An automatic cleaning device and method for the dirt on the surface of a dam

Abstract

The present invention provides an automatic cleaning device and method for the dirt on the surface of a dam, including a bearing plate body. A flushing module is installed on the bearing plate body, at the front end of one side of the length of the bearing plate body, and uses high-pressure water flow to flush the dirt on the dam surface. A water storage module is installed and fixed on the bearing plate body, on the same side as the flushing module. A cleaning module is installed to cooperate with the high-pressure water flow flushing to complete the dam surface cleaning task. A ring-shaped hook is installed for the gantry crane to tow, so that the cleaning device can move on the dam surface. A vision module is installed to collect the image information of the dam surface. This automatic cleaning device makes the cleaning device closely adhere to the dam surface with different slopes by increasing the self-weight of the device, increases the adhesion between the universal wheels and the dam surface, and avoids the displacement of the cleaning device caused by high-pressure flushing. It can conduct video observation through the camera body, thereby taking the image information of the dirt on the dam surface, automatically adjusting the number of cleaning operations and the cleaning intensity, and achieving the purpose of removing the stubborn dirt on the dam surface.

Description

Technical Field

[0001] The present invention relates to the equipment and technical field of dam cleaning, and particularly to an automatic cleaning device and method for the dirt on the dam surface. Background Art

[0002] During the use of the dam, the dirt, silt and various sundries on its surface will cover areas such as the dam seepage and cracks. This not only makes it difficult for the staff to timely discover potential safety hazards and take corresponding measures, but also hinders the normal development of inspection and maintenance work. Therefore, in order to ensure that the dam can be maintained in a timely and effective manner, it is necessary to design a cleaning device and method that can quickly remove the dirt on the dam surface to efficiently achieve the cleaning work of the dam body surface.

[0003] Most common dam cleaning methods rely on the staff to hold a high-pressure water gun to complete the cleaning operation. This not only has a large working intensity and high difficulty, but also due to factors such as the difficult cleaning of the dirt adhered to the outer wall of the dam, the limited water carrying capacity of the engineering vehicle, and the large cleaning area of the dam body surface, the working efficiency of manual cleaning is low and the cleaning cost is high. Although many existing devices for cleaning the dam body surface have expanded the cleaning range and improved the cleaning efficiency, in the actual use process, they cannot adapt to cleaning operations on dam surfaces with different slopes, and the adjustment range of the cleaning angle of the high-pressure nozzle is limited, resulting in blind spots in the high-pressure flushing range of the cleaning device for the dirt on the dam surface. At the same time, the staff still needs to carry out high-altitude operations for a long time. Therefore, it is necessary to innovatively design an automatic cleaning device and cleaning method. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic cleaning device and method for the dirt on the dam surface. This automatic cleaning device can adapt to cleaning operations on dam surfaces with different slopes, collect image information of the dam surface through a camera, automatically identify the dirt area, and automatically adjust the number of cleaning operations and cleaning intensity to achieve the purpose of removing stubborn dirt on the dam surface.

[0005] In order to achieve the above technical features, the object of the present invention is realized as follows: An automatic cleaning device for the dirt on the dam surface, which includes:

[0006] A bearing plate body: used to connect and bear each component;

[0007] A flushing module: placed at the front end of one side of the length of the bearing plate body, and uses high-pressure water flow to flush the dirt on the dam surface;

[0008] A water storage module: fixed on the bearing plate body, on the same side as the flushing module, and makes the entire automatic cleaning device closely adhere to the dam surface with different slopes by increasing the self-weight of the device, increasing the adhesion between the universal wheels and the dam surface, and avoiding the displacement of the automatic cleaning device caused by high-pressure flushing;

[0009] Cleaning module: Installed in the chassis on the bearing plate body, it cooperates with high-pressure water flow for flushing to complete the dam surface cleaning task;

[0010] Universal wheels: Installed on both sides of the bottom surface of the bearing plate body, two on each side, arranged with larger front wheels and smaller rear wheels;

[0011] Ring hooks: Fixed on both sides of the rear end of the upper surface of the bearing plate body, one on each side, for the gantry crane to tow;

[0012] Vision module: Installed on the midline of the rear end of the upper surface of the bearing plate body, used to identify the dirt area.

[0013] The bearing plate body is the main carrier for completing the cleaning task. A storage hardware, a wireless transmission module, a control system, and a pressure sensor are installed inside the bearing plate body; the pressure between the universal wheel and the dam surface is collected by the first pressure sensor to judge whether the universal wheel of the cleaning device is suspended, which is used as a condition for determining the start of the water storage operation during the cleaning task; the second pressure sensor is used to obtain the pressure between the electric disc brush and the dam surface and control the length of the telescopic arm; the remote operator appropriately adjusts the cleaning intensity according to the values of the first pressure sensor and the second pressure sensor according to the cleaning task requirements.

[0014] The ring hooks are fixed on both sides of the bearing plate body, one on each side, and are connected to one end of the towing rope and the safety rope; the other end of the towing rope is connected to the pulling door motor on the dam top to control the up and down movement of the automatic cleaning device on the dam surface; the other end of the safety rope is installed on the dam top to prevent the automatic cleaning device from sliding down out of control and falling into the water.

[0015] The flushing module includes a pressurizing device, which is fixed at the front end of one side of the bearing plate body along its length; a water supply pipe is connected above the pressurizing device and is connected to the water storage tank; a number of nozzles are evenly installed along the length direction of the pressurizing device; the number of nozzles is fixed on the pressurizing device at a certain angle to the ground, and the remote operator can control the pressurizing device by the internal control system to adjust the water pressure of the nozzles.

[0016] The water storage module includes a water storage tank, which is fixed on the midline of the bearing plate body, on the same side as the pressurizing device, and is used to increase the adhesion between the universal wheel and the dam surface and prevent the cleaning device from shifting due to high-pressure flushing; the water pump is placed along the midline direction behind the water storage tank; the hub is installed on the left side of the upper surface of the bearing plate body, and its built-in motor winds and unwinds the water intake pipe, which is connected to the water pump through the water delivery pipe; the start and stop of the water storage operation are determined according to the value of the first pressure sensor.

[0017] The hub winds and unwinds the water intake pipe through a built-in motor placed inside the drum. At the same time, the drum is rotatably installed on the support rod through a turntable and a fastener; the water supply pipe is connected to the water pipe rotary joint through an external hole on the left rod of the support rod, and one end of the water pipe rotary joint is connected to the water intake pipe through an external hole on the drum; in order to make the water intake pipe slide down along the dam surface to underwater, a counterweight is sleeved on the pipe orifice of the water intake pipe, and rollers are installed on the outer ring of the counterweight.

[0018] The cleaning module includes four electric push rod mechanisms and is fixed to the bottom of the bearing plate body; the electric push rod mechanism includes a driving motor and a telescopic arm; an electric disc brush is fixedly installed at the top of the telescopic arm; the chassis is used to install and fix the electric push rod mechanism.

[0019] The vision module includes a light source, a camera and a motor; the light source is turned on to supplement light for the camera; the camera cooperates with the motor, and the motor is connected to the control system to realize the rotation operation of the camera. The control system is divided into an internal control system and an external control system. The internal control system is composed of an internal control chip, and the internal control chip is used to control the motor, camera, light source, motor, telescopic arm, receive and send signals; the internal control system and the external control system are connected by means of a wireless network; the external control system is used to receive the dam surface image sent by the bearing plate body, identify the dirt area and simultaneously control the overall device to complete the cleaning task.

[0020] A method for cleaning the dirt on the dam surface using an automatic cleaning device for the dirt on the dam surface is as follows:

[0021] Step 1, initialize the cleaning parameters and complete the water storage operation:

[0022] When cleaning the dam surface, the three parameters of the flushing pressure, flushing angle and flushing target distance need to be determined. The specific steps are as follows:

[0023] Step 1-1, setting the flushing pressure:

[0024] For the dirt on the dam surface, the key to whether it can be removed is that the jet pressure P k generated by the water jet on it must be greater than a certain critical value P th to overcome the adhesion force between the dirt and the dam. Its expression is:

[0025] P k = K A P th

[0026] In the formula: P k is the jet pressure; P th is the adhesion force between the dirt and the dam; K A is a constant with a value of 2 - 4;

[0027] Step 1-2, Set the flushing angle:

[0028] Tilt the nozzle for spraying. As the distance that the water jet reaches the target surface becomes longer, the pressure of the water jet becomes smaller and the shear force becomes larger. When the pump provides high pressure and a quick cleaning is desired, increasing the tilt angle of the nozzle can achieve the purpose of quick cleaning.

[0029] The magnitude and direction of the force on the dirt are:

[0030]

[0031]

[0032] In the formula: F1 is the force on the dirt; r is the diffusion radius of the dirt crack; x is the penetration distance of the water jet; e is the constant exponent; π is the pi; c is the correction parameter; P k is the jet pressure; V is the dirt volume; ρ is the porosity; M is the combined flow super ratio function; ζ = ar; ζ' = ax;

[0033] Step 1-3, Set the flushing target distance:

[0034] While considering the cleaning pressure of the high-pressure water flow, and ensuring a relatively large cleaning area, the target distance is selected to be 8 to 12 times the outlet diameter of the nozzle.

[0035] Step 1-4, Water storage operation:

[0036] The gantry crane located at the dam top lowers the automatic cleaning device to the dam top through the towing rope. Start the built-in motor of the hub to lower the water intake pipe. By means of the counterweight at the nozzle of the water intake pipe, the water intake pipe slides down along the dam surface to underwater, and then start the water pump and complete the water storage operation according to the value of the first pressure sensor.

[0037] Step 2, Adjust the angle of the camera and the length of the telescopic arm:

[0038] Adjust the angle of the camera so that it can capture images within at least 3 meters behind the device. At the same time, sense the pressure between the electric disc brush and the dam surface through the second pressure sensor, and adjust the telescopic length of the telescopic arm to select an appropriate scrubbing intensity.

[0039] Step 3, Cleaning operation:

[0040] Connect the high-pressure water pump to the water supply pipeline of the flushing module, and pressurize the water supply pipeline according to the flushing pressure determined in Step 1-1 and the water flow pressure lost in the pipeline; the gantry crane slowly lowers the towing rope, and the cleaning device moves downward along the dam surface at a constant speed under the action of gravity. The nozzle at the front end of the cleaning device performs high-pressure flushing on the dam surface, and the electric disc brush at the bottom of the cleaning device performs secondary scrubbing on the cleaned area.

[0041] Step 4, collect the image data of the dam surface after cleaning:

[0042] Start the camera located at the rear end of the cleaning device, collect images of the dam surface after cleaning, and transmit them to the external control device;

[0043] Step 5, determine whether the cleaning device needs to perform water storage operation:

[0044] According to the value transmitted back by the first pressure sensor, determine whether the cleaning device is operating stably. When the transmitted value does not reach the specified parameter, suspend the cleaning and then execute the cleaning operation after completing the water storage;

[0045] Step 6, determine whether the cleaning device has completed a one-way cleaning task:

[0046] It is determined by the operator whether the cleaning device has reached the bottom or top position of the dam during the cleaning process. If the one-way cleaning task has been completed, the operator gives a completion signal, and the system executes Step 7; otherwise, execute Step 3;

[0047] Step 7, identify the dirt area and transmit back the result value:

[0048] Step 7-1, perform preprocessing operations on the image:

[0049] Since there is some noise interference in the collected images, during the preprocessing stage, the images need to be filtered to remove noise, and the collected images need to be regularized so that the images only contain the area after cleaning. In addition, the area after cleaning is enhanced through an image enhancement algorithm to improve the accuracy of discrimination;

[0050] Step 7-2, extract the gray feature parameters:

[0051] On the dam surface after cleaning, if there is dirt residue, it can be distinguished through its gray image. Gray reflects the distribution characteristics of the chromaticity or brightness of the image, is a relatively intuitive feature in the image, and has high stability and robustness. Its expression is:

[0052]

[0053] In the formula: P(k) is the probability of the k gray level appearing; N is the total number of pixel points; N(k) is the number of pixel points when the gray level is k;

[0054] Calculate the gray mean value of the image according to the gray histogram, and its expression is as follows:

[0055]

[0056] Step 7-3, find out the dirt area and output the result value:

[0057] Based on the grayscale mean value extracted in step 7, combined with the K-means clustering algorithm, the dirt detection of the cleaned area is realized; the dam surface image detection is divided into two categories: dirt-free area and dirt area; according to the grayscale mean value extracted in step 7-2, the initial clustering centers of the two types of results are set, and through cyclic iteration, the membership matrix and the clustering center are updated to obtain the final membership matrix, realizing the detection of dirt; when there is dirt, the value 1 is transmitted back to the counter; otherwise, the value 0 is transmitted back.

[0058] Step 8, determine whether to perform return cleaning:

[0059] According to the dirt detection result obtained in step 5-4, the external control system controls the continuation and stop of the cleaning task of the cleaning device with "1" and "0" signals; the initial value of the counter is 1, and the value becomes 0 after the cleaning task is started. If dirt is found, the value becomes 1 and is transmitted back for an OR operation with the value of the counter; when the cleaning device completes a dam surface cleaning task, the counter value is checked during the return of the cleaning equipment. When the value is 1, the cleaning operation is started again, and the operator adjusts the telescopic arm to increase the pressure between the electric disc brush and the dam surface while adjusting the flushing water pressure to clean the dam again; when the value is 0, the cleaning task is stopped, the value of the counter is updated, and it waits to be towed to the next dam working surface by the gantry crane.

[0060] The present invention has the following beneficial effects:

[0061] 1. The present invention designs a high-pressure water jet cleaning method with a certain spraying angle for the dirt on the dam surface, which can better clean the dirt on the dam surface. The cleaning method combines high-pressure water jet and electric disc brush to clean the stubborn dirt on the dam surface, and can remove the stubborn dirt to the greatest extent. The camera is used to collect the image of the cleaned dam surface and transmit it to the external control device to determine whether there is residual dirt. When it is determined that there is dirt, the cleaning device will perform re-cleaning to ensure the maximum cleaning of the dirt.

[0062] 2. The present invention uses high-pressure water jet to clean the dam, determines the flushing pressure, spraying angle and flushing target distance of the high-pressure water jet. This method can achieve efficient and rapid cleaning of the dam dirt. Combined with the electric disc brush to perform secondary scrubbing on the flushed area, the stubborn dirt can be removed to the greatest extent.

[0063] 3. The present invention uses a camera to collect image data of the dam surface after cleaning, preprocesses the collected images, extracts the gray feature parameters of the images, and then combines the fuzzy K-means clustering algorithm to detect dirt. The detection results are divided into two categories: dirt-free area and dirty area, and the detection results will be recorded in a counter. When dirt exists and the counter value is 1, the operator adjusts the telescopic arm to increase the pressure between the disk brush and the dam surface while adjusting the flushing water pressure, and the cleaning operation will be performed on the dam again.

[0064] In summary, based on the designed dam surface cleaning device, the present invention realizes the efficient cleaning of the dirt on the dam surface by calculating the pressure, spraying angle and cleaning target distance of the high-pressure water jet during cleaning. The electric disk brush at the bottom of the cleaning device is used to scrub the rinsed area multiple times, which can remove stubborn dirt to the greatest extent. The camera behind the device is used to collect image data of the cleaned area, preprocess the collected images, extract the gray feature parameters of the images, and divide the dirt detection results into two categories: dirt-free area and dirty area. Combining the fuzzy K-means clustering algorithm, the initial clustering centers of the two types of results are set. After cyclic iteration, the membership matrix and clustering centers are updated to obtain the final membership matrix, and the detection results are input into the counter. If dirt exists, the transmitted value is 1; otherwise, the transmitted value is 0, and an OR operation is performed with the value of the counter. When the cleaning of the dam is completed once, it is determined whether to perform the cleaning task again according to the result of the counter. If it is necessary to perform, the operator adjusts the cleaning intensity and then starts the cleaning operation again; otherwise, wait for the cleaning device to reach the next working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The present invention will be further described below with reference to the drawings and embodiments.

[0066] Figure 1 is the work flow chart of the present invention for cleaning the dirt on the dam surface.

[0067] Figure 2 is the perspective view of the automatic dam surface dirt cleaning device of the present invention.

[0068] Figure 3 is the rear view of the automatic dam surface dirt cleaning device of the present invention.

[0069] Figure 4 is the side view of the automatic dam surface dirt cleaning device of the present invention.

[0070] Figure 5 is the main cross-sectional view of the hub in the automatic dam surface cleaning device of the present invention.

[0071] Figure 6 is the front view of the hub in the automatic dam surface cleaning device of the present invention.

[0072] Figure 7 It is the perspective view of the front wheel in the device of the present invention.

[0073] Figure 8 It is the front view of the front wheel in the device of the present invention.

[0074] Figure 9 It is the perspective view of the rear wheel in the device of the present invention.

[0075] Figure 10 It is the side view of the rear wheel in the device of the present invention.

[0076] Figure 11 It is the counterweight on the water intake pipe in the device of the present invention.

[0077] Figure 12 It is the force schematic diagram of the dirt in the present invention.

[0078] In the figure: 1 bearing plate body, 2 pressurization equipment, 3 water storage tank, 4 cleaning module, 5 universal wheel, 6 annular hook, 7 vision module, 8 first pressure sensor, 9 second pressure sensor, 10 chassis, 11 water pump, 12 water supply pipe, 13 nozzle, 14 water delivery pipe, 15 drive motor, 16 telescopic arm, 17 electric disc brush, 18 hub, 19 roller, 20 water pipe rotary joint, 21 support rod, 22 external hole, 23 turntable, 24 fastener, 25 water intake pipe, 26 counterweight, 27 rear wheel, 28 front wheel, 29 built-in motor, 30 ball. Detailed implementation manner

[0079] Embodiment 1:

[0080] Please refer to Figures 2 to 11, An automatic cleaning device for the dirt on the surface of a dam, which includes: a bearing plate body 1: used to connect and bear various components; a flushing module: placed at the front end of one side of the length of the bearing plate body 1, and uses high-pressure water flow to flush the dirt on the dam surface; a water storage module: fixed on the bearing plate body 1, on the same side as the flushing module, and makes the entire automatic cleaning device closely adhere to the dam surface with different slopes by increasing the self-weight of the device, increasing the adhesion between the universal wheels 5 and the dam surface, and preventing the automatic cleaning device from shifting due to high-pressure flushing; a cleaning module 4: installed in the chassis 10 on the bearing plate body 1, and cooperates with high-pressure water flow flushing to complete the dam surface cleaning task; universal wheels 5: respectively installed on both sides of the bottom surface of the bearing plate body 1, two on each side, with the front wheels 28 of the device being larger and the rear wheels 27 being smaller; annular hooks 6: fixed on both sides of the upper surface of the bearing plate body 1, one on each side, for being towed by a gantry crane; a vision module 7: installed on the midline of the rear end of the upper surface of the bearing plate body 1, used to identify the dirt area. Through the above automatic cleaning device, the dirt on the dam surface can be cleaned better. Adopting a cleaning method combining high-pressure water jets and electric disc brushes to clean the stubborn dirt on the dam surface can remove stubborn dirt to the greatest extent. Using a camera to collect images of the cleaned dam surface and transmit them to an external control device to determine whether there is residual dirt. When it is determined that dirt exists, the cleaning device will perform a second cleaning to ensure the maximum cleaning of the dirt.

[0081] Furthermore, the bearing plate body 1 is the main carrier for completing the cleaning task. A storage hardware, a wireless transmission module, a control system, and a pressure sensor are installed in the bearing plate body 1; the pressure between the universal wheel 5 and the dam surface is collected by the first pressure sensor 8 to determine whether the universal wheel 5 of the cleaning device is suspended, which serves as a condition for starting the water storage operation during the cleaning task; the second pressure sensor 9 is used to obtain the pressure between the electric disc brush 17 and the dam surface and control the length of the telescopic arm 16; the remote operator appropriately adjusts the cleaning intensity according to the cleaning task requirements based on the values of the first pressure sensor 8 and the second pressure sensor 9. Through the above bearing plate body 1, it can be used to support the components on the entire automatic cleaning device. Through the above first pressure sensor 8 and second pressure sensor 9, it is convenient to realize the automatic control of the entire automatic cleaning device subsequently.

[0082] Furthermore, the annular hooks 6 are fixed on both sides of the bearing plate body 1, one on each side, and are connected to one end of the towing rope and the safety rope; the other end of the towing rope is connected to the pulling door motor on the dam top to control the up and down movement of the automatic cleaning device on the dam surface; the other end of the safety rope is installed on the dam top to prevent the automatic cleaning device from slipping out of control and falling into the water. Through the above towing rope, it is convenient to realize the movement of the entire device along the dam.

[0083] Further, the flushing module includes a pressurizing device 2, which is fixed at the front end of one side of the bearing plate body 1 along its length; a water supply pipe 12 is connected above the pressurizing device 2 and is connected to a water storage tank 3; a number of spray heads 13 are evenly installed along the length direction of the pressurizing device 2; the number of the spray heads 13 are fixed on the pressurizing device 2 at a certain angle with the ground, and the remote operator can control the pressurizing device 2 by the internal control system to adjust the water pressure of the spray heads 13. Through the above flushing module, it is convenient to achieve high-pressure flushing of dirt. During the working process, high-pressure water is provided by the pressurizing device 2 and then sprayed out through the spray heads 13, and then sprayed onto the surface of the dirt to achieve the flushing of the dirt.

[0084] Further, the water storage module includes a water storage tank 3, which is fixed on the center line of the bearing plate body 2 and on the same side as the pressurizing device 2, and is used to increase the adhesion between the universal wheels 5 and the dam surface and prevent the cleaning device from shifting due to high-pressure flushing; a water pump 11 is placed along the center line direction behind the water storage tank 3; a hub 18 is installed on the upper surface of the left side of the bearing plate body 1, and the water intake pipe 25 is retracted and released by its built-in motor 29, and is connected to the water pump 11 through a water supply pipe 14; the start and stop of the water storage operation are determined according to the value of the first pressure sensor 8. The water storage module replaces the original counterweight of the cleaning device, and is both the water supply source of the cleaning device and the guarantee for the stable operation of the cleaning device during the high-pressure flushing operation. During the working process, water is injected into the water storage tank 3 by the water pump 11 for storage, which is convenient for subsequent flushing with the flushing module.

[0085] Further, the hub 18 retracts and releases the water intake pipe 25 by means of a built-in motor 29 placed in the drum 19, and at the same time the drum 19 is rotatably installed on the support rod 21 through a turntable 23 and a fastener 24; the water supply pipe 14 is connected to a water pipe rotary joint 20 through an external hole 22 on the left side rod of the support rod 21, and one end of the water pipe rotary joint 20 is connected to the water intake pipe 25 through an external hole 22 on the drum; in order to make the water intake pipe slide down along the dam surface to below the water surface, a counterweight 26 is sleeved on the nozzle of the water intake pipe 25, and rollers 30 are installed on the outer ring of the counterweight 26. Through the above counterweight 26, the entire water intake pipe 25 can be slid down below the water surface to facilitate the water intake operation.

[0086] Further, the cleaning module 4 includes four electric push rod mechanisms, which are fixed at the bottom of the bearing plate body 2; the electric push rod mechanism includes a drive motor 15 and a telescopic arm 16; an electric disc brush 17 is fixedly installed at the top of the telescopic arm 16; the chassis 10 is used to install and fix the electric push rod mechanism. Through the telescopic arm 16, it is convenient to control the height of the electric disc brush 17, so as to ensure the best brushing operation.

[0087] Furthermore, the vision module 7 includes a light source, a camera, and a motor; when the light source is turned on, it provides supplementary light for the camera; the camera cooperates with the motor, and the motor is connected to the control system to achieve the rotation operation of the camera. The control system is divided into an internal control system and an external control system. The internal control system consists of an internal control chip, which is used to control the motor, camera, light source, motor, telescopic arm, receive and send signals; the internal control system and the external control system are connected by means of a wireless network; the external control system is used to receive the dam surface image sent by the carrier plate 1, identify the dirt area, and simultaneously control the overall device to complete the cleaning task.

[0088] Embodiment 2:

[0089] See Figure 1 , the method for cleaning the dirt on the dam surface using the automatic cleaning device for the dirt on the dam surface is as follows:

[0090] Step 1, determine the initial cleaning parameters and complete the water storage operation:

[0091] When cleaning the dam surface, the three parameters of flushing pressure, flushing angle, and flushing target distance need to be determined. The specific steps are as follows:

[0092] Step 1-1, setting the flushing pressure:

[0093] For the dirt on the dam surface, the key to whether it can be removed is that the jet pressure P k generated by the water jet on it must be greater than a certain critical value P th to overcome the adhesion force between the dirt and the dam. The expression is:

[0094] P k = K A P th

[0095] In the formula: P k is the jet pressure; P th is the adhesion force between the dirt and the dam; K A is a constant with a value of 2 - 4;

[0096] Step 1-2, setting the flushing angle:

[0097] When the nozzle is tilted and sprayed, the distance that the water jet reaches the target surface becomes longer, the water jet pressure becomes smaller, and the shear force becomes larger. When the pump provides high pressure and wants to achieve rapid cleaning, increasing the tilt angle of the nozzle can achieve the purpose of rapid cleaning;

[0098] See Figure 12 , the magnitude and direction of the force on the dirt are:

[0099]

[0100]

[0101] Where: F1 is the force on the dirt; r is the diffusion radius of the dirt crack; x is the penetration distance of the water jet; e is the constant exponent; π is the pi; c is the correction parameter; P k is the jet pressure; V is the dirt volume; ρ is the porosity; M is the combined flow super ratio function; ζ = ar; ζ' = ax;

[0102] Step 1-3, set the flushing target distance:

[0103] While considering the high-pressure water flow cleaning pressure and ensuring a large cleaning area, the target surface distance is selected to be 8 to 12 times the diameter of the nozzle outlet;

[0104] Step 1-4, water storage operation:

[0105] The gantry crane located at the dam top lowers the automatic cleaning device to the dam top through the towing rope, starts the built-in motor of the hub to lower the water intake pipe, and due to the counterweight at the water intake pipe nozzle, the water intake pipe slides down along the dam surface to underwater, and then starts the water pump and completes the water storage operation according to the value of the first pressure sensor;

[0106] Step 2, adjust the angle of the camera and the length of the telescopic arm:

[0107] Adjust the angle of the camera so that it can capture images within at least 3 meters behind the device. At the same time, sense the pressure between the electric disc brush and the dam surface through the second pressure sensor, adjust the telescopic length of the telescopic arm, and select an appropriate washing intensity;

[0108] Step 3, cleaning operation:

[0109] Connect the high-pressure water pump to the water supply pipeline of the flushing module, pressurize and supply water to the water supply pipeline according to the flushing pressure determined in Step 1-1 and the water flow pressure lost in the pipeline; the gantry crane slowly lowers the towing rope, and the cleaning device moves downward along the dam surface at a constant speed under the action of gravity. The nozzle at the front end of the cleaning device performs high-pressure flushing on the dam surface, and the electric disc brush at the bottom of the cleaning device performs secondary washing on the cleaned area;

[0110] Step 4, collect the image data of the dam surface after cleaning:

[0111] Start the camera at the rear end of the cleaning device, collect images of the dam surface after cleaning and transmit them to the external control device;

[0112] Step 5, determine whether the cleaning device needs to perform a water storage operation:

[0113] Based on the value transmitted back by the first pressure sensor, determine whether the cleaning device is operating stably. When the transmitted value does not reach the specified parameter, suspend the cleaning and then perform the cleaning operation after completing the water storage:

[0114] Step 6, determine whether the cleaning device has completed a one-way cleaning task:

[0115] It is determined by the operator whether the cleaning device has reached the bottom or top of the dam during the cleaning process. If the one-way cleaning task has been completed, the operator gives a completion signal and the system executes Step 7; otherwise, it executes Step 3;

[0116] Step 7, identify the dirt area and transmit the result value:

[0117] Step 7-1, perform preprocessing operations on the image:

[0118] Since there is some noise interference in the collected image, during the preprocessing stage, it is necessary to filter and denoise the image, regularize the collected image so that the image only contains the cleaned area. In addition, the cleaned area is enhanced through an image enhancement algorithm to improve the discrimination accuracy;

[0119] Step 7-2, extract the gray-scale feature parameters:

[0120] For the surface of the dam after cleaning, if there is dirt residue, it is distinguished through its gray-scale image. Gray-scale reflects the distribution characteristics of the chromaticity or brightness of the image, is a relatively intuitive feature in the image, has high stability and robustness, and its expression is:

[0121]

[0122] In the formula: P(k) is the probability of the k gray level appearing; N is the total number of pixel points; N(k) is the number of pixel points when the gray level is k;

[0123] Calculate the gray-scale mean value of the image according to the gray-scale histogram, and its expression is as follows:

[0124]

[0125] Step 7-3, find the dirt area and output the result value:

[0126] According to the gray-scale mean value extracted in Step 7, combined with the K-means clustering algorithm, realize the dirt detection of the cleaned area; divide the dam surface image detection into two categories: dirt-free area and dirt area; set the initial clustering centers of the two types of results according to the gray-scale mean value extracted in Step 7-2. After cyclic iteration, update the membership matrix and the clustering centers to obtain the final membership matrix, and realize the detection of dirt; when there is dirt, transmit the value 1 to the counter; otherwise, transmit the value 0;

[0127] Step 8, determine whether to perform return cleaning:

[0128] According to the dirt detection result obtained in Step 5-4, the external control system controls the continuation and stop of the cleaning task of the cleaning device with "1" and "0" signals; the initial value of the counter is 1, and the value becomes 0 after the cleaning task is started. If dirt is found, the value becomes 1 and is sent back for an OR operation with the value of the counter; when the cleaning device completes a dam surface cleaning task, the counter value is checked during the return of the cleaning equipment. When the value is 1, the cleaning operation is started again. While the operator adjusts the telescopic arm to increase the pressure between the electric disc brush and the dam surface, the flushing water pressure is adjusted to clean the dam again; when the value is 0, the cleaning task is stopped, the value of the counter is updated, and it waits to be towed to the next dam working surface by the gantry crane.

Claims

1. An automatic cleaning device for the dirt on the surface of a dam, characterized in that, It includes: Carrier plate body (1): Used to connect and carry various components; Flushing module: Placed at the front end of one side of the length of the carrier plate body (1), and used to flush the dirt on the dam surface with high-pressure water flow; Water storage module: Fixed on the carrier plate body (1), on the same side as the flushing module, and makes the entire automatic cleaning device closely adhere to the dam surface with different slopes by increasing the self-weight of the device, increasing the adhesion between the universal wheels (5) and the dam surface, and preventing the automatic cleaning device from shifting due to high-pressure flushing; Cleaning module (4): Installed in the chassis (10) on the carrier plate body (1), and cooperates with high-pressure water flow flushing to complete the dam surface cleaning task; Universal wheels (5): Respectively installed on both sides of the bottom surface of the carrier plate body (1), two on each side, with the front wheels (28) of the device being large and the rear wheels (27) being small; Ring hooks (6): Fixed on both sides of the rear end of the upper surface of the carrier plate body (1), one on each side, for being towed by a gantry crane; Vision module (7): Installed on the midline of the rear end of the upper surface of the carrier plate body (1), used to identify the dirt area; The carrier plate body (1) is the main carrier for completing the cleaning task. A storage hardware, a wireless transmission module, a control system, and a pressure sensor are installed in the carrier plate body (1); the pressure between the universal wheels (5) and the dam surface is collected by the first pressure sensor (8) to judge whether the universal wheels (5) of the cleaning device are suspended, which is used as a condition for determining the start of the water storage operation during the cleaning task; the second pressure sensor (9) is used to obtain the pressure between the electric disc brush (17) and the dam surface and control the length of the telescopic arm (16); the remote operator appropriately adjusts the cleaning intensity according to the values of the first pressure sensor (8) and the second pressure sensor (9) according to the cleaning task requirements; The ring hooks (6) are fixed on both sides of the carrier plate body (1), one on each side, and are connected to one end of the towing rope and the safety rope; the other end of the towing rope is connected to the pulling door motor on the dam top to control the up and down movement of the automatic cleaning device on the dam surface; the other end of the safety rope is installed on the dam top to prevent the automatic cleaning device from slipping out of control and falling into the water; The water storage module includes a water storage tank (3). The water storage tank (3) is fixed on the midline of the carrier plate body (2), on the same side as the pressurizing device (2), and is used to increase the adhesion between the universal wheels (5) and the dam surface and prevent the cleaning device from shifting due to high-pressure flushing; the water pump (11) is placed along the midline direction behind the water storage tank (3); the hub (18) is installed on the left side of the upper surface of the carrier plate body (1), and its built-in motor (29) winds and unwinds the water intake pipe (25), which is connected to the water pump (11) through the water supply pipe (14); the start and termination of the water storage operation are determined according to the value of the first pressure sensor (8); The hub (18) retracts and extends the water intake pipe (25) by means of a built-in motor (29) placed inside the drum (19). Meanwhile, the drum (19) is rotatably mounted on the support rod (21) through the turntable (23) and the fastener (24); the water supply pipe (14) is connected to the water pipe rotary joint (20) through the external connection hole (22) on the left side rod of the support rod (21), and one end of the water pipe rotary joint (20) is connected to the water intake pipe (25) through the external connection hole (22) on the drum; in order to make the water intake pipe slide down along the dam surface to underwater, a counterweight (26) is sleeved on the pipe orifice of the water intake pipe (25), and rollers (30) are installed on the outer ring of the counterweight (26).

2. The automatic cleaning device for the dirt on the surface of a dam according to claim 1, wherein: The flushing module includes a pressurization device (2), and the pressurization device (2) is fixed at the front end along one side of the length of the bearing plate body (1); a water supply pipe (12) is connected above the pressurization device (2) and is connected to the water storage tank (3); a number of spray nozzles (13) are evenly installed along the length direction of the pressurization device (2); the number of the spray nozzles (13) is fixed on the pressurization device (2) at a certain angle with the ground, and the remote operator can control the pressurization device (2) by the internal control system to adjust the water pressure of the spray nozzles (13).

3. The automatic cleaning device for the dirt on the surface of a dam according to claim 1, characterized in that: The cleaning module (4) includes four electric push rod mechanisms and is fixed at the bottom of the bearing plate body (2); the electric push rod mechanism includes a drive motor (15) and a telescopic arm (16); an electric disc brush (17) is fixedly installed at the top end of the telescopic arm (16); the chassis (10) is used for installing and fixing the electric push rod mechanism.

4. The automatic cleaning device for the dirt on the surface of a dam according to claim 1, wherein: The vision module (7) includes a light source, a camera and a motor; the light source is turned on to supplement light for the camera; the camera cooperates with the motor, and the motor is connected to the control system to realize the rotation operation of the camera. The control system is divided into an internal control system and an external control system. The internal control system is composed of an internal control chip, and the internal control chip is used to control the motor, camera, light source, motor, telescopic arm, receive and send signals; the internal control system and the external control system are connected by means of a wireless network; the external control system is used to receive the dam surface image sent by the bearing plate body (1), identify the dirt area and at the same time control the overall device to complete the cleaning task.

5. A method for cleaning the dirt on the surface of a dam using the automatic cleaning device for the dirt on the surface of the dam according to any one of claims 1-4, characterized in that, The specific steps are as follows: Step 1, initialize the cleaning parameters and complete the water storage operation: When cleaning the dam surface, the three parameters of flushing pressure, flushing angle and flushing target distance need to be determined. The specific steps are as follows: Step 1-1, setting the flushing pressure: Regarding the dirt on the dam surface, the key to whether it can be removed is the jet pressure generated by the water jet must be greater than a certain critical value , to overcome the adhesion force between the dirt and the dam, and its expression is: In the formula: is the jet pressure; is the adhesion between the dirt and the dam body; is a constant, with a value of 2 to 4; Step 1-2, setting the flushing angle: When the spray nozzle is inclined to spray, the distance of the water jet reaching the target surface becomes longer, the water jet pressure becomes smaller, and the shear force becomes larger. When the pump provides high pressure and wants to quickly clean, increasing the inclination angle of the spray nozzle can achieve the purpose of quick cleaning; The magnitude and direction of the force on the dirt are: In the formula: is the force on the dirt; r is the diffusion radius of the dirt crack; x is the penetration distance of the water jet; e is the constant exponent; π is the pi; ; is the correction parameter; is the jet pressure; is the dirt volume; is the porosity; is the combined flow super ratio function; = ; Step 1-3, setting the flushing target distance: While considering the cleaning pressure of the high-pressure water flow, and ensuring a relatively large cleaning area, the target distance is selected to be 8 to 12 times the diameter of the spray nozzle outlet; Step 1-4, water storage operation: The gantry crane located at the dam top lowers the automatic cleaning device to the dam top through the towing rope. Start the built-in motor of the hub to lower the water intake pipe. By means of the counterweight at the water intake pipe nozzle, the water intake pipe slides down along the dam surface to underwater. Then start the water pump and complete the water storage operation according to the value of the first pressure sensor; Step 2, adjust the angle of the camera and the length of the telescopic arm: Adjust the angle of the camera so that it can capture images within at least 3 meters behind the device. At the same time, sense the pressure between the electric disc brush and the dam surface through the second pressure sensor, adjust the telescopic length of the telescopic arm, and select an appropriate scrubbing intensity; Step 3, cleaning operation: Connect the high-pressure water pump to the water supply pipeline of the flushing module, and pressurize the water supply pipeline according to the flushing pressure determined in Step 1-1 and the water flow pressure lost in the pipeline; the gantry crane slowly lowers the towing rope, and the cleaning device moves downward along the dam surface at a constant speed under the action of gravity. The nozzle at the front end of the cleaning device performs high-pressure flushing on the dam surface, and the electric disc brush at the bottom of the cleaning device performs secondary scrubbing on the cleaned area; Step 4, collect the image data of the dam surface after cleaning: Start the camera at the rear end of the cleaning device, collect images of the dam surface after cleaning and transmit them to the external control device; Step 5, determine whether the cleaning device needs to perform the water storage operation: According to the value transmitted back by the first pressure sensor, determine whether the cleaning device is operating stably. When the transmitted value does not reach the specified parameter, pause the cleaning and then perform the cleaning operation after completing the water storage; Step 6, determine whether the cleaning device has completed a one-way cleaning task: It is determined by the operator whether the cleaning device has reached the bottom or top position of the dam during the cleaning process. If the one-way cleaning task has been completed, the operator gives a completion signal, and the system executes Step 7; otherwise, execute Step 3; Step 7, identify the dirt area and transmit the result value: Step 7-1, perform preprocessing operations on the image: Since there is some noise interference in the collected images, it is necessary to filter and denoise the images during the preprocessing stage, and regularize the collected images so that the images only contain the cleaned areas. In addition, the cleaned areas are enhanced through an image enhancement algorithm to improve the discrimination accuracy; Step 7-2, extract the gray feature parameters: On the dam surface after cleaning, if there is dirt residue, it is distinguished through its gray image. Gray reflects the distribution characteristics of the chromaticity or brightness of the image, is a relatively intuitive feature in the image, and has high stability and robustness. Its expression is: In the formula: is k the probability of the occurrence of the gray level; N is the total number of pixel points; is the number of pixel points when the gray level is k ; Calculate the gray mean value of the image according to the gray histogram, and its expression is as follows: Step 7-3, find the dirt area and output the result value: According to the gray mean value extracted in Step 7, combine the K-means clustering algorithm to realize dirt detection on the cleaned area; divide the dam surface image detection into two categories: dirt-free area, dirt area; set the initial clustering centers of the two types of results according to the gray mean value extracted in Step 7-2. After cyclic iteration, update the membership matrix and the clustering center to obtain the final membership matrix, and realize the detection of dirt; when there is dirt, transmit the value 1 to the counter; Conversely, transmit the value 0; Step 8, determine whether to perform return cleaning: Based on the dirt detection result obtained in Step 5-4, the external control system controls the continuation and stop of the cleaning task of the cleaning device with "1" and "0" signals; the initial value of the counter is 1, and the value becomes 0 after the cleaning task is started. If dirt is detected, the value becomes 1 and is sent back for an OR operation with the value of the counter; when the cleaning device completes a dam surface cleaning task, the counter value is checked during the return of the cleaning equipment. When the value is 1, the cleaning operation is started again. While the operator adjusts the telescopic arm to increase the pressure between the electric disc brush and the dam surface, the flushing water pressure is adjusted to perform secondary cleaning on the dam body; when the value is 0, the cleaning task is stopped, the value of the counter is updated, and it waits to be towed to the next dam body working surface by the gantry crane.

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