An underwater gate slot cleaning device and method of use

Abstract

The present application relates to the technical field of water gate cleaning, and particularly relates to a gate slot underwater cleaning device and a use method. The gate slot underwater cleaning device comprises a frame, the frame comprises a bottom plate and vertical supports arranged at four corners of the bottom plate; one climbing structure is arranged on each vertical support, each climbing structure is provided with a climbing frame, the climbing frame and the vertical support are fixedly connected through a connecting rod, the climbing frame is suitable for being electromagnetically attracted to the inner wall of the gate slot; a horizontal sensor is arranged on the bottom plate; a controller is in communication connection with the horizontal sensor and the climbing frame; in a water entry state, the horizontal sensor senses the levelness of the bottom plate and transmits the levelness to the controller in real time, the controller controls the climbing frame to move up and down along the gate slot, so that the bottom plate is kept in a horizontal state. The present application solves the problem that the automatic cleaning device is affected by multiple factors such as water flow after entering the water, and the automatic cleaning device is inclined when moving along the gate slot, thereby affecting the dirt cleaning effect.

Description

Technical Field

[0001] This invention relates to the field of sluice gate cleaning technology, specifically to an underwater cleaning device for gate slots and its usage method. Background Technology

[0002] A sluice gate is an important hydraulic structure used to open or close water channels. It mainly consists of a main moving part, a fixed part, and opening / closing equipment. The main moving part, commonly referred to as the gate, is used to close or open the orifice. The fixed part, including the main rail, guide rail, hinge seat, and sill, is embedded around the orifice to form the gate groove for movement. In actual use, the gate groove will accumulate stones, sludge, construction waste, and other debris during long-term operation, requiring regular cleaning or repair and maintenance of eroded pits.

[0003] Existing underwater inspection and cleaning of sluice gates mostly employs underwater cleaning by divers or dredging pumps. Diver cleaning requires strict control over the flow velocity and water depth within the gate slot; in conditions of high flow velocity and great depth, underwater inspection and cleaning by divers becomes extremely difficult, dangerous, inefficient, and limited in its application. Using dredging machines, which suck up dirt from the inner walls or bottom of the gate slot, is affected by water flow and other factors upon entry into the water, causing the automatic cleaning equipment to tilt as it moves along the gate slot, thus affecting the cleaning effect. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the automatic cleaning equipment for door slot cleaning in the prior art is affected by multiple factors such as water flow after entering the water, which causes the automatic cleaning equipment to tilt when moving along the door slot, thus affecting the dirt cleaning effect. In this way, an underwater door slot cleaning device and a method of use are provided.

[0005] To address the above problems, the present invention provides an underwater cleaning device for door slots, comprising:

[0006] The frame includes a base plate and vertical supports at the four corners of the base plate. Each vertical support is provided with a climbing structure and each climbing structure is provided with a climbing frame. The climbing frame is fixedly connected to the vertical support by a connecting rod. The climbing frame is adapted to electromagnetically engage with the inner wall of the door slot.

[0007] A level sensor is mounted on the base plate;

[0008] The controller is communicatively connected to the level sensor and the climbing frame. When the device is submerged in water, the level sensor detects the levelness of the bottom plate and transmits the information to the controller in real time. The controller then controls the climbing frame to move up and down along the door slot to keep the bottom plate level.

[0009] Optionally, the climbing structure further includes a movable seat, on which a drive wheel is provided. The drive wheel meshes with a rack on the side of the connecting plate. The movable seat contains a first power component and a driven wheel. The drive wheel and the driven wheel are located on opposite sides of the connecting plate. The drive end of the first power component is rotatably connected to the drive wheel. The drive wheel and the driven wheel are rotatably connected through an intermediate wheel. The driven wheel meshes with a rack on the side of the connecting plate.

[0010] Optionally, the movable seat is provided with a first electromagnetic suction plate assembly facing the inner wall of the door slot, the connecting plate is fixedly provided with a fixed seat at one end away from the movable seat, and the fixed seat is provided with a second electromagnetic suction plate assembly facing the inner wall of the door slot.

[0011] Optionally, the frame further includes a horizontal brace, which is fixedly connected to the vertical brace, and a camera is mounted on the horizontal brace.

[0012] Optionally, the level sensor includes a base, a central contact ball disposed on the base, and a plurality of contacts disposed on the inner wall of the base. The central contact ball is connected to the base via a conductive wire, and the central contact ball is filled with hydrogen or nitrogen.

