Cleaning device and method for paint and rust removal of large offshore wind power equipment

Abstract

The invention is suitable for the technical field of cleaning of large-scale offshore wind power equipment, and particularly relates to a cleaning device and method for paint and rust removal of large-scale offshore wind power equipment, and the cleaning device for paint and rust removal of large-scale offshore wind power equipment comprises an ice particle forming device used for generating ice particles and conveying the ice particles to the outside; the output end of the air treatment device communicates with the ice particle forming device, and the air treatment device is used for conducting impurity removal and refrigeration treatment on external environment air and conveying the external environment air into the ice particle forming device; the output end of the water treatment device is communicated with the ice particle forming device, and the water treatment device is used for conveying water into the ice particle forming device after pressurizing and pre-cooling treatment; and the cleaning transmission device is connected to one side of the ice particle forming device and used for controlling the ice particle output position of the ice particle forming device. According to the device, ice making and jet flow are synchronously carried out, the effect of rapidly, stably and continuously making ice particles is achieved, and the cost is greatly reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning of large offshore wind power equipment, and in particular, relates to a cleaning device and method for removing paint and rust from large offshore wind power equipment. Background Art

[0002] Compared with other energy sources, wind energy is a new renewable resource with the characteristics of green and clean, large reserves, wide distribution, and no impact on the climate. In addition, compared with onshore wind power, offshore wind power resources are more abundant, do not occupy land resources, and will not cause noise pollution to surrounding residents. Offshore wind power equipment drifts on the sea for a long time, in a high humidity and high salinity corrosion environment. Among them, the foundation of offshore wind turbines is in a lm2 corrosion environment, and the outer surface of the tower and the main engine is in salt spray and moisture, which belongs to the C5-M marine atmospheric corrosion environment. In the manufacturing process of offshore equipment, anti-corrosion coatings such as epoxy resin coatings and polyurethane coatings are usually applied on the surface to block the intrusion of moisture and salt. Surface cleaning is the first step of surface anti-corrosion spraying, which directly determines the surface quality, coating life and anti-corrosion performance: first, it can remove corrosive substances and pollutants and reduce the corrosion risk of the substrate; second, it helps to evenly distribute the coating, reduce the formation of bubbles, pits and defects, and improve the appearance and quality of the coating; third, it obtains a certain surface roughness to ensure that the coating can be closely attached to the substrate to prevent the coating from peeling or falling off. Therefore, surface cleaning is a key link in the manufacturing process of offshore wind power equipment. In addition, after a period of operation, the surface of the painted offshore wind power equipment will inevitably corrode and need to be repainted. Therefore, surface treatment is also crucial for the maintenance and repair of offshore wind power equipment.

[0003] The existing paint and rust removal technologies for large-scale offshore wind power equipment are mainly mechanical grinding, sand blasting, high-pressure water cleaning, and new dry ice cleaning, laser cleaning technology and ultra-low temperature jet technology, but the above technologies have obvious disadvantages: mechanical grinding and sand blasting technologies are seriously polluting and difficult to recover mineral sands. They are now gradually banned from outdoor use and will gradually be replaced by other technologies; high-pressure water cleaning can avoid the problem of difficult sand recovery, but there are defects in not being able to increase surface roughness, as well as the problem of water rust; dry ice cleaning can avoid the problems of difficult sand recovery and water rust, but the cost of dry ice cleaning technology is too high, and there is still the problem of not being able to increase roughness; laser cleaning technology does not involve consumables and also reduces costs, but the cleaning efficiency is not high for thicker protective paint and rust layers, and there are problems such as the roughness cannot meet the coating requirements in one time and the energy consumption is too high. However, the ultra-low temperature jet technology that uses liquid nitrogen or ice making has a high price for liquid nitrogen, which increases the cost of rust and paint removal, and there are major safety hazards when using liquid nitrogen tanks in repair workshops. The traditional ice-making device has a complicated ice-making and ice-crushing process, and it is not easy to control the size and temperature of the ice particles. During the short storage or transportation process after ice making or ice crushing, the high temperature of the ice particles can lead to ice growth and crystallization problems. Summary of the invention

[0004] The embodiment of the present application provides a cleaning device and method for removing paint and rust from large offshore wind power equipment, which can solve the problems of high cost and difficulty in controlling the size of ice particles and temperature of existing large offshore wind power equipment removal paint and rust removal equipment.

