and the position of the racks 23 relative to the waterbed body 1 remains constant. When the inlet pipe 8 drives the rotating tube 12 to move along the length of the waterbed body 1, the transmission gear 22 rolls along the racks 23. Because the racks 23 are fixed while the transmission gear 22 moves, the transmission gear 22 rotates simultaneously, causing the rotating tube 12 and the nozzle 7 to rotate around their own axis. The nozzle 7 rotates around its axis while moving along the length of the waterbed, causing the sprayed liquid to be distributed in a fan-shaped or spiral trajectory, expanding the coverage area of ​​a single nozzle 7 and improving the uniformity of cleaning and disinfection.

[0031] Reference Figure 9 The present invention also provides a method for cleaning a multi-unit interconnected circulating waterbed using the above-mentioned device, including the main steps of starting and positioning the spray nozzle, performing pulsed intermittent spray cleaning, adjusting the disinfectant ratio and disinfecting, and controlling the timing of coordinated cleaning of the multi-unit waterbed system. Specifically, as follows: Step S1 involves starting and positioning the nozzles. The main controller 29 starts the servo motor 6, which drives the water inlet pipe 8 and four nozzles 7 to the initial cleaning position above the waterbed body 1 via a transmission assembly. The initial cleaning position is typically set at one edge of the waterbed body 1 so that subsequent cleaning operations can cover the entire waterbed surface. During the movement of the nozzles 7, the encoder 33 detects the output shaft rotation angle of the servo motor 6 in real time and feeds the position signal back to the main controller 29. The main controller 29 converts the pulse count of the encoder 33 into the actual displacement of the nozzles 7 based on the lead of the lead screw 18 and the bevel gear transmission ratio. When the converted displacement value matches the initial position setting, the main controller 29 confirms that the nozzles 7 have reached the initial position and stops the servo motor 6. Using the encoder 33 for closed-loop position feedback eliminates the accumulated error of the transmission mechanism, ensuring the accuracy and repeatability of the nozzle positioning.

[0032] Step S2 involves performing pulsed intermittent spray cleaning. The main controller 29 controls the electromagnetic flow valve 30 on the cleaning water hose 9 to open and close in a pulsed manner, supplying water to the inlet pipe 8 in a pulsed intermittent manner. Compared with continuous spraying, pulsed intermittent spraying can reduce water consumption while ensuring cleaning effect. During the spray intervals, the liquid has time to penetrate and soften the dirt, improving cleaning efficiency. Cleaning water is supplied to four nozzles 7 through four rotating joints 11 and four rotating pipes 12, and sprayed from the nozzles 7 to cover the surface of the water bed. At the same time, the main controller 29 controls the servo motor 6 to drive the nozzles 7 to move along the surface of the water bed, moving from the starting position to the other end of the water bed body 1. During the movement of the nozzles 7, the transmission gear 22 rolls along the fixed rack 23. Through the cooperation of the transmission gear 22 and the rack 23, the nozzles 7 rotate around their own axis, realizing rotary spray cleaning. The nozzles 7 simultaneously move linearly and rotate axially, making the sprayed liquid cover a wider range and distribute more evenly.

[0033] The specific operation of pulsed intermittent spray cleaning in step S2 is as follows. Step S21 is to set the pulse parameters. The pulse period is set in the main controller 29. and duty cycle .in The duration of a single pulse defines the cycle of the electromagnetic flow valve 30 completing one opening and closing cycle. The unit is seconds, and the preferred value range is 0.5-2 seconds. A shorter pulse period can achieve a more uniform spraying effect, but the solenoid valve will operate more frequently. A longer pulse period can extend the life of the solenoid valve, but the spraying uniformity will decrease. Duty cycle is defined as the proportion of spraying time to the pulse period, and is a parameter that reflects the proportion of effective output time in the pulse signal. It is a dimensionless parameter, and the preferred value range is 0.4-0.8. The larger the duty cycle, the greater the spraying amount per unit time.

[0034] Step S22 involves generating and executing pulse control. The main controller 29 generates a pulse control signal using PWM (Pulse Width Modulation) and outputs it to the electromagnetic flow valve 30 on the cleaning water hose 9. PWM is a technique that adjusts the output by controlling the duration of the high-level pulse signal; in this method, it is used to control the on / off time ratio of the electromagnetic flow valve 30. In each pulse cycle... Inside, define the current time. The relative position within the period is ;in This represents the relative time position of the current moment within the pulse period, in seconds. This is the absolute time at the current moment, in seconds; This represents the modulo operation, i.e., calculating... Divide by The remainder; The pulse period is expressed in seconds. Modulo operation is used to adjust the time... By mapping the relative position within a single pulse cycle, periodic time determination can be achieved.

[0035] when If the current moment is in the early part of the pulse cycle, the main controller 29 outputs an open signal to open the electromagnetic flow valve 30 for spraying. Otherwise, if the current moment is in the late part of the pulse cycle, the main controller 29 outputs a close signal to close the electromagnetic flow valve 30 and stop spraying. Intermittent spraying is achieved by periodically opening and closing the electromagnetic flow valve 30. During spraying, the liquid is sprayed out to cover the surface of the waterbed, and during the stop period, the sprayed liquid has time to penetrate and act on the dirt.

[0036] Step S23 involves monitoring and adjusting the spray pressure. The main controller 29 receives the actual spray pressure detected by the pressure sensor 32 in real time. and the preset target pressure Compare them. This represents the actual pressure inside the inlet pipe 8, reflecting the actual intensity of the spray. The target pressure value is preset according to the cleaning needs. and The units are all kPa. When the actual pressure deviates from the target pressure, the main controller 29 adjusts the duty cycle. To compensate for pressure deviation.

[0037] when If the actual pressure is lower than 90% of the target pressure, the spraying intensity is insufficient, and the main controller 29 will adjust the duty cycle. Increase by 0.05, that is This increases the opening time of the electromagnetic flow valve 30 in each cycle, thereby increasing the average flow rate and thus boosting the spraying pressure.

[0038] when When the actual pressure exceeds 110% of the target pressure, the spraying intensity is too high, and the main controller 29 will adjust the duty cycle. Decrease by 0.05, that is This reduces the opening time of the electromagnetic flow valve 30 in each cycle, thereby reducing the average flow rate and thus reducing the spraying pressure.

[0039] After each adjustment, if If the value exceeds the range of 0.4-0.8, it will be limited to the boundary value, i.e., when... Time to take ,when Time to take The duty cycle range limitation prevents spraying from being too sparse or too dense. Stable control of the spray pressure is achieved through pressure closed-loop feedback adjustment of the duty cycle, ensuring consistent cleaning results. When adjusted... When the value exceeds this range, the main controller 29 stops adjusting and outputs an abnormal pressure alarm signal to prompt the operator to check whether there is a fault in the water supply system.

[0040] Step S3 involves adjusting the disinfectant solution ratio and performing disinfection. The main controller 29 calculates the target concentration of the disinfectant solution based on the ambient temperature detected by the temperature sensor 31. Since the chemical activity of the disinfectant solution is significantly affected by temperature, low temperatures slow down the movement of disinfectant molecules, leading to reduced sterilization efficiency, necessitating an increased concentration to compensate. High temperatures enhance the activity of the disinfectant and may accelerate decomposition; therefore, appropriately reducing the concentration ensures effectiveness while avoiding waste. The main controller 29 controls the opening of the two electromagnetic flow valves 30 on the cleaning water hose 9 and the disinfectant water hose 10, adjusting the flow ratio of the cleaning water and disinfectant solution to achieve the target concentration. Once the target concentration is reached, spraying disinfection is performed using the same pulsed intermittent method as in step S2.

[0041] The specific operation of adjusting the disinfectant concentration according to the ambient temperature in step S3 is as follows. Step S31 involves collecting the ambient temperature and determining the base concentration. The main controller 29 receives the ambient temperature of the surface of the waterbed body 1 collected by the temperature sensor 31. , The unit is °C. The main controller 29 sets the base concentration of the disinfectant solution based on the degree of contamination in the waterbed. The degree of contamination can be pre-input into the main controller 29 by the operator based on the waterbed's usage intensity, the interval between the last cleaning, or visual inspection results. The unit is mg / L. For light pollution, a preferred setting is 200 mg / L; for moderate pollution, a preferred setting is 400 mg / L; and for heavy pollution, a preferred setting is 600 mg / L. This tiered setting of the baseline concentration allows for the selection of appropriate disinfection intensities based on different pollution levels, avoiding both insufficient and excessive disinfection.

[0042] Step S32 involves calculating the temperature compensation coefficient and the final concentration. The main controller 29 calculates the temperature compensation coefficient and the final concentration based on the collected ambient temperature. Determine the temperature compensation coefficient .when When the ambient temperature is too low, the activity of the disinfectant decreases significantly; therefore, a temperature compensation coefficient should be used. The concentration was significantly increased to ensure disinfection effectiveness. At times, when the ambient temperature is too high, the activity of the disinfectant increases, and the disinfectant is removed. Appropriately reduce the concentration to avoid excessive disinfection and disinfectant decomposition. At that time, the ambient temperature was within the normal range, and the main controller 29 operated according to the formula. ; Calculate the temperature compensation coefficient. Wherein... 0.02 is the temperature compensation coefficient, dimensionless, used to adjust the disinfectant concentration according to the ambient temperature; 0.02 is the temperature compensation constant preset based on the disinfectant's kinetic characteristics, in units of 1. This constant reflects the sensitivity of disinfectant activity to temperature changes; 25 is a preset reference ambient temperature, in °C, at which temperature... This indicates that temperature compensation is not required; This represents the actual ambient temperature, expressed in °C. When the temperature is below 25℃, the calculated result of the formula is greater than 1, indicating an increase in the disinfectant concentration; when... When the temperature is above 25℃, the calculated result of the formula is less than 1, indicating a decrease in the concentration of the disinfectant.

[0043] Then the main controller 29 follows the formula Calculate the final target concentration. (The sentence is incomplete in the original text.) The final target concentration is expressed in mg / L, which is the actual concentration that the disinfectant solution should achieve after mixing. This is the basic concentration, expressed in mg / L. 1.1 is the temperature compensation coefficient, dimensionless; 1.1 is the safety factor, dimensionless, used to compensate for possible concentration loss of disinfectant during spraying and action, ensuring the reliability of disinfection effect.

[0044] Step S33 involves adjusting the flow rate ratio to achieve the target concentration. The main controller 29 operates according to the formula... Calculate the flow rate ratio of cleaning water and disinfectant. (Among them...) The flow rate of the disinfectant is expressed in L / min, representing the volumetric flow rate of the disinfectant in the disinfectant hose 10. The flow rate of the cleaning water is expressed in L / min, representing the volumetric flow rate of the cleaning water in the cleaning water hose 9. The final target concentration is expressed in mg / L. The concentration of the original disinfectant solution in the storage tank is expressed in mg / L, while the concentration of the pre-prepared original disinfectant solution is also expressed. This formula is based on the principle of mass conservation; the concentration of the mixed disinfectant solution is equal to the mass of the original disinfectant solution divided by the total volume after mixing. By adjusting the ratio of the two flow rates, the concentration after mixing can reach the target value.

[0045] The main controller 29 controls the opening of two electromagnetic flow valves 30 on the cleaning water hose 9 and the disinfectant water hose 10 according to the flow ratio, ensuring that the two flow streams meet the calculated ratio. The main controller 29 outputs PWM signals with corresponding duty cycles to the two electromagnetic flow valves 30. The opening of the electromagnetic flow valves 30 is proportional to the duty cycle of the PWM signal, thereby achieving precise flow regulation. After the two liquids are mixed in the inlet pipe 8, they are sprayed out through the rotary joint 11, the rotary pipe 12, and the spray nozzle 7, achieving the mixing of disinfectant solutions of the target concentration. Then, the same pulsed method as in step S2 is used to perform disinfection spraying, so that the disinfectant solution evenly covers the surface of the water bed.

[0046] Step S4 involves coordinated cleaning timing control of the multi-unit waterbed system. When the cleaning target is a system with multiple interconnected waterbed units, if all units are cleaned simultaneously, the total water supply capacity of the system may not meet the demand, resulting in a drop in spray pressure for each unit and affecting the cleaning effect. The main controller 29 divides the multiple units into several groups based on the total water supply flow rate of the system and the required flow rate of each unit, and controls each group of units to be cleaned sequentially to avoid insufficient water supply capacity. For multi-unit systems arranged in series, due to the accumulation of pipeline resistance, the water supply pressure of the units at the end position is lower than that of the units at the front end. The main controller 29 increases the cleaning time and spray intensity of the units at the end position to implement pressure compensation control, ensuring the uniformity of the cleaning effect of each unit.

[0047] The specific operation of the multi-unit collaborative cleaning timing control in step S4 is as follows. Step S41 is to divide the cleaning groups. The main controller 29 calculates the cleaning group according to the formula... Calculate the number of groups. The number of groups is dimensionless, indicating how many groups all units will be divided into and cleaned sequentially. This indicates a rounding up operation, which takes the smallest integer not less than the calculated result, ensuring that the total demand flow of each group does not exceed the system's water supply capacity after grouping. The total number of waterbed units, dimensionless; The required flow rate for a single unit is expressed in L / min, representing the water supply flow rate required for a single waterbed unit to perform cleaning. The total system water supply flow rate, expressed in L / min, represents the maximum flow rate that the water supply system can provide. The physical meaning of this formula is to calculate the ratio of the total demand flow rate when all units are cleaning simultaneously to the system's water supply capacity, rounding up to determine how many groups are needed to ensure that the demand of each group does not exceed the water supply capacity.

[0048] Then the main controller 29 follows the formula Calculate the number of units typically contained in each group. The number of units in each group is dimensionless. This indicates the floor operation, which takes the largest integer not greater than the calculated result; The total number of waterbed units, dimensionless; This is the number of groups, dimensionless. Rounding down ensures a balanced number of units in the first few groups. The main controller 29 will... Groups are allocated One unit, the remaining ones The unit is allocated to the first Grouping. Using a method of rounding down and adding remainders in the allocation can ensure that the number of units in each group is as balanced as possible, avoiding insufficient water supply caused by an excessive number of units in one group.

[0049] Step S42 is to perform timing cleaning. The main controller 29 controls groups 1 to 2... The units are cleaned sequentially. First, the solenoid flow valve 30 corresponding to the first unit is activated for cleaning. After the first unit completes its predetermined cleaning cycle, the solenoid flow valve 30 is closed. Then, a time delay is applied. Then the second group of units is started for cleaning, and so on until the third group is started. The cleaning process is complete. This is the group switching time, measured in seconds, with a preferred range of 30-60 seconds. Setting the group switching time helps avoid sudden changes in the water supply system's flow rate, allows sufficient time for the pressure in the pipeline to stabilize, and prevents water hammer effects from impacting the pipeline and valves.

[0050] Step S43 involves implementing pressure compensation control. For a multi-unit waterbed system arranged in series, pressure loss occurs in the pipeline as the liquid flows from the supply end to the end due to frictional and local resistance, resulting in lower supply pressure in units closer to the end compared to the supply end. To ensure consistent cleaning performance across all units, pressure compensation is required for the end units. The main controller 29 adjusts the pressure according to the formula... Calculate the first The pressure compensation coefficient for each unit. Among them... The pressure compensation coefficient is dimensionless and represents the multiple of the cleaning intensity of the unit relative to the standard value. The pressure compensation constant is preset according to the system operating conditions. It is dimensionless and the preferred value range is 0.1 to 0.3. This constant reflects the proportion of total pressure loss from the beginning to the end of the system pipeline. The element number, starting from 1, is dimensionless and indicates the position of the element in the series system; The total number of elements is dimensionless. This formula makes the pressure compensation coefficient increase linearly with element position, especially for the first element. hour No compensation, end unit hour maximum.

[0051] The main controller 29 will... The cleaning time for each unit is set to the standard cleaning time. This doubles the pulse duty cycle of the terminal unit, allowing for a longer cleaning time to compensate for the decreased cleaning efficiency caused by insufficient pressure. The main controller 29 adjusts the pulse duty cycle of this unit. Set to standard duty cycle This increases the spraying time of the terminal unit within each pulse cycle, thereby increasing the actual spray volume. Simultaneously, the main controller 29 starts the water supply to this unit 10% earlier than the standard cleaning time, allowing time for the pressure in the pipeline to stabilize before the actual cleaning, compensating for pressure losses in the terminal units of the series system. Through these triple compensation measures—extending the cleaning time, increasing the duty cycle, and starting the water supply earlier—the problem of uneven cleaning results caused by positional differences in the series system can be effectively eliminated.

[0052] Example 1 illustrates the application scenario of cleaning waterbeds in a large-scale dairy farm. The multi-unit interconnected circulating waterbed cleaning device and method of this invention are used to clean and disinfect rubber waterbed units. The surface of the rubber waterbed easily accumulates feces, urine, and organic residue, requiring regular cleaning and disinfection to ensure the health of the dairy cows and the quality of the dairy products. The rubber waterbed is a composite material of natural and synthetic rubber, with an anti-slip texture on its surface. An anti-slip slope 2 is provided on one side of the waterbed body 1. Four waterbed units are connected in series via water supply pipes, forming a cleaning area for the cow shed's sleeping area. A guardrail 3 and a support frame 4 are installed above the waterbed body 1, with an equipment box 5 mounted on the support frame 4. Each unit is equipped with four nozzles 7. The equipment box 5 houses a servo motor 6 and a main controller 29. The servo motor 6 has a rated power of 200W. An encoder 33 is installed at the output end of the servo motor 6. The electromagnetic flow valves 30 on the cleaning water hose 9 and the disinfectant water hose 10 have a rated flow rate of 50 L / min. The concentration of the original disinfectant in the storage tank is 5000 mg / L, and the disinfectant used is peracetic acid. The total water supply flow rate of the system is 120 L / min, and the required flow rate for a single unit is 40 L / min.

[0053] A water inlet pipe 8 is installed above the guardrail 3. A cleaning water hose 9 is fixedly installed on one side of the top of the water inlet pipe 8, and a disinfectant water hose 10 is fixedly installed on the other side. Four rotating pipes 12 are rotatably installed at the bottom of the water inlet pipe 8 via four rotating joints 11, and a spray pipe 7 is fixedly installed at the bottom of each rotating pipe 12. A transmission gear 22 is fixedly installed on the surface of the rotating pipe 12, and the transmission gear 22 meshes with a rack 23 fixed to the guardrail 3 via a fixing bracket 24. A pressure sensor 32 is installed inside the water inlet pipe 8, and a temperature sensor 31 is installed on the surface of the waterbed body 1.

[0054] The transmission assembly includes a driving bevel gear 13 fixedly mounted on the output end of the servo motor 6. The driving bevel gear 13 meshes with a driven bevel gear 14, which is rotatably connected to the inside of the equipment box 5 via a rotating seat 15. A rotating shaft 17 is fixedly mounted on the driven bevel gear 14, and the rotating shaft 17 is rotatably connected to the support frame 4 via a bearing 16. A lead screw 18 is fixedly mounted on one end of the rotating shaft 17. One end of the lead screw 18 is rotatably connected to the support frame 4 via a positioning seat 19. A threaded sleeve 20 is threaded onto the surface of the lead screw 18, and the threaded sleeve 20 is fixedly connected to the bottom of the water inlet pipe 8. A slider 21 is fixedly mounted on the top of the threaded sleeve 20, and the slider 21 is slidably mounted in a groove 28 opened at the top inside the support frame 4. Limiting blocks 25 are fixedly mounted on both ends of the water inlet pipe 8, and limiting rails 26 are slidably fitted onto the limiting blocks 25. The limiting rails 26 are fixedly connected to the waterbed body 1 via a support rod 27.

[0055] The cleaning method is implemented according to the following steps: S1 Start and position the nozzles: The main controller 29 controls the servo motor 6 to start. The servo motor 6 drives the water inlet pipe 8 and the four nozzles 7 to move to the starting position of the waterbed body 1 through the transmission assembly consisting of the driving bevel gear 13, the driven bevel gear 14, the rotating shaft 17 and the lead screw 18. The encoder 33 provides real-time feedback of the position signal. After the main controller 29 confirms that the nozzles 7 have reached the starting position, it stops the servo motor 6.

[0056] S2 executes pulsed intermittent spray cleaning: S21 sets pulse parameters: the pulse period is set to 1.0s and the duty cycle to 0.6 in the main controller 29. S22 generates and executes pulse control: the main controller 29 generates a pulse control signal using PWM pulse width modulation and outputs it to the electromagnetic flow valve 30 on the cleaning water hose 9. In each cycle, the electromagnetic flow valve 30 is opened for spraying in the first 0.6s and closed for spraying in the last 0.4s, allowing the cleaning fluid sufficient time to penetrate the anti-slip texture gaps on the rubber surface. At the same time, the main controller 29 controls the servo motor 6 to drive the nozzle 7 to move along the surface of the water bed body 1. The nozzle 7 rotates and sprays cleaning through the cooperation of the transmission gear 22 and rack 23. S23 monitors and adjusts the spray pressure: the target pressure is set to 150kPa, and the pressure sensor 32 detects the actual pressure inside the water inlet pipe 8 in real time and feeds it back to the main controller 29. When the actual pressure is below 135 kPa, the main controller 29 will increase the duty cycle by 0.05; when the actual pressure is above 165 kPa, the main controller 29 will decrease the duty cycle by 0.05, with the duty cycle limited to the range of 0.4-0.8.

[0057] S3 Adjusting the disinfectant ratio and disinfecting: S31 Acquiring ambient temperature and determining the base concentration: The main controller 29 receives the ambient temperature of the waterbed body 1 collected by the temperature sensor 31, which is 18℃. Based on the moderate pollution level of the rubber waterbed, the base concentration is set to 400mg / L. S32 Calculating the temperature compensation coefficient and final concentration: The main controller 29 calculates the temperature compensation coefficient as 1.14 according to the temperature compensation formula, and the final target concentration is 501.6mg / L. S33 Adjusting the flow ratio to achieve the target concentration: The main controller 29 calculates the flow ratio of disinfectant to cleaning water to be approximately 1:9 according to the flow ratio formula, and accordingly adjusts the opening of the two electromagnetic flow valves 30 on the cleaning water hose 9 and the disinfectant water hose 10. The mixed disinfectant is sprayed onto the surface of the waterbed body 1 through the inlet pipe 8, the rotating joint 11, the rotating pipe 12, and the spray pipe 7 for disinfection.

[0058] S4 Multi-Unit Collaborative Cleaning Sequence Control: S41 Divide Cleaning Groups: The main controller 29 calculates the number of groups to be 2 according to the grouping formula, with 2 rubber waterbed units in each group. S42 Execute Sequenced Cleaning: After the first group of cleaning is completed, the main controller 29 starts the second group of cleaning 45 seconds later to avoid insufficient water supply pressure. S43 Implement Pressure Compensation Control: The main controller 29 sets the pressure compensation constant to 0.2, the pressure compensation coefficient of the fourth unit to 1.15, and the cleaning time and duty cycle are increased accordingly to 1.15 times the standard value. Water supply is started in advance to ensure that the end rubber waterbed receives sufficient cleaning intensity.

[0059] Example 2 differs from Example 1 in that the pulse parameters are set differently. In the main controller 29, the pulse period is set to 0.8s, the duty cycle to 0.7, and the target pressure to 180kPa. This parameter combination is suitable for situations where the fecal matter on the surface of the rubber waterbed body 1 is relatively fresh and has not yet dried. The shorter pulse period and higher duty cycle increase the opening time of the electromagnetic flow valve 30, thus accelerating the cleaning speed. The remaining device configuration and method steps are the same as in Example 1.

[0060] Example 3 differs from Example 1 in that the pulse parameters are set differently. In the main controller 29, the pulse period is set to 1.5s, the duty cycle to 0.5, and the target pressure to 120kPa. This parameter combination is suitable for routine maintenance and cleaning scenarios where the rubber waterbed body 1 is lightly contaminated and water conservation is required. The longer pulse period allows the cleaning fluid more time to penetrate the anti-slip texture gaps on the surface of the waterbed body 1. The remaining device configuration and method steps are the same as in Example 1.

[0061] Example 4 differs from Example 1 in that the ambient temperature and degree of contamination are different. The ambient temperature of the waterbed body 1, collected by temperature sensor 31, is 5°C, which corresponds to the low-temperature environment of a northern winter. The main controller 29 calculates a temperature compensation coefficient of 1.4. The contamination level of the rubber waterbed body 1 is heavy, with a base concentration set at 600 mg / L and a final target concentration of 924 mg / L. The main controller 29 accordingly adjusts the opening of the electromagnetic flow valve 30 on the disinfectant hose 10 to increase the disinfectant flow rate. This example verifies the adaptability of the present invention for cleaning and disinfecting rubber waterbeds under low-temperature and heavily contaminated conditions. The remaining device configuration and method steps are the same as in Example 1.

[0062] Example 5 differs from Example 1 in that the ambient temperature and degree of contamination are different. The ambient temperature of the waterbed body 1, collected by temperature sensor 31, is 32℃, which is a high-temperature environment in southern summer. The main controller 29 calculates a temperature compensation coefficient of 0.86. The contamination level of the rubber waterbed body 1 is light, with a base concentration set at 200 mg / L and a final target concentration of 189.2 mg / L. The main controller 29 accordingly adjusts the opening of the electromagnetic flow valve 30 on the disinfectant hose 10 to reduce the disinfectant flow rate. This example verifies the adaptive adjustment capability of the disinfectant under high-temperature and light-contamination conditions. The remaining device configuration and method steps are the same as in Example 1.

[0063] Example 6 differs from Example 1 in system scale. The main rubber waterbed unit 1 comprises 8 units, forming a complete cleaning system for the entire cowshed of a large dairy farm. The total system water supply flow rate is 200 L / min, with a single unit requiring 35 L / min. The main controller 29 calculates the number of groups to be 2 based on the grouping formula, with 4 units per group. The pressure compensation constant is set to 0.25, and the pressure compensation coefficient for the terminal units is 1.22. The inter-group switching time is set to 50 seconds. This example verifies the applicability of the invention in large-scale multi-unit rubber waterbed systems. The remaining device configurations and method steps are the same as in Example 1.

[0064] Comparative Example 1: This comparative example uses continuous spraying to clean the rubber waterbed body 1, without using pulsed intermittent spraying. The main controller 29 controls the electromagnetic flow valve 30 on the cleaning water hose 9 to remain fully open throughout the cleaning process, with a constant duty cycle of 1.0, allowing the cleaning fluid to continuously spray from the nozzle 7. The remaining device configuration and system parameters are the same as in Example 1.

[0065] Comparative Example 2: This comparative example uses a fixed concentration of disinfectant to disinfect the rubber waterbed body 1 without temperature compensation adjustment. The main controller 29 does not adjust the disinfectant concentration based on feedback from the temperature sensor 31. The opening of the electromagnetic flow valve 30 on the disinfectant hose 10 remains fixed, and the disinfectant concentration is fixed at 400 mg / L, without adjustment according to changes in the ambient temperature of the cattle shed. The remaining device configuration and method steps are the same as in Example 1.

[0066] Comparative Example 3: This comparative example uses a simultaneous cleaning method for the multi-unit rubber waterbed system without timing control. The main controller 29 simultaneously opens the electromagnetic flow valves 30 corresponding to the four waterbed body units 1 for cleaning, without group timing scheduling, and all nozzles 7 spray cleaning fluid simultaneously. The remaining device configuration is the same as in Example 1.

[0067] Comparative Example 4: This comparative example does not perform pressure compensation control on the series system. The main controller 29 uses the same cleaning time and duty cycle for each rubber waterbed unit 1, and does not adjust the control parameters of the electromagnetic flow valve 30 according to the unit position. The pressure compensation coefficient is uniformly 1.0. The remaining device configuration and method steps are the same as in Example 1.

[0068] Comparative Example 5 uses a traditional manual high-pressure water gun to clean the rubber waterbed body 1, without using the automated cleaning device of this invention. The operator uses a handheld high-pressure water gun to rinse the surface of the waterbed body 1, and the disinfectant is manually prepared and sprayed. It does not have the automated control and parameter adjustment functions of the main controller 29, servo motor 6, encoder 33, pressure sensor 32, temperature sensor 31, and electromagnetic flow valve 30.

[0069] To verify the beneficial effects of the various innovative aspects of this invention on cleaning rubber waterbeds in dairy farms, the following comparative experiment was designed. The definitions and measurement methods of each experimental index are explained below.

[0070] Water consumption refers to the total volume of cleaning water consumed to complete the cleaning operation of a single rubber waterbed unit 1, measured in liters (L). Water consumption is obtained through the built-in flow accumulation function of the electromagnetic flow valve 30 installed on the cleaning water hose 9. The electromagnetic flow valve 30 resets the accumulated flow to zero at the start of the cleaning operation, and the accumulated flow value read at the end of the operation is the water consumption for that cleaning session.

[0071] Cleaning time refers to the time interval from the start of the cleaning command issued by the main controller 29 to the completion of the cleaning operation, expressed in minutes. The cleaning time is automatically recorded by the internal timer of the main controller 29, including the total time for nozzle 7 positioning, cleaning spraying, and disinfection spraying. The dirt removal rate refers to the percentage change in the amount of residual dirt on the surface of the rubber waterbed body 1 before and after cleaning, used to evaluate the cleaning effect, expressed in percentage (%). The measurement steps for the dirt removal rate are as follows: Before cleaning, select 5 evenly distributed test points on the surface of the waterbed body 1. Use a standard sampling frame to sample at each test point and weigh the dry weight of the dirt, recording it as the dirt mass before cleaning. After cleaning, sample at the same location and weigh the dry weight of the dirt, recording it as the dirt mass after cleaning. Calculate the dirt removal rate using the formula: the dirt removal rate equals the difference between the dirt mass before cleaning and the dirt mass after cleaning, divided by the dirt mass before cleaning, and then multiplied by 100%. The arithmetic mean of the dirt removal rates at the 5 test points is taken as the dirt removal rate for this cleaning.

[0072] Water efficiency refers to the amount of dirt removal achieved per unit of water consumption. It is used to comprehensively evaluate the economics of cleaning and is expressed as % / L. The formula for calculating water efficiency is dirt removal rate divided by water consumption. Higher water efficiency means less water is consumed to achieve the same cleaning effect.

[0073] The sterilization rate refers to the percentage change in the number of microorganisms on the surface of the rubber waterbed body 1 before and after disinfection, used to evaluate the disinfection effect, and is expressed as a percentage (%). The measurement steps for the sterilization rate are as follows: Before disinfection, a sterile cotton swab is used to sample a 100cm² area on the surface of the waterbed body 1. The swab is then placed in sterile physiological saline and eluted by shaking. The eluent is serially diluted and inoculated onto nutrient agar plates. After incubation at 37℃ for 48 hours, the total number of colonies is counted and recorded as the pre-disinfection colony count. After disinfection, the same method is used to sample and count the colonies at the same location, recording the post-disinfection colony count. The sterilization rate is calculated using the formula: sterilization rate equals the difference between the pre-disinfection colony count and the post-disinfection colony count, divided by the pre-disinfection colony count, and multiplied by 100%. The spraying pressure refers to the liquid pressure inside the inlet pipe 8, used to reflect the spraying intensity, and is expressed in kPa. The spraying pressure is detected in real-time by the pressure sensor 32 installed inside the inlet pipe 8, and the main controller 29 collects and records the pressure data at a frequency of 1Hz. The pressure standard deviation refers to the statistical standard deviation of the spray pressure of multiple waterbed unit 1 units during the cleaning process. It is used to evaluate the pressure stability of a multi-unit system, and the unit is kPa. The smaller the pressure standard deviation, the smaller the pressure fluctuation between units, and the better the consistency of the cleaning effect. The cleaning uniformity index refers to the uniformity of the spray distribution at various locations on the surface of the rubber waterbed unit 1. It is used to evaluate the uniformity of the cleaning coverage and is dimensionless. The specific measurement steps for the cleaning uniformity index are as follows: water collection containers are evenly arranged on the surface of the waterbed unit 1 at 0.3m intervals. After a standard cleaning operation, the water volume in each container is measured, and the Christensen uniformity coefficient is calculated as the cleaning uniformity index. The Christensen uniformity coefficient is calculated by subtracting the sum of the absolute values ​​of the deviations between the water volume at each measuring point and the average water volume from 1, and then dividing by the product of the number of measuring points and the average water volume. The closer the uniformity index is to 1, the more uniform the spray distribution.

[0074] Comparative Experiment 1 verifies the water-saving and cleaning effects of pulsed intermittent spraying on the rubber waterbed body 1. Rubber waterbed bodies 1 with the same degree of contamination were cleaned using the methods of Examples 1, 2, 3, Comparative Example 1, and Comparative Example 5, respectively. Water consumption, cleaning time, and dirt removal rate were recorded for each method, and water efficiency was calculated. Example 1 used standard pulse parameters, Example 2 used short-cycle high duty cycle parameters, Example 3 used long-cycle low duty cycle parameters, Comparative Example 1 used continuous spraying, and Comparative Example 5 used manual high-pressure water gun spraying.

[0075] Figure 6A bar chart comparing the cleaning performance of Examples 1, 2, 3, Comparative Example 1, and Comparative Example 5 is provided. The horizontal axis represents different experimental methods, and the vertical axis is divided into a primary axis and a secondary axis. The primary axis on the left represents water consumption and cleaning time, while the secondary axis on the right represents water efficiency. Blue bars represent water consumption in L; green bars represent cleaning time multiplied by 10 for proportional display, in min; red broken lines and circular markers represent water efficiency in % / L.

[0076] from Figure 6 The following information can be obtained: Example 3 achieved a water efficiency of 0.618% / L, the highest among the five methods; Example 1 achieved a water efficiency of 0.509% / L, and Example 2 achieved 0.467% / L. The water efficiency of all three examples was significantly higher than that of Comparative Example 1 (0.319% / L) and Comparative Example 5 (0.251% / L). Example 1 used 185L of water, a 37.9% reduction compared to Comparative Example 1's 298L; Example 3 used only 148L, a 50.3% reduction compared to Comparative Example 1 and a 57.9% reduction compared to Comparative Example 5's 352L. Example 2 had a cleaning time of 10.2 minutes, the shortest among the five methods, while Comparative Example 5 had the longest cleaning time of 25.6 minutes. It can be seen that the pulsed intermittent spraying method of the present invention can significantly reduce water consumption and improve cleaning efficiency while ensuring the cleaning effect of the rubber waterbed body 1. Different pulse parameters can adapt to different cleaning scenario requirements. This conclusion is directly causally related to the technical means by which the main controller 29 controls the electromagnetic flow valve 30 to open and close in a pulse manner in step S2 of the present invention. The mechanism is that the cleaning liquid sprayed during the pulse interval has sufficient time to penetrate the anti-slip texture gaps on the surface of the rubber waterbed body 1 and soften the fecal matter, so that the subsequent pulse spraying can more effectively flush and remove the dirt; while in Comparative Example 1, a large amount of liquid is directly lost along the rubber surface during continuous spraying, failing to fully exert the penetration and softening effect, so more water is needed to achieve a similar cleaning effect.

[0077] Comparative Experiment 2 verified the sterilization effect of temperature-adaptive disinfection on the rubber waterbed body 1. The waterbed body 1 was disinfected under different temperature conditions in cattle sheds using the methods of Examples 1, 4, 5, and Comparative Example 2, and the sterilization rate was measured after disinfection. Example 4 was tested at low temperatures of 5℃ and 10℃, with the main controller 29 controlling the disinfectant concentration to 924 mg / L after temperature compensation. Example 1 was tested at ambient temperatures of 15℃, 20℃, and 25℃, with the disinfectant concentration to 501.6 mg / L after temperature compensation. Example 5 was tested at high temperatures of 30℃ and 35℃, with the disinfectant concentration to 189.2 mg / L after temperature compensation. Comparative Example 2 used a fixed concentration of 400 mg / L for disinfection at all seven temperature points. The experimental results are as follows: Figure 7 As shown.

[0078] Figure 7 This is a line graph comparing the sterilization rates of Examples 1, 4, and 5 with Comparative Example 2 under different cattle shed temperatures. The horizontal axis represents the ambient temperature of the cattle shed collected by temperature sensor 31, ranging from 5℃ to 35℃, with a total of 7 test points; the vertical axis represents the sterilization rate, in percentage (%). There are four data curves in the graph: the blue solid line with a round solid mark represents the data for Example 4, corresponding to the temperature points of 5℃ and 10℃, with sterilization rates of 97.8% and 98.2%, respectively; the green solid line with a square solid mark represents the data for Example 1, corresponding to the temperature points of 15℃, 20℃, and 25℃, with sterilization rates of 98.5%, 98.9%, and 99.2%, respectively; the purple solid line with a diamond solid mark represents the data for Example 5, corresponding to the temperature points of 30℃ and 35℃, with sterilization rates of 99.0% and 98.6%, respectively; and the orange dashed line with a hollow triangle mark represents the data for Comparative Example 2, covering all 7 temperature points. The graph also marks the sterilization rate differences at key temperature points.

[0079] from Figure 7 As can be seen, the sterilization rate of the three examples using temperature compensation remained above 97.8% within their respective temperature ranges. Example 4 achieved a sterilization rate of 97.8% at a low temperature of 5℃, while Comparative Example 2 only achieved 82.3% at the same temperature, a difference of 15.5 percentage points. Example 4 achieved a sterilization rate of 98.2% at 10℃, while Comparative Example 2 achieved 86.5%, a difference of 11.7 percentage points. Example 1 achieved a sterilization rate of 98.5% at 15℃, while Comparative Example 2 achieved 91.2%, a difference of 7.3 percentage points. Example 1 achieved the highest sterilization rate of 99.2% at 25℃, while Comparative Example 2 achieved 98.8%, narrowing the difference to 0.4 percentage points. Example 5 achieved sterilization rates of 99.0% and 98.6% at high temperatures of 30℃ and 35℃, respectively, with differences from Comparative Example 2 of approximately 1 percentage point. Overall, the lower the temperature, the more significant the improvement in sterilization rate brought about by temperature compensation.

[0080] The temperature-adaptive disinfection method of this invention can effectively ensure the stability of the disinfection effect of the rubber waterbed body 1 in cattle sheds in different seasons and regions, especially under the low-temperature conditions of winter in northern regions. This conclusion is directly related to the technical means in step S3 of this invention, where the main controller 29 adjusts the opening of the electromagnetic flow valve 30 on the disinfectant water hose 10 according to the ambient temperature feedback from the temperature sensor 31. The mechanism is as follows: the bactericidal effect of the disinfectant depends on its chemical reactivity. Under low-temperature conditions, the molecular motion of peracetic acid slows down, the oxidation reaction rate decreases, and the number of disinfectant molecules that come into contact with pathogenic microorganisms and undergo oxidation reaction per unit time decreases. By calculating and increasing the opening of the electromagnetic flow valve 30 on the disinfectant water hose 10 according to the temperature compensation formula, the concentration of disinfectant solution is increased, and the absolute number of disinfectant molecules is increased. This can compensate for the loss of bactericidal efficiency caused by the decrease in chemical activity, ensuring that pathogenic microorganisms on the surface of the waterbed body 1 are effectively killed within the specified action time.

[0081] Comparative Experiment 3 uses the methods of Examples 1, 6, 3, and 4 to verify the influence of multi-unit coordinated timing control and pressure compensation on the cleaning effect of a series-connected rubber waterbed system. Example 1 is a 4-unit system using timing control and pressure compensation; Example 6 is an 8-unit large-scale system using timing control and pressure compensation; Comparative Example 3 is a 4-unit system performing simultaneous cleaning without timing control; and Comparative Example 4 is a 4-unit system with timing control but no pressure compensation. The experimental results are as follows: Figure 8 As shown.

[0082] Figure 8 The figures show scatter plots and trend lines illustrating the cleaning effects of the multi-unit rubber waterbed systems in Examples 1, 6, 3, and 4. The horizontal axis represents the position number of unit 1 in the series system, and the vertical axis represents the dirt removal rate of that unit (in %). Solid green circles and green trend lines represent the data for 4 units in Example 1; solid blue squares and blue trend lines represent the data for 8 units in Example 6; hollow orange triangles and orange dashed trend lines represent the data for Comparative Example 3; and hollow purple diamonds and purple dotted trend lines represent the data for Comparative Example 4. The slope values ​​of each trend line are also marked; a larger absolute value of the slope indicates a more severe decrease in cleaning effect with increasing unit position.

[0083] from Figure 8As can be seen, the fouling removal rates of the four waterbed units in Example 1 were 94.5%, 94.2%, 94.0%, and 93.8%, respectively, with a trend line slope of -0.23% / unit, indicating highly uniform cleaning effects across units. In Example 6, the fouling removal rate of the eight units slowly decreased from 94.8% to 92.5%, with a trend line slope of -0.33% / unit, maintaining good uniformity even in a large-scale system. In Comparative Example 3, the fouling removal rate of the four units dropped sharply from 89.2% to 83.2%, with a trend line slope of -2.0% / unit, indicating severely insufficient cleaning effect in the end units. In Comparative Example 4, the fouling removal rate of the four units decreased from 94.2% to 88.5%, with a trend line slope of -1.9% / unit, showing good results in the first units but significant degradation in the end units. The difference in removal rate between the end and first units in Example 1 was only 0.7 percentage points, while it was 6.0 percentage points in Comparative Example 3 and 5.7 percentage points in Comparative Example 4.

[0084] The timing control of this invention can effectively avoid the sudden drop in water supply pressure and the overall decline in cleaning effect caused by simultaneous cleaning of multiple units. Pressure compensation can eliminate the attenuation of the cleaning effect of the end rubber waterbed main unit 1 in the series system. The combination of the two can ensure the consistency of cleaning and disinfection effect of each bed in the entire cattle shed. This conclusion is directly related to the grouped timing cleaning and pressure compensation control technology of the main controller 29 in step S4 of this invention. The mechanism is as follows: timing control causes the main controller 29 to divide multiple units into several groups and control the electromagnetic flow valve 30 to open sequentially. Each group of units exclusively uses the system's water supply capacity during cleaning, obtaining sufficient water supply flow and spray pressure detected by the pressure sensor 32; pressure compensation causes the main controller 29 to increase the cleaning time of the end unit, increase the pulse duty cycle, and open the electromagnetic flow valve 30 in advance according to the unit position, actively compensating for the pressure loss caused by frictional resistance and local resistance along the pipeline, so that the end waterbed main unit 1 obtains a cleaning intensity and cleaning effect comparable to the first unit.

[0085] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-unit interconnected circulating water bed cleaning device, characterized in that: it comprises a water bed main body, a guardrail and a support frame installed on the water bed main body, an equipment box installed on the support frame, a water inlet pipe installed above the guardrail, a servo motor and a main controller installed inside the equipment box; the bottom of the water inlet pipe is rotatably installed with four rotating pipes through four rotating joints, and the bottom of each rotating pipe is fixedly installed with a spray pipe; one side of the top of the water inlet pipe is fixedly installed with a cleaning water hose, one end of the cleaning water hose is connected with an external water source, the other side of the top of the water inlet pipe is fixedly installed with a disinfectant water hose, and the disinfectant water hose is connected with a water pump in an external disinfectant storage tank; an electromagnetic flow valve is arranged on each of the cleaning water hose and the disinfectant water hose, and the electromagnetic flow valve is controlled in opening degree by a PWM pulse width modulation signal; the output end of the servo motor is provided with a transmission assembly, the transmission assembly is in transmission connection with the water inlet pipe, and the servo motor drives the water inlet pipe to move back and forth along the length direction of the water bed main body through the transmission assembly when the servo motor is in operation, and drives the four spray pipes to move synchronously; the control output end of the main controller is electrically connected with the control input end of the servo motor; the output end of the servo motor is provided with an encoder, and the signal output end of the encoder is electrically connected with the signal input end of the main controller; a pressure sensor is arranged inside the water inlet pipe, and the signal output end of the pressure sensor is electrically connected with the signal input end of the main controller; a temperature sensor is installed on the surface of the water bed main body, and the signal output end of the temperature sensor is electrically connected with the signal input end of the main controller; the control output end of the main controller is electrically connected with the control input end of the electromagnetic flow valve on the cleaning water hose and the control input end of the electromagnetic flow valve on the disinfectant water hose respectively, and the main controller controls the opening degree of the two electromagnetic flow valves according to the feedback signals of the pressure sensor and the temperature sensor. The transmission assembly comprises a driving bevel gear fixedly installed at the output end of the servo motor, a driven bevel gear meshingly connected with one side of the surface of the driving bevel gear, and a rotating shaft fixedly installed at the other side of the driven bevel gear, the rotating shaft is in rotation connection with the support frame through a bearing on the surface thereof, a lead screw is fixedly installed at one end of the rotating shaft, the lead screw is in rotation connection with the inner wall of one end of the support frame through a positioning seat at one end thereof, a lead screw sleeve is in screw connection with the surface of the lead screw, and the lead screw sleeve is fixedly connected with the bottom of the water inlet pipe. A sliding block is fixedly installed at the top of the lead screw sleeve, and a sliding groove is formed in the inner top of the support frame, and the sliding block is slidingly installed in the sliding groove. A landslide prevention device is fixedly installed on one side of the water bed main body, limiting blocks are fixedly installed at the two ends of the water inlet pipe, limiting rails are slidingly arranged on the surfaces of the two limiting blocks, and the limiting rails are fixedly connected with the two ends of the water bed main body through two supporting rods at the sides away from each other. A transmission gear is fixedly installed on the surface of each rotating pipe, and a rack is meshingly connected with one side of the transmission gear, and the four racks are fixedly connected with the guardrail through a fixing frame. The method comprises the following steps:

2. The multi-cell interconnecting circulating waterbed cleaning apparatus of claim 1, wherein: S1: starting and positioning the spray pipe: the main controller controls the servo motor to start, the servo motor drives the water inlet pipe and the four spray pipes to move to the starting cleaning position above the water bed main body through the transmission assembly, and the main controller confirms that the spray pipe reaches the starting position through the position signal feedback by the encoder; 3. The multi-cell interconnecting circulating waterbed cleaning apparatus of claim 2, wherein: ​ 4. The multi-cell interconnecting circulating waterbed cleaning apparatus of claim 1, wherein: ​ 5. The multi-cell interconnecting circulating waterbed cleaning apparatus of claim 1, wherein: ​ 6. A multi-cell interconnecting recirculating waterbed cleaning method implemented using the apparatus of any one of claims 1-5, wherein, ​ ​ S2: performing pulse intermittent spraying cleaning: the main controller controls the electromagnetic flow valve on the cleaning water hose to open and close in pulse mode, adopts pulse intermittent mode to supply water to the water inlet pipe, and supplies water to the four spray pipes through the four rotating joints and the four rotating pipes; at the same time, the main controller controls the servo motor to drive the spray pipe to move along the surface of the water bed, and rotates the spray pipe to spray and clean through the cooperation of the transmission gear and the rack; S3: adjusting the disinfectant ratio and disinfecting: the main controller calculates the target concentration of the disinfectant according to the environmental temperature detected by the temperature sensor, controls the opening of the two electromagnetic flow valves on the cleaning water hose and the disinfectant water hose, adjusts the flow ratio of the cleaning water and the disinfectant to make the mixed disinfectant reach the target concentration, and adopts the same pulse intermittent mode as step S2 to perform spraying disinfection; S4: timing control of collaborative cleaning of multi-unit water bed system: when the cleaning object is a system interconnected by multiple water bed units, the main controller divides the multiple units into several groups according to the total water supply flow and the demand flow of a single unit, controls each group of units to clean in sequence, and increases the cleaning time and spraying intensity of the units at the end position of the series arrangement system to implement pressure compensation control.

7. The multi-cell interconnecting circulating waterbed cleaning method according to claim 6, wherein, The step S2 of performing pulse intermittent spraying cleaning includes the following operation steps: S21: setting pulse parameters: setting pulse period in the main controller and duty cycle wherein is the length of a single pulse in seconds, with a range of 0.5-2 seconds; is the proportion of spraying time to pulse period, dimensionless, with a range of 0.4-0.8; S22: generating and executing pulse control: the main controller generates a pulse control signal in PWM pulse width modulation mode and outputs it to the electromagnetic flow valve on the cleaning water hose; in each pulse period , the relative position of the current moment in the period is defined as , where represents the modulo operation; when , the main controller outputs an opening signal to make the electromagnetic flow valve open for spraying; Otherwise, output a closing signal to make the electromagnetic flow valve close and stop spraying, realizing intermittent spraying; S23: monitoring and adjusting the spraying pressure: the main controller receives the actual spraying pressure detected by the pressure sensor in real time and compares it with the preset target pressure , wherein and are both in ; when , the main controller increases the duty cycle by 0.05; when , the main controller decreases the duty cycle by 0.05; after each adjustment, if is out of the range of 0.4-0.8, it is limited to the boundary value; the stable control of the spraying pressure is achieved by adjusting the duty cycle.

8. The multi-cell interconnecting circulating water bed cleaning process of claim 6 wherein, The step S3 of adjusting the disinfectant concentration according to the environmental temperature includes the following operation steps: S31: Collect the ambient temperature and determine the base concentration: the main controller receives the ambient temperature of the surface of the water bed body collected by the temperature sensor , in ℃; set the base concentration of the disinfectant according to the pollution degree of the water bed , in mg / L, set to 200 mg / L for light pollution, 400 mg / L for moderate pollution, and 600 mg / L for heavy pollution; S32: Calculate temperature compensation coefficient and final concentration: when the temperature compensation coefficient is taken as ; when the temperature compensation coefficient is taken as ; when the main controller calculates the temperature compensation coefficient according to the formula , wherein is the temperature compensation coefficient, dimensionless; 0.02 is a temperature compensation constant preset according to the disinfectant kinetic characteristics, unit is ; 25 is a preset reference ambient temperature, unit is ℃; is an actual ambient temperature, unit is ℃; then the final target concentration is calculated according to the formula , wherein is the final target concentration, unit is mg / L; is the base concentration, unit is mg / L; is a temperature compensation coefficient, dimensionless; 1.1 is a safety factor, dimensionless; S33: Adjusting the flow ratio to achieve the target concentration: the main controller calculates the flow ratio of the cleaning water and the disinfectant according to the formula The flow ratio of the cleaning water and the disinfectant is calculated, wherein is the flow of the disinfectant, in L / min; is the flow of the cleaning water, in L / min; is the final target concentration, in mg / L; is the concentration of the original solution in the disinfectant storage tank, in mg / L; the main controller controls the opening of the two electromagnetic flow valves on the cleaning water hose and the disinfectant water hose according to the flow ratio to make the two flows meet the calculated ratio relationship, achieve the target concentration of the disinfectant mixture, and then perform the spray disinfection in the same pulse mode as step S2.

9. The multi-cell interconnecting circulating water bed cleaning process of claim 6 wherein, The step S4 of timing control of collaborative cleaning of multiple units includes the following operation steps: S41: Divide cleaning groups: the main controller calculates the number of groups according to the formula Calculate the number of groups, where is the number of groups, dimensionless; represents the rounding up operation; is the total number of water bed units, dimensionless; is the required flow rate of a single unit, in L / min; is the total water supply flow rate of the system, in L / min; then calculate the number of units each group usually contains according to the formula Calculate the number of units each group usually contains, where is the number of units per group, dimensionless; represents the rounding down operation; allocate units to each of the first groups, and the remaining units to the th group; S42: Perform timing cleaning: the main controller controls the first group to the group to clean in turn, starts the electromagnetic flow valve corresponding to the first group unit to clean, closes the electromagnetic flow valve of the group after completion, and starts the second group unit to clean after a delay time interval group cleaning is completed, wherein is the switching time between groups, in seconds, with a value range of 30-60 seconds;​ S43: Implement pressure compensation control: For multi-unit waterbed systems arranged in series, the main controller implements pressure compensation control according to the formula... Calculate the first The pressure compensation coefficient of each unit, where This is the pressure compensation coefficient, dimensionless. The pressure compensation constant is preset according to the system operating conditions. It is dimensionless and its value ranges from 0.1 to 0.

3. Unit number, starting from 1, dimensionless; The total number of units is dimensionless; the main controller will... The cleaning time for each unit is set to the standard cleaning time. This will increase the pulse duty cycle of the unit by a factor of [number]. Set to standard duty cycle The water supply to this unit is doubled, and the water supply is turned on 10% of the standard cleaning time in advance to compensate for the pressure loss of the terminal unit in the series system.

10. The multi-cell interconnecting circulating water bed cleaning process of claim 7 wherein, In step S23, the duty cycle The adjusted value range remains between 0.4 and 0.8; when the adjusted value... When the value exceeds this range, the main controller stops adjusting and outputs a pressure abnormality alarm signal.

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