[0013] Optionally, the lower surface of the base plate is provided with at least one second power component and at least one obstacle clearing structure. The lower surface of the base plate is provided with at least one slide rail along the length direction. The second power component drives the obstacle clearing structure to slide along the slide rail through a displacement chain. The second power component, the obstacle clearing structure and the slide rail are all arranged in a one-to-one correspondence.

[0014] Optionally, the obstacle removal structure includes an obstacle removal arm and / or a dredging machine, wherein the obstacle removal arm and / or the dredging machine are slidably connected to a slide rail via a shift seat.

[0015] Optionally, the upper surface of the base plate is provided with a sealed chamber and a generator. The sealed chamber is equipped with a controller, a power supply, and a signal transceiver. The surface of the sealed chamber is provided with a control panel. The generator is connected to the power supply line.

[0016] A method for using an underwater cleaning device for a door slot: a level sensor senses the levelness of the bottom plate in real time in the water and transmits the information to a controller. The controller then controls one or more climbing frames to move up and down along the door slot to adjust the levelness of the bottom plate.

[0017] Optionally, the following steps are included:

[0018] (1) Assembly at the door slot: Select appropriate frame members according to the door slot size, assemble the frame and accessories on the platform near the door slot, use lifting equipment to hoist the device as a whole to the opening of the door slot, start the device to power supply, and use electromagnetic attraction between the climbing frame and the inner wall of the door slot to fix the device as a whole at the door slot opening.

[0019] (2) The frame moves and positions itself within the door slot by alternating electromagnetic attraction between the fixed seats and shift seats of each climbing frame and the door slot, and the shift seats move in steps to gradually lower the frame from the door slot opening. The level sensor arranged on the bottom plate of the frame automatically senses the deviation value and transmits the signal to the analysis and control device. If the deviation is exceeded, the frame is adjusted to a reasonable range by fine-tuning the movement of one or more climbing frames before continuing to lower the frame.

[0020] (3) Inspection and cleaning of silt: After the frame is submerged, the cameras on the clearing arm and the sludge removal machine collect video signals. The controller has a built-in program for image capture and recognition. The acquired image contours are used to identify points and then compared with the built-in images in the image library to make a reasonable judgment on the characteristics, quantity, and volume of silt in the gate slot, even in turbid underwater conditions. The controller controls the clearing arm and the sludge removal machine to perform multi-dimensional movements to inspect and clean the gate slot and bottom sill. The clearing arm picks up and cleans large objects, and the sludge removal machine washes and cleans the silt. Alternatively, the clearing arm and the sludge removal machine can move to the same part at the bottom of the frame for coordinated cleaning. The clearing arm is connected to a robotic arm by a rotating sleeve or snap-fit ​​method. The robotic arm is one of an electric drill, welding gun, scraper, or spray gun.

[0021] (4) After cleaning, return and dismantle the frame. After cleaning, follow the reverse of the above-mentioned lowering procedure to lift the frame to the door slot opening and complete the operation.

[0022] The technical solution of this invention has the following advantages:

[0023] 1. The underwater cleaning device for a door slot provided by the present invention includes: a frame, the frame including a base plate; and vertical supports disposed at the four corners of the base plate, each vertical support being provided with a climbing structure, each climbing structure being provided with a climbing frame, the climbing frame being fixedly connected to the vertical support by a connecting rod, the climbing frame being adapted to electromagnetically engage with the inner wall of the door slot; a level sensor disposed on the base plate; and a controller communicatively connected to the level sensor and the climbing frame. In the water-immersed state, the level sensor senses the levelness of the base plate and transmits it to the controller, the controller controlling the climbing frame to move up and down along the door slot to keep the base plate level. When the frame enters the water, the base plate is not always level due to factors such as water flow. When the base plate tilts, a level sensor detects the tilt and transmits the information to the controller. The controller then controls one or more climbing structures on the vertical supports to move the climbing frames along the doorway up and down to adjust the level of the base plate. Once the correct position is reached, the climbing frames are secured to the inner wall of the doorway via electromagnetic attraction, ensuring the device operates normally and achieves the desired dirt removal effect. Furthermore, even in situations with high water flow and deep water, there is no need for divers to enter the water for inspection or cleaning, offering advantages such as low risk, high efficiency, and good economy.

[0024] 2. The underwater cleaning device for door slots provided by this invention includes a climbing structure further comprising a movable seat. The movable seat is equipped with a drive wheel, which meshes with a rack on the side of the connecting plate. Through the meshing of the drive wheel and the rack, the movable seat moves relative to the connecting plate of the climbing frame. The movable seat contains a first power component and a driven wheel. The drive wheel and driven wheel are located on opposite sides of the connecting plate. The drive end of the first power component is rotatably connected to the drive wheel. The drive wheel and driven wheel are rotatably connected via an intermediate wheel. The driven wheel meshes with a rack on the side of the connecting plate. The first power component drives the drive wheel to rotate, and the drive wheel drives the driven wheel to rotate via the intermediate wheel. The drive wheel and driven wheel are located on the connecting plate to ensure balanced movement of the connecting plate during operation.

[0025] 3. The underwater cleaning device for door slots provided by this invention includes a first electromagnetic suction plate assembly on the movable seat facing the inner wall of the door slot. When the movable seat does not need to move, the first electromagnetic suction plate assembly is energized and attracts the rigid component inside the door slot to maintain its fixation. When the movable seat needs to move, the first electromagnetic suction plate assembly is de-energized and separates from the door slot. A fixed seat is fixedly provided at the end of the connecting plate away from the movable seat. A second electromagnetic suction plate assembly is provided on the fixed seat facing the inner wall of the door slot. When the fixed seat does not need to move, the second electromagnetic suction plate assembly is energized and attracts the rigid component inside the door slot to maintain its fixation. When the fixed seat needs to move, the second electromagnetic suction plate assembly is de-energized and separates from the door slot.

[0026] 4. The underwater cleaning device for door slots provided by the present invention further includes a horizontal brace in the frame, which is fixedly connected to the vertical brace. A camera is provided on the horizontal brace to capture underwater images in real time.

[0027] 5. The underwater cleaning device for door slots provided by the present invention includes a horizontal sensor comprising a base, a central contact ball disposed on the base, and several contacts disposed on the inner wall of the base. The central contact ball is connected to the base via a conductive wire and is filled with hydrogen or nitrogen. The horizontal sensor consists of a central contact ball and several peripheral contacts. The central contact ball is connected to the base via a conductive wire, and is filled with a gas lighter than air, such as hydrogen, so that it floats in the air and remains vertical. When the base plate tilts, causing the horizontal sensor to tilt, the contact ball contacts one of the peripheral contacts to conduct electricity, emitting a tilt indication signal so that the control system can make adjustments.

[0028] 6. The underwater cleaning device for door slots provided by the present invention includes at least one second power component and at least one obstacle-clearing structure on the lower surface of the base plate. At least one slide rail is provided along the length of the lower surface of the base plate. The second power component drives the obstacle-clearing structure to slide along the slide rail via a displacement chain. After reaching the bottom of the door slot, the obstacle-clearing structure slides along the length of the base plate to remove silt and other debris from the bottom of the door slot. The second power component, obstacle-clearing structure, and slide rail are all arranged in a one-to-one correspondence, so that one second power component drives one obstacle-clearing structure to move via one slide rail, thereby clearing obstacles of different sizes.

[0029] 7. The underwater cleaning device for door slots provided by the present invention includes a sliding seat for the obstacle removal structure, which includes an obstacle removal arm and / or a dredging machine. The obstacle removal arm and / or the dredging machine are slidably connected to the slide rail through the sliding seat, thereby realizing the connection between the obstacle removal structure and the slide rail through the sliding seat.

[0030] 8. The underwater cleaning device for door slots provided by this invention has a sealed chamber and a generator on the upper surface of the base plate. The sealed chamber houses a controller, power supply, and signal transceiver to achieve waterproofing of the controller, power supply, and signal transceiver, ensuring normal operation underwater. A control panel is provided on the surface of the sealed chamber, connecting the generator to the power supply line. The control panel facilitates on-site operation by underwater personnel.

[0031] 9. The method of using the underwater cleaning device for the door slot provided by the present invention is as follows: the level sensor senses the levelness of the bottom plate in real time in the water and transmits it to the controller. The controller controls one or more climbing frames to move up and down along the door slot to adjust the levelness of the bottom plate, so that the bottom plate is always in a level state. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the connection between the underwater cleaning device for the door slot and the door slot provided in an embodiment of the present invention.

[0034] Figure 2 This is a schematic diagram of the underwater cleaning device for door slots provided in an embodiment of the present invention;

[0035] Figure 3 This is a top view of the underwater cleaning device for door slots provided in an embodiment of the present invention;

[0036] Figure 4This is a side view of the underwater cleaning device for door slots provided in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the climbing structure of the underwater cleaning device for the gate slot provided in an embodiment of the present invention.

[0038] Figure 6 This is a schematic diagram of the structure of the horizontal sensor of the underwater cleaning device for the door slot provided in an embodiment of the present invention.

[0039] Explanation of reference numerals in the attached drawings: 1. Door slot; 2. Climbing frame; 3. Connecting rod; 4. Horizontal brace; 5. Base plate; 6. Sealing chamber; 7. Horizontal sensor; 8. Second power component; 9. Generator; 10. Camera; 11. Dredging machine; 12. Obstacle clearing arm; 13. Shifting seat; 14. Shifting chain; 15. Vertical brace; 16. Slide rail; 17. Connecting plate; 18. First power component; 19. Movable seat; 20. Fixed seat; 21. Drive wheel; 22. Driven wheel; 23. First electromagnetic chuck assembly; 24. Second electromagnetic chuck assembly; 25. Base; 26. Contact point; 27. Contact ball. Detailed Implementation

[0040] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] Example 1

[0045] An underwater cleaning device for a door slot 1 includes: a frame, the frame including a base plate 5 and vertical supports 15 at the four corners of the base plate 5, each vertical support 15 having a climbing structure, each climbing structure having a climbing frame 2, the climbing frame 2 being fixedly connected to the vertical support 15 by a connecting rod 3, the climbing frame 2 being adapted to electromagnetically engage with the inner wall of the door slot 1; a level sensor 7, disposed on the base plate 5; and a controller, communicatively connected to the level sensor 7 and the climbing frame 2. In the water-immersed state, the level sensor 7 senses the levelness of the base plate 5 and transmits it to the controller, the controller controlling the climbing frame 2 to move up and down along the door slot 1 to keep the base plate 5 level. When the frame enters the water, the base plate 5 is not always level due to factors such as water flow. When the base plate 5 tilts, the level sensor detects the tilt and transmits the information to the controller. The controller then controls one or more climbing structures on the vertical support 15 to move the climbing frame 2 along the door slot 1 to adjust the level of the base plate 5. Once it reaches the appropriate position, the climbing frame 2 is fixed to the inner wall of the door slot 1 by electromagnetic attraction, ensuring the device is in normal operation and achieving the desired dirt removal effect. Furthermore, even in situations with high water flow velocity and deep water, there is no need for divers to enter the water for inspection or cleaning, offering advantages such as low risk, high efficiency, and good economy.

[0046] Example 2

[0047] like Figure 1 - Figure 6 A specific embodiment of the underwater cleaning device for the gate slot 1 shown includes: a frame, a base plate 5, and a vertical support 15 fixed at each of the four corners of the base plate 5. Each vertical support 15 is connected to a climbing structure via a connecting rod 3, and the climbing structure is adapted to be electromagnetically attracted to the inner wall of the gate slot 1.

[0048] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the frame is detachable and consists of a base plate 5, vertical supports 15, and horizontal supports 4. The upper surface of the base plate 5 houses a generator 9, a second power component 8, a sealing chamber 6, and a level sensor 7. The lower surface of the base plate 5 houses a clearing structure. The frame supports the clearing structure, the second power component 8, the generator 9, and the sealing chamber 6. Specifically, the level sensor 7 is an electronic contact 26 inductive level, used to detect the levelness of the base plate 5 and the clearing device. The level consists of a central contact ball 27 and several contacts 26. The central contact ball 27 is made of thin metal and connected to the base 25 by a thin conductive wire. The ball 27 is filled with hydrogen gas, which is lighter than air, allowing it to float and remain vertical. When the base plate 5 tilts, causing the level sensor 7 to tilt, the central contact ball 27 contacts one of the edge contacts 26, generating a tilt indication signal for the control system to adjust.

[0049] like Figure 4 As shown, the climbing structure includes a climbing frame 2, and the connecting plate 17 of the climbing frame 2 is fixedly connected to the vertical support 15 of the frame by a connecting rod 3. The climbing structure also includes a movable seat 19, on which a drive wheel 21 is provided, and the drive wheel 21 is engaged with a rack on the side of the connecting plate 17.

[0050] By measuring the levelness of the base plate 5 through the level sensor 7, when the base plate 5 is tilted, the level sensor senses the tilt of the base plate 5 and transmits it to the controller. The controller then calculates and controls one or more climbing structures at the four corners of the base plate 5. The climbing frame 2 of any one or more climbing structures moves up and down along the door groove 1 to adjust the levelness of the base plate 5 and ensure that the device is in normal operating condition.

[0051] like Figure 4 , Figure 5As shown, the climbing structure also includes a movable seat 19 located above the connecting plate 17. The movable seat 19 houses a first power component 18, a drive wheel 21, an intermediate wheel, and a driven wheel 22. A drive shaft is provided between the first power component 18 and the drive wheel 21, and an intermediate wheel is provided between the drive wheel 21 and the driven wheel 22. The drive wheel 21 and the driven wheel 22 are located on opposite sides of the connecting plate 17. Specifically, the first power component 18 is a drive motor and reducer, and the drive wheel 21, driven wheel 22, and intermediate wheel are all gears. The first power component 18 is located at the front end of the drive wheel 21, while no power component is located at the front end of the driven wheel 22. The single power component ensures the stability and reliability of torque transmission. The drive motor drives the drive shaft to rotate, which in turn drives the drive wheel 21 to rotate. The drive wheel 21 drives the driven wheel 22 to rotate via intermediate wheels. The drive wheel 21 and the driven wheel 22 are respectively arranged in the movable seat 19 to mesh with the racks on both sides of the connecting plate 17. It should be noted that there are 4 intermediate wheels to ensure that the drive wheel 21 and the driven wheel 22 rotate in opposite directions, so that the drive wheel 21 and the driven wheel 22 on both sides of the connecting plate 17 move in the same upward or downward direction. To secure the climbing structure, a first electromagnetic chuck assembly 23 is provided on the movable seat 19 facing the inner wall of the door slot 1. A fixed seat 20 is fixedly provided on the end of the connecting plate 17 away from the movable seat 19. To simplify the movement structure, the fixed seat 20 is fixedly located at the lower end of the connecting plate 17. A second electromagnetic chuck assembly 24 is provided on the fixed seat 20 facing the inner wall of the door slot 1. The first electromagnetic chuck assembly 23 includes a first electromagnetic base plate on the movable seat 19 and a first electromagnetic plate on the first electromagnetic base plate. The second electromagnetic chuck assembly 24 includes a second electromagnetic base plate on the movable seat 19 and an electromagnetic plate on the second electromagnetic base plate. The fixed seat 20 is provided at the lower or upper part of the climbing frame 2. The movable seat 19 is provided on the other side of the climbing frame 2 where the fixed seat 20 is located. The upper and lower positions of the movable seat 19 and the fixed seat 20 are interchangeable.

[0052] like Figure 1 , Figure 2 and Figure 3 As shown, two sealed chambers 6 are also arranged on the upper surface of the base plate 5. Each sealed chamber 6 houses a power supply, controller, signal transceiver, power frequency converter, and energy storage device. The sealed chambers 6 are connected to external equipment via waterproof connectors and cables to transmit electrical energy, control commands, and operational data. They are also connected to the monitoring room above water via a towable cable. If divers are conducting diving operations alongside the frame, the waterproof control panel on the sealed chamber 6 can also enable on-site underwater operation.

[0053] To remove silt and other dirt from the bottom of the door frame, such as Figure 2 , Figure 3 and Figure 4As shown, a slide rail 16 is provided along the length of the lower surface of the base plate 5. A bracket with an internal roller is fitted onto the slide rail 16. A shift seat 13 is connected below the bracket, and a clearing structure is connected below the shift seat 13. In principle, each clearing structure is set on a separate slide rail 16 to prevent interference from shared rails during operation. A second power component 8 is provided on the base plate 5. The second power component 8 can be multiple drive mechanisms. In principle, each second power component 8 drives one clearing structure, that is, the second power component 8, the slide rail 16, and the clearing structure are set in a one-to-one correspondence. Specifically, the second power component 8 is a travel motor and a reduction gearbox. The obstacle removal structure includes an obstacle removal arm 12 and a dredging machine 11. The obstacle removal structure is moved by a second power component 8 and a drive gear via a shifting chain 14, which in turn moves the brackets and moving seats of the obstacle removal arm 12 and the dredging machine 11. The obstacle removal arm 12 and the dredging machine 11 are slidably connected to a slide rail 16 via a shifting seat 13. Preferably, the shifting seat 13 is embedded in the rail and installed together, allowing it to reciprocate on the rail. Depending on the number of obstacle removal structures, a single-rail or multi-rail arrangement can be used.

[0054] like Figure 2 and Figure 3 As shown, a generator 9 is also arranged on the frame to provide power for the entire device. The generator 9 is connected to the power frequency converter, energy storage device and power line in the sealed chamber 6.

[0055] like Figure 4 As shown, cameras 10 are installed above the cross brace 4 and at the ends of the clearing arm 12 and the dredging machine 11. Cameras 10 have pan-tilt-zoom (PTZ) capabilities, supplementary lighting, and night vision, facilitating timely tracking and all-around observation, and also enabling observation in environments with poor water quality and lighting conditions. The cameras 10 above the cross brace 4 allow for overall observation of the surrounding environment while submerged, while those at the ends of the clearing arm 12 and the dredging machine 11 allow for precise observation of specific areas during operation. Signals collected by cameras 10 are transmitted via wired connection to the controller inside the sealed chamber 6 for signal processing, and then transmitted via wired connection to the control room above the water surface. Commands issued by the control room are also transmitted via wired connection, ensuring stable signal transmission. After the video signals collected by cameras 10 are transmitted to the controller in the sealed chamber 6 or the control console in the control room, the built-in control software performs video information recognition and analysis, automatically identifying, judging, and operating according to pre-set tasks, simplifying operations, ensuring continuity and reliability, and effectively improving the level of intelligence.

[0056] It should be noted that this patented device can adopt two control modes: remote central control and local control, as well as two control methods: automatic control and manual control. Specifically, the control system consists of a central control unit located above the water surface and a local control unit located within a sealed hull. The central control unit above the water surface is mainly used by operators for overall control of the device, timely observation, and real-time recording and analysis of data and information. The central control unit can also perform automatic control under programmed control. The local control unit primarily uses automatic control, but can also be operated by personnel accompanying the detection platform underwater when necessary.

[0057] In the specific implementation process, the frame is assembled according to the structure of the door slot 1, using standard interchangeable horizontal braces 4 or vertical braces 15. These are then assembled into frames of varying lengths and widths to inspect door slots 1 of different sizes. After the frame, the climbing structure installed on it, the generator 9, etc., are assembled, the entire device is first moved to the opening of the door slot 1. Power is supplied by the energy storage device in the sealed chamber 6. After power is supplied, the movable seat 19 or the fixed seat 20 is electromagnetically attracted or separated from the steel components of the door slot 1, moving in a step-like linkage between the movable seat 19 and the fixed seat 20. That is, while the movable seat 19 is attracted and fixed to the door slot 1, the fixed seat 20 is separated from the door slot 1; or while the movable seat 19 is separated from the door slot 1, the fixed seat 20 is attracted and fixed to the door slot 1. Combined with the first power component 18, the device is driven by the meshing of gears and racks to achieve a gradual descent from the opening of the door slot 1. The level sensor 7 on the base plate 5 is connected to the sealed chamber 6 via a wire. If a level deviation is detected during movement or operation, the level indicator makes contact with the surrounding contact point 26, transmitting a signal to the controller inside the sealed chamber 6. The controller sends the information to the central control room. After receiving the signal, the control panel determines whether the deviation exceeds the range. If the deviation does not exceed the range, no adjustment is made; if it exceeds the range, adjustment is made. The adjustment process involves overall coordinated control of each climbing frame 2. That is, while stopping the movement of other climbing frames 2, the climbing frame 2 on the lower side is slightly raised. Specifically, the first power component 18 drives the drive wheel 21 and the driven wheel 22 to rotate, causing the connecting plate 17 to move upward, which in turn moves the base plate 5 on the lower side upward until the base plate 5 is leveled within a reasonable range.

[0058] In the submerged state, the second power unit 8 drives the clearing arm 12 and the dredging machine 11 to move. The clearing arm 12 and the dredging machine 11 can perform multi-dimensional movements and rotations to inspect the vertical surface and bottom sill surface of the gate slot 1. The robotic arm of the clearing arm 12 picks up and cleans up large pieces of debris. These pieces of debris can be carried away from the gate slot 1 area by the water flow after being cleaned by the clearing arm 12, or they can be held by the clearing arm 12 and placed into the frame. After cleaning, they are carried to the water surface for inspection and analysis via the frame. The base of the robotic arm is rotatably connected to the clearing arm 12. The dredging machine 11 washes away bulk mud and other silt. When it is necessary to clean by grabbing and blowing at the same time, the clearing arm 12 and the dredging machine 11 work together to clean. At this time, the camera 10, installed on the obstacle clearing arm 12 and the dredging machine 11, automatically identifies the captured images under the program control of the control console. The controller has a built-in image capture and recognition program that compares the image contours acquired by the camera 10 with the built-in images in the image library to determine the characteristics, quantity, and volume of the silt in the gate slot 1, even in turbid underwater conditions, facilitating cleaning. This allows for automatic grabbing or blowing cleaning under program control. It should be noted that when underwater fine cleaning or measurement is required, on-site personnel can enter the water inside the frame to perform the work. The frame can also be used as a loading platform for underwater transport of objects. After cleaning is completed, the operation is reversed according to the descent procedure to lift the frame to the opening of the gate slot 1 to complete the operation.

[0059] The underwater cleaning device for the slot 1 provided by this invention has the following advantages: (1) This patent has a simple structure and strong adaptability. It can adapt to situations with large water depth and high flow velocity. It can be used for underwater operations in an unmanned manner or with personnel. The frame can adapt to the maintenance needs of various orifice sizes through standard parts assembly. It can be used not only for underwater operations, but also for various situations of other slot operations on the water; (2) It can undertake a variety of underwater operations. It can be used for various underwater dredging situations, as well as underwater welding, measurement, repair, drilling, spraying and other working conditions and needs. It can also meet the needs of fast and accurate loading and unloading of goods, and can meet a variety of operation forms, covering various needs of underwater construction; (3) It is highly innovative and adopts innovative devices such as electromagnetic suction climbing frame 2, electronic contact 26 inductive level, assembled frame, replaceable obstacle clearing structure, underwater self-powered power supply, and underwater on-site control. The electromagnetic suction climbing frame 2 has a simple and reliable structure and is very reliable and flexible. The electronic contact 26 inductive level is highly sensitive and reliable, and can meet the needs of real-time system adjustment.

[0060] As an alternative implementation, the robotic arm of the obstacle removal arm 12 can also be a drill, scraper, spray gun, etc., to perform precise and complex operations. In addition to using its equipped robotic arm to grab and clean up debris, the robotic arm of the obstacle removal arm 12 preferably adopts a rotating sleeve or snap-fit ​​method, and can also be replaced with professional repair tools such as drills, welding guns, scrapers, and spray guns to perform a variety of precise and complex underwater operations.

[0061] As an alternative implementation, multiple obstacle-clearing structures can also be arranged along a common track. The obstacle-clearing structures can also employ a non-rail sliding method such as a slot.

[0062] As an alternative implementation, the obstacle clearing structure can also be moved by other traction methods such as steel wire ropes.

[0063] As an alternative implementation, the number of intermediate wheels can also be an even number, such as 2 or 6.

[0064] As an alternative implementation, the number of sealed chambers 6 can be 1, 3, 4 or even more.

[0065] As an alternative implementation, the contact ball 27 is filled with nitrogen or other gases with a lower density than air.

[0066] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A gate slot underwater cleaning device, characterized in that, include: The frame includes a base plate (5) and vertical supports (15) at the four corners of the base plate (5). Each vertical support (15) is provided with a climbing structure, and each climbing structure is provided with a climbing frame (2). The climbing frame (2) is fixedly connected to the vertical support (15) by a connecting rod (3). The climbing frame (2) is suitable for electromagnetic attraction with the inner wall of the door slot (1). A horizontal sensor (7) is mounted on the base plate (5); The controller is connected to the level sensor (7) and the climbing frame (2). When the device is in the water, the level sensor (7) senses the levelness of the bottom plate (5) and transmits it to the controller in real time. The controller controls the climbing frame (2) to move up and down along the door groove (1) so that the bottom plate (5) remains level. The climbing structure also includes a movable seat (19), on which a drive wheel (21) is provided. The drive wheel (21) meshes with a rack on the side of the connecting plate (17). The movable seat (19) contains a first power component (18) and a driven wheel (22). The drive wheel (21) and the driven wheel (22) are respectively located on both sides of the connecting plate (17). The drive end of the first power component (18) is rotatably connected to the drive wheel (21). The drive wheel (21) and the driven wheel (22) are rotatably connected through an intermediate wheel. The driven wheel (22) meshes with a rack on the side of the connecting plate (17). The movable seat (19) is provided with a first electromagnetic suction plate assembly (23) facing the inner wall of the door groove (1), and a fixed seat (20) is fixedly provided at the end of the connecting plate (17) away from the movable seat (19). The fixed seat (20) is provided with a second electromagnetic suction plate assembly (24) facing the inner wall of the door groove (1). If a level deviation is detected during movement or operation, and if the level deviation exceeds the range, an adjustment is made. The adjustment process involves overall coordination control of each climbing frame (2). That is, while stopping the movement of other climbing frames (2), the climbing frame (2) on the lower side is slightly raised. During adjustment, the first power component (18) of the lower climbing frame (2) drives the drive wheel (21) and the driven wheel (22) to rotate, causing the connecting plate (17) to move upward and drive the bottom plate (5) on the lower side to move upward until the bottom plate (5) is leveled within a reasonable range.

2. The underwater cleaning device for door slots according to claim 1, characterized in that, The frame also includes a horizontal brace (4), which is fixedly connected to a vertical brace (15), and a camera (10) is provided on the horizontal brace (4).

3. The underwater cleaning device for door slots according to claim 1, characterized in that, The horizontal sensor (7) includes a base (25), a central contact ball (27) disposed on the base (25), and a plurality of contacts (26) disposed on the inner wall of the base (25). The central contact ball (27) is connected to the base (25) by a conductive wire, and the central contact ball (27) is filled with hydrogen or nitrogen.

4. The underwater cleaning device for door slots according to any one of claims 1-3, characterized in that, The lower surface of the base plate (5) is provided with at least one second power component (8) and at least one obstacle clearing structure. The lower surface of the base plate (5) is provided with at least one slide rail (16) along the length direction. The second power component (8) drives the obstacle clearing structure to slide along the slide rail (16) through the displacement chain (14). The second power component (8), the obstacle clearing structure and the slide rail (16) are all provided in a one-to-one correspondence.

5. The underwater cleaning device for door slots according to claim 4, characterized in that, The obstacle clearing structure includes an obstacle clearing arm (12) and / or a dredging machine (11), which are slidably connected to a slide rail (16) via a shift seat (13).

6. The underwater cleaning device for door slots according to claim 4, characterized in that, The upper surface of the base plate (5) is provided with a sealed chamber (6) and a generator (9). The sealed chamber (6) is equipped with a controller, a power supply and a signal transceiver. The surface of the sealed chamber (6) is provided with a control panel. The generator (9) is connected to the power supply line.

7. The method of using the underwater cleaning device for door slots as described in claim 5, characterized in that, The level sensor (7) senses the level of the bottom plate (5) in real time in the water and transmits it to the controller. The controller controls one or more climbing frames (2) to move up and down along the door groove (1) to adjust the level of the bottom plate (5).

8. The method of using the underwater cleaning device for the gate slot according to claim 7, characterized in that, Includes the following steps: (1) Assembly at the opening of the door slot (1): According to the size of the door slot (1), select appropriate frame members, assemble the frame and accessories on the platform near the opening of the door slot (1), use lifting equipment to hoist the whole device to the opening of the door slot (1), start the device to power supply, and use electromagnetic attraction between the climbing frame (2) and the inner wall of the door slot (1) to fix the whole device at the opening of the door slot (1); (2) The frame moves and positions itself within the door slot (1) by alternating electromagnetic attraction between the fixed seat (20) and the shifting seat (13) of each climbing frame (2) and the door slot (1). The shifting seat (13) moves in a step-by-step manner so that the frame gradually descends from the opening of the door slot (1). The horizontal sensor (7) arranged on the bottom plate (5) of the frame automatically senses the deviation value and transmits the signal to the analysis and control device. If the deviation is exceeded, the frame is adjusted to a reasonable range by moving one or more climbing frames (2) and then the frame continues to descend. (3) Inspection and cleaning of silt: After the frame is submerged in water, the camera (10) on the obstacle clearing arm (12) and / or the sludge removal machine (11) collects video signals. The controller has a built-in program for image capture and recognition. The obtained image contours are used to make points and then compared with the built-in images in the image library to make a judgment. In order to reasonably identify and judge the characteristics, quantity and volume of silt in the gate slot (1) when the water quality is turbid underwater; the controller controls the obstacle clearing arm (12) and / or the sludge removal machine (11) to perform multi-dimensional movement to inspect and clean the gate slot (1) and the bottom sill. The obstacle clearing arm (12) clamps and cleans large objects, and the sludge removal machine (11) washes and cleans the silt. Alternatively, the obstacle clearing arm (12) and the sludge removal machine (11) can move to the same part at the bottom of the frame for cooperative cleaning. The obstacle clearing arm (12) is connected to a robotic arm by a rotating sleeve or snap-fit ​​method. The robotic arm is one of an electric drill, an electric welding gun, a scraper or a spray gun. (4) After cleaning, return and dismantle the frame. After cleaning, press the reverse operation of the lowering procedure to lift the frame to the door slot (1) opening and complete the operation.

Images