[0005] In a first aspect, an embodiment of the present application provides a cleaning device for removing paint and rust from large offshore wind power equipment, comprising: An ice particle forming device, used for generating ice particles and conveying the ice particles to the outside; An air treatment device, the output end of which is connected to the ice particle forming device, for removing impurities and cooling the external ambient air and conveying it to the ice particle forming device; A water treatment device, the output end of which is connected to the ice particle forming device, for pressurizing and precooling water and then delivering it to the ice particle forming device; A cleaning transmission device is connected to one side of the ice particle forming device and is used to control the position of the ice particle forming device outputting ice particles.

[0006] The above technical solutions in the embodiments of the present application have at least the following technical effects: The cleaning device for removing paint and rust from large offshore wind power equipment provided by the present application has an air treatment device and a water treatment device running simultaneously during operation. When the air treatment device removes impurities and performs refrigeration treatment on the external air and transmits it to the ice particle forming device, the water treatment device simultaneously pressurizes and pre-cools the water and then transmits it to the ice particle forming device. In the ice particle forming device, high-pressure water contacts with low-temperature cold air, and the generated ice particles are ejected to the outside through the ice particle forming device to clean the surface of the offshore wind power equipment. The water pressure is controlled by the water treatment device, so that the ejection speed of the generated ice particles out of the outside of the ice particle forming device and the size of the ice particles can be controlled. The air temperature is controlled by the air treatment device, so that the hardness of the ice particles can be controlled to improve the cleaning efficiency. Through the air dehumidification and cooling process and the supercooled water spraying process, the ice making and jetting of the ice particle forming device are realized synchronously, so as to achieve the effect of rapid, stable and continuous production of ice particles, and the transmission distance is short, which greatly reduces the cost.

[0007] In some embodiments of the first aspect, the ice particle forming device comprises: A flow guide member, wherein the flow guide member is provided with a flow guide cavity, an air flow inlet and a water inlet, and the water inlet is located at an input end of the flow guide member; A movable hose, one end of which is connected to an end of the guide member away from the water inlet; A first nozzle, which is disposed at one end of the flow guide member away from the movable hose and is connected to the water inlet and the flow guide cavity; a second nozzle, the second nozzle being connected to an end of the movable hose away from the flow guide, and the second nozzle being connected to the cleaning transmission device; Wherein, the guide cavity is communicated with the air flow inlet and the water inlet respectively, the water inlet is communicated with the output end of the water treatment device, and the air flow inlet is communicated with the output end of the air treatment device.

[0008] In some embodiments of the first aspect, the flow guiding cavity comprises: An atomizing defrosting chamber, wherein the atomizing defrosting chamber is connected to the water inlet; A first refrigeration chamber, wherein the first refrigeration chamber is connected to the atomizing and defrosting chamber, and a cavity radius of the first refrigeration chamber is smaller than a cavity radius of the atomizing and defrosting chamber; a second refrigeration chamber, one end of the second refrigeration chamber being connected to one end of the first refrigeration chamber away from the atomizing defrosting chamber, and the other end of the second refrigeration chamber being connected to the moving hose; The air flow inlet comprises: a first inlet, the first inlet being located on a side wall of the flow guide and being connected to the first refrigeration chamber and the air handling device; a second inlet, the second inlet being located on a side wall of the flow guide and being connected to the second refrigeration chamber and the air handling device; Wherein, the output end of the air treatment device is connected to the first inlet and the second inlet respectively.

[0009] In some embodiments of the first aspect, the ice particle forming device further comprises: A first nozzle, wherein the first nozzle is located in the first refrigeration cavity, an input end of the first nozzle is connected to the first inlet, and an output end of the first nozzle is directed toward the second refrigeration cavity along the axial direction of the flow guide; A second nozzle, wherein the second nozzle is located in the second refrigeration chamber, an input end of the second nozzle is connected to the second inlet, and an output end of the second nozzle is directed toward the movable hose along the axial direction of the flow guide.

[0010] In some embodiments of the first aspect, the guide member is further provided with a defrost port and an exhaust port, wherein the defrost port and the exhaust port are connected to the atomizing defrost chamber and are symmetrically arranged on both sides of the cavity body of the atomizing defrost chamber, the input end of the defrost port is connected to the output end of the air treatment device, and the output end of the exhaust port is connected to the outside.

[0011] In some embodiments of the first aspect, the flow guiding cavity further comprises: An ice particle generation and aging chamber, wherein the ice particle generation and aging chamber is located between the first refrigeration chamber and the second refrigeration chamber, and the cavity radius of the ice particle generation and aging chamber is smaller than the cavity radius of the first refrigeration chamber and the cavity radius of the second refrigeration chamber; An ice particle aging acceleration chamber is located between the second refrigeration chamber and the movable hose, and a cavity radius of the ice particle aging acceleration chamber is smaller than a cavity radius of the second refrigeration chamber.

[0012] In some embodiments of the first aspect, the air treatment device includes: An air compression device, used to compress and store air; An air impurity removal device, wherein the input end of the air impurity removal device is connected to the output end of the air compression device, and the output end of the air impurity removal device is connected to the defrosting port; An air cooling device, the air cooling device comprising a first output end and a second output end, the input end of the air cooling device being connected to the output end of the air impurity removal device; The input end of the defrost port is connected to the output end of the air de-impurity device, the first inlet is connected to the first output end, and the second inlet is connected to the second output end.

[0013] In some embodiments of the first aspect, the air cooling device comprises: A medium-temperature refrigeration device, the input end of which is connected to the output end of the air impurity removal device, for refrigerating the air transmitted by the air impurity removal device; A low-temperature refrigeration device, wherein the input end of the low-temperature refrigeration device is connected to the output end of the medium-temperature refrigeration device, and the output end of the low-temperature refrigeration device is connected to the first inlet; An ultra-low temperature refrigeration device, wherein the input end of the ultra-low temperature refrigeration device is connected to the low temperature refrigeration device, and the output end of the ultra-low temperature refrigeration device is connected to the second inlet.

[0014] In a second aspect, the present application provides a cleaning method for removing paint and rust from large offshore wind power equipment, comprising: Acquire the image to be cleaned in real time; wherein the image to be cleaned is used to indicate the location of the offshore wind power equipment that needs to be cleaned and the degree of rust and paint on the surface; Analyzing the image to be cleaned to obtain a cleaning path; wherein the cleaning path is used to reflect the path of the second nozzle of the cleaning device for removing paint and rust from large offshore wind power equipment; Analyze the rust paint degree to obtain cleaning parameters; wherein the cleaning parameters include ice particle size, ice particle temperature, spray speed and spray angle; The control device controls the cleaning device for removing paint and rust from large offshore wind power equipment to perform cleaning based on the cleaning path and the cleaning parameters.

[0015] The above technical solutions in the embodiments of the present application have at least the following technical effects: The present application provides a cleaning method for removing paint and rust from large offshore wind power equipment. The method can accurately indicate the area of ​​the offshore wind power equipment that needs to be cleaned and the degree of rust and paint, ensure the optimal path of the second nozzle, and dynamically adjust the ice particle size, ice particle temperature, spray speed and spray angle according to the degree of rust and paint, thereby achieving efficient and accurate cleaning effects, reducing unnecessary repeated cleaning and omissions, improving cleaning quality and efficiency, reducing energy consumption and maintenance costs, and enhancing system reliability and stability. The method is suitable for the cleaning tasks of removing paint and rust from large offshore wind power equipment, and has broad application prospects and practical value.

[0016] In a possible implementation manner of the second aspect, analyzing the image to be cleaned to obtain a cleaning path includes: Analyzing the image to be cleaned to obtain position area information and gradient change information; wherein the position area information is used to reflect the distribution of rusted paint on offshore wind power equipment, and the gradient change information is used to reflect the change of the structure of rusted paint on offshore wind power equipment; Analyze the location area information and the gradient change information to obtain a planned path of the cleaning path; wherein the planned path is used to reflect the path of the second nozzle moving along the surface of the offshore wind power equipment; An analysis is performed based on the gradient change information to obtain a compensation path for the cleaning path; wherein the compensation path is used to reflect the compensation movement route of the second nozzle.

[0017] In a possible implementation manner of the second aspect, analyzing the location area information and the gradient change information to obtain a planned route of the cleaning path includes: The location area information is divided into regions according to the gradient change information to obtain a plurality of sub-regions; wherein the sub-regions are used to reflect the size and position of the region where the variation range of the structure of the rusted paint in the region is less than or equal to the preset variation range; Analyze the sub-region to obtain two maximum span points; wherein the maximum span point includes two endpoints in the sub-region that are farthest apart; The two maximum span points are used as the starting point and the end point for simulation analysis to obtain a minimum path; wherein the minimum path is used to reflect the shortest moving path of the second nozzle covering the sub-area after passing through the two maximum span points as the starting point and the end point; Analyzing the minimum path and the maximum span point of the adjacent sub-region to obtain a transition path; wherein the transition path is used to reflect the shortest moving path from the maximum span point of one of the sub-regions to the maximum span point of another adjacent sub-region; The minimum path of each of the sub-areas and the transition path between every two adjacent sub-areas are arranged to obtain a planned route of the cleaning path.

[0018] In a third aspect, the embodiment of the present application provides a cleaning system for removing paint and rust from large offshore wind power equipment, comprising: An acquisition module is used to acquire the image to be cleaned in real time; wherein the image to be cleaned is used to indicate the location of the offshore wind power equipment that needs to be cleaned and the degree of rust and paint on the surface; A first analysis module is used to analyze the image to be cleaned to obtain a cleaning path; wherein the cleaning path is used to reflect the path of the second nozzle of the cleaning device for removing paint and rust from large offshore wind power equipment; A second analysis module is used to analyze the rust paint degree to obtain cleaning parameters; wherein the cleaning parameters include ice particle size, ice particle temperature, spray speed and spray angle; The third analysis module is used for controlling the device to control the cleaning device for removing paint and rust from large offshore wind power equipment to perform cleaning based on the cleaning path and the cleaning parameters.

[0019] In a fourth aspect, an embodiment of the present application provides a cleaning device for removing paint and rust from large offshore wind power equipment, comprising a cleaning device and a control device for removing paint and rust from large offshore wind power equipment as described in any one of the first aspects above, wherein the control device is electrically connected to the cleaning device for removing paint and rust from large offshore wind power equipment, and the control device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any one of the second aspects above when executing the computer program.

[0020] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the above-mentioned second aspects is implemented.

[0021] In the sixth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a cleaning device for removing paint and rust from large offshore wind power equipment, the cleaning device for removing paint and rust from large offshore wind power equipment performs the cleaning method for removing paint and rust from large offshore wind power equipment described in any one of the second aspects above.

[0022] It can be understood that the beneficial effects of the third to sixth aspects mentioned above can be found in the relevant descriptions of the first and second aspects mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 It is a structural schematic diagram of a cleaning device for removing paint and rust from large offshore wind power equipment provided in an embodiment of the present application; Figure 2 It is a structural schematic diagram of an ice particle forming device of a cleaning device for removing paint and rust from large offshore wind power equipment provided in an embodiment of the present application; Figure 3 It is a flow chart of a cleaning method for removing paint and rust from large offshore wind power equipment provided in an embodiment of the present application; Figure 4It is a schematic diagram of the implementation process of the cleaning method for removing paint and rust from large offshore wind power equipment provided in an embodiment of the present application; Figure 5 It is a structural schematic diagram of a cleaning system for removing paint and rust from large offshore wind power equipment provided in an embodiment of the present application; Figure 6 It is a structural schematic diagram of a control device of a cleaning device for removing paint and rust from large offshore wind power equipment provided in an embodiment of the present application.

[0025] Among them, the reference numerals in the figure are: 100. Cleaning device for removing paint and rust from large offshore wind power equipment; 10. Ice particle forming device; 20. Air treatment device; 30. Water treatment device; 40. Cleaning transmission device; 11. Flow guide; 12. Mobile hose; 13. First nozzle; 14. Second nozzle; 1101. Flow guide chamber; 1102. Air flow inlet; 1103. Water inlet; 110101. Atomizing defrosting chamber; 110102. First refrigeration chamber; 110103. Second refrigeration chamber; 110201 , first inlet; 110202, second inlet; 15, first nozzle; 16, second nozzle; 1104, defrosting port; 1105, discharge port; 110104, ice particle generation and aging chamber; 110105, ice particle aging acceleration chamber; 21, air compression device; 22, air impurity removal device; 23, air refrigeration device; 2301, first output terminal; 2302, second output terminal; 231, medium temperature refrigeration device; 232, low temperature refrigeration device; 233, ultra-low temperature refrigeration device. DETAILED DESCRIPTION

[0026] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0027] It should be understood that when used in the present specification and the appended claims, the terms "including", "having" and any variations thereof indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0028] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0029] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0030] It should also be understood that the term "and / or" used in the specification and the appended claims of this application refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship.

[0031] As used in the specification of this application and the appended claims, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if the described condition or event is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce the described condition or event is detected" or "in response to detecting the described condition or event" depending on the context.

[0032] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0033] References to "one embodiment" or "some embodiments", "exemplarily", "for example", etc. described in the specification of this application are used to indicate examples, illustrations or descriptions. Any embodiment or design described in this application as "in some embodiments", "exemplarily", "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "in some embodiments", "exemplarily", "for example" is intended to present related concepts in a specific way, meaning that specific features, structures or characteristics described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the above words in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. Thus, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "include", "include", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0034] Compared with other energy sources, wind energy is a new renewable resource with the characteristics of green and clean, large reserves, wide distribution, and no impact on the climate. In addition, compared with onshore wind power, offshore wind power resources are more abundant, do not occupy land resources, and will not cause noise pollution to surrounding residents. Offshore wind power equipment drifts on the sea for a long time, in a high humidity and high salinity corrosion environment. Among them, the foundation of offshore wind turbines is in a lm2 corrosion environment, and the outer surface of the tower and the main engine is in salt spray and moisture, which belongs to the C5-M marine atmospheric corrosion environment. In the manufacturing process of offshore equipment, anti-corrosion coatings such as epoxy resin coatings and polyurethane coatings are usually applied on the surface to block the intrusion of moisture and salt. Surface cleaning is the first step of surface anti-corrosion spraying, which directly determines the surface quality, coating life and anti-corrosion performance: first, it can remove corrosive substances and pollutants and reduce the corrosion risk of the substrate; second, it helps to evenly distribute the coating, reduce the formation of bubbles, pits and defects, and improve the appearance and quality of the coating; third, it obtains a certain surface roughness to ensure that the coating can be closely attached to the substrate to prevent the coating from peeling or falling off. Therefore, surface cleaning is a key link in the manufacturing process of offshore wind power equipment. In addition, after a period of operation, the surface of the painted offshore wind power equipment will inevitably corrode and need to be repainted. Therefore, surface treatment is also crucial for the maintenance and repair of offshore wind power equipment.

[0035] The existing paint and rust removal technologies for large-scale offshore wind power equipment are mainly mechanical grinding, sand blasting, high-pressure water cleaning, and new dry ice cleaning, laser cleaning technology and ultra-low temperature jet technology, but the above technologies have obvious disadvantages: mechanical grinding and sand blasting technologies are seriously polluting and difficult to recover mineral sands. They are now gradually banned from outdoor use and will gradually be replaced by other technologies; high-pressure water cleaning can avoid the problem of difficult sand recovery, but there are defects in not being able to increase surface roughness, as well as the problem of water rust; dry ice cleaning can avoid the problems of difficult sand recovery and water rust, but the cost of dry ice cleaning technology is too high, and there is still the problem of not being able to increase roughness; laser cleaning technology does not involve consumables and also reduces costs, but the cleaning efficiency is not high for thicker protective paint and rust layers, and there are problems such as the roughness cannot meet the coating requirements in one time and the energy consumption is too high. However, the ultra-low temperature jet technology that uses liquid nitrogen or ice making has a high price for liquid nitrogen, which increases the cost of rust and paint removal, and there are major safety hazards when using liquid nitrogen tanks in repair workshops. The traditional ice-making device has a complicated ice-making and ice-crushing process, and it is not easy to control the size and temperature of the ice particles. During the short storage or transportation process after ice making or ice crushing, the high temperature of the ice particles can lead to ice growth and crystallization problems.

[0036] Based on this, in order to improve the problem in the related art that the material of the composite material is uneven during the mixing process, which affects the quality of the produced packaging bags, the embodiments of the present application provide the following solution.

[0037] See also Figure 1 The cleaning device 100 for removing paint and rust from large offshore wind power equipment provided in the embodiment of the present application is now described. The cleaning device 100 for removing paint and rust from large offshore wind power equipment comprises an ice particle forming device 10, an air treatment device 20, a water treatment device 30 and a cleaning transmission device 40, wherein: The ice particle forming device 10 is used to generate ice particles and transport the ice particles to the outside.

[0038] The output end of the air treatment device 20 is connected to the ice particle forming device 10 , and is used for removing impurities and cooling the external ambient air and conveying it into the ice particle forming device 10 .

[0039] The output end of the water treatment device 30 is connected to the ice particle forming device 10 , and is used to pressurize and pre-cool the water before transporting it to the ice particle forming device 10 .

[0040] The cleaning transmission device 40 is connected to one side of the ice particle forming device 10 and is used to control the position where the ice particle forming device 10 outputs ice particles.

[0041] It can be understood that the cleaning transmission device 40 can be a combination of a manipulator, a manipulator arm or other transmission rods and a motor or a hydraulic press, which can enable the ice particle forming device 10 to move in three-dimensional space. The water treatment device 30 can include a water storage tank, a supercooled water treatment device 30 and a booster device (such as a high-pressure pump, a booster gun, etc.), wherein the water storage tank stores external water sources for easy movement and use, the supercooled water treatment device 30 is used to supercool and compress the water source transmitted by the water storage tank, the supercooled water treatment device 30 can include a compressor and a heat exchanger, and the booster device is used to boost the supercooled water.

[0042] With such arrangement, the air treatment device 20 and the water treatment device 30 operate simultaneously during operation. When the air treatment device 20 removes impurities and performs refrigeration treatment on the external air and transmits it to the ice particle forming device 10, the water treatment device 30 simultaneously pressurizes and precools the water and then transmits it to the ice particle forming device 10. In the ice particle forming device 10, the high-pressure water contacts the low-temperature cold air, and the generated ice particles are ejected to the outside through the ice particle forming device 10 to clean the surface of the offshore wind power equipment. The water pressure is controlled by the water treatment device 30, so that the ejection speed of the generated ice particles out of the outside of the ice particle forming device 10 and the size of the ice particles can be controlled. The air temperature is controlled by the air treatment device 20, so that the hardness of the ice particles can be controlled to improve the cleaning efficiency. Through the air dehumidification and cooling process and the supercooled water spraying process, the ice making and jetting of the ice particle forming device 10 are realized synchronously, so as to achieve the effect of rapid, stable and continuous production of ice particles, and the transmission distance is short, which greatly reduces the cost.

[0043] In some embodiments, see Figure 2 The ice particle forming device 10 includes a flow guide 11, a moving hose 12, a first nozzle 13 and a second nozzle 14, wherein: The flow guide member 11 is provided with a flow guide cavity 1101 , an air flow inlet 1102 and a water inlet 1103 . The water inlet 1103 is located at the input end of the flow guide member 11 .

[0044] One end of the mobile hose 12 is connected to an end of the flow guide 11 away from the water inlet 1103 .

[0045] The first nozzle 13 is disposed at one end of the flow guide member 11 away from the movable hose 12 , and is connected to the water inlet 1103 and the flow guide cavity 1101 .

[0046] The second nozzle 14 is connected to one end of the moving hose 12 away from the flow guide 11 , and the second nozzle 14 is connected to the cleaning transmission device 40 .

[0047] The flow guiding cavity 1101 is communicated with the air flow inlet 1102 and the water inlet 1103 respectively, and the air flow inlet 1102 is communicated with the output end of the air treatment device 20 .

[0048] It can be understood that the guide member 11 can be a structure of various shapes, such as a cylindrical structure, a square column structure ( Figure 2 This situation is exemplarily shown in the figure), etc., but not limited to this. The mobile hose 12 can be a tubular structure with good flexibility and deformation function, such as a PVC telescopic tube, a rubber hose, etc., but not limited to this. The first nozzle 13 is used to divert and atomize the water transmitted from the water treatment device 30 to the guide member 11. For example, the first nozzle 13 can be composed of a plurality of small nozzles, each of which can atomize the water. A plurality of flow channel structures can also be arranged inside the first nozzle 13, which can divide the water flow entering the first nozzle 13 into a plurality of paths and form an atomization effect at the outlet of the first nozzle 13, etc., but not limited to this. The second nozzle 14 is used to output the ice particles formed in the guide member 11 to the outside after passing through the mobile hose 12. The second nozzle 14 can be a funnel-shaped nozzle, an opening adjustable nozzle, etc., but not limited to this.

[0049] With such arrangement, water is processed and passes through the water inlet 1103 and then is diverted and atomized through the first nozzle 13 and then transmitted to the guide cavity 1101 of the guide member 11. At the same time, the water is pressurized and pre-cooled through the water treatment device 30 and then transmitted to the guide cavity 1101 through the air flow inlet 1102 to exchange heat with the diverted and atomized water, so that the water is made into ice particles. At the same time as the heat exchange, the water treatment device 30 pressurizes the water and the air treatment device 20 pressurizes the air to achieve the effect of jointly controlling the flow rate of the ice particles. At the same time, the flexible structure of the movable hose 12 enables the cleaning transmission device 40 to move in three-dimensional space by controlling the second nozzle 14, so that various structures such as the curved surface structure and the stepped structure of large offshore wind power equipment can be cleaned.

[0050] Optionally, in some embodiments, see Figure 2 The flow guiding chamber 1101 includes an atomizing defrosting chamber 110101, a first refrigerating chamber 110102 and a second refrigerating chamber 110103, and the air flow inlet 1102 includes a first inlet 110201 and a second inlet 110202, wherein: The atomizing defrosting chamber 110101 is connected to the water inlet 1103 .

[0051] The first refrigeration chamber 110102 is connected to the atomizing and defrosting chamber 110101 , and the cavity radius of the first refrigeration chamber 110102 is smaller than the cavity radius of the atomizing and defrosting chamber 110101 .

[0052] One end of the second refrigeration chamber 110103 is connected to one end of the first refrigeration chamber 110102 away from the atomizing and defrosting chamber 110101 , and the other end of the second refrigeration chamber 110103 is connected to the movable hose 12 .

[0053] The first inlet 110201 is located on the side wall of the guide member 11, and is connected to the first refrigeration chamber 110102 and the air treatment device 20. The second inlet 110202 is located on the side wall of the guide member 11, and is connected to the second refrigeration chamber 110103 and the air treatment device 20. The output end of the air treatment device 20 is connected to the first inlet 110201 and the second inlet 110202 respectively.

[0054] It can be understood that the atomizing defrosting chamber 110101, the first refrigerating chamber 110102 and the second refrigerating chamber 110103 can all be chamber structures of various shapes, such as a circular chamber, a square chamber, etc., but not limited thereto. The air temperature transmitted to the atomizing defrosting chamber 110101 by the air treatment device 20 is higher than the air temperature transmitted to the first inlet 110201 by the air treatment device 20, and the air temperature transmitted to the first inlet 110201 by the air treatment device 20 is higher than the air temperature transmitted to the second inlet 110202 by the air treatment device 20. That is, the air temperature transmitted to the atomizing defrosting chamber 110101 by the air treatment device 20 can be room temperature or external ambient temperature, such as 25°C~40°C, the air temperature transmitted to the first inlet 110201 can be -25°C~-35°C, and the air temperature transmitted to the second inlet 110202 can be -30°C~-70°C.

[0055] In this way, water mist enters the atomizing and defrosting chamber 110101 through the water inlet 1103 and is then transmitted to the first refrigeration chamber 110102. At the same time, the air treatment device 20 transmits low-temperature cold air to the first refrigeration chamber 110102 through the first inlet 110201 and exchanges heat with the water mist to form prefabricated ice particles, which are then transmitted to the second refrigeration chamber 110103 at a certain flow rate. At the same time, the air treatment device 20 transmits ultra-low-temperature cold air to the second refrigeration chamber 110103 through the second inlet 110202 and exchanges heat with the prefabricated ice particles to form the final ice particles. In this way, through the multi-stage refrigeration structure, the temperature can be gradually reduced, which can improve the formation quality and output of ice particles, and at the same time, the temperature of the ice particles can be more finely controlled, thereby improving the overall efficiency and stability of the system.

[0056] Optionally, see Figure 2 The ice particle forming device 10 further includes a first nozzle 15 and a second nozzle 16, wherein: The first nozzle 15 is located in the first refrigeration chamber 110102, the input end of the first nozzle 15 is connected to the first inlet 110201, and the output end of the first nozzle 15 is directed toward the second refrigeration chamber 110103 along the axial direction of the guide member 11; The second nozzle 16 is located in the second refrigeration chamber 110103 , the input end of the second nozzle 16 is connected to the second inlet 110202 , and the output end of the second nozzle 16 is directed toward the movable hose 12 along the axial direction of the flow guide 11 .

[0057] It can be understood that the first nozzle 15 and the second nozzle 16 can be structures formed by splicing two tubular structures with two openings ( Figure 2 This situation is exemplarily shown in the figure), that is, after one opening of one tubular structure is connected to the first inlet 110201, the other opening is connected to one opening of another tubular structure, and the other opening of the other tubular structure is toward the second refrigeration chamber 110103 along the axial direction of the guide member 11; the first nozzle 15 and the second nozzle 16 can also be a tubular structure with two openings, for example, one opening of the tubular structure is connected to the first inlet 110201, and the other opening is toward the second refrigeration chamber 110103 along the axial direction of the guide member 11, and so on, but it is not limited to this.

[0058] With such arrangement, the first nozzle 15 and the second nozzle 16 can allow the air cooled by the air treatment device 20 to enter the first refrigeration chamber 110102 and the second refrigeration chamber 110103 without causing a negative impact on the flow direction and flow speed of the ice particles. At the same time, the first nozzle 15 and the second nozzle 16 can further finely control the formation of ice particles and the flow rate of the ice particles.

[0059] Optionally, see Figure 2 The guide member 11 is also provided with a defrosting port 1104 and an exhaust port 1105, wherein the defrosting port 1104 and the exhaust port 1105 are connected to the atomizing defrosting chamber 110101, and are symmetrically arranged on both sides of the cavity body of the atomizing defrosting chamber 110101, the input end of the defrosting port 1104 is connected to the output end of the air treatment device 20, and the output end of the exhaust port 1105 is connected to the outside.

[0060] With such arrangement, when the cleaning device 100 for removing paint and rust from large offshore wind power equipment is in refrigeration operation, when the water treatment device 30 transmits water to the atomizing defrosting chamber 110101, the water is diverted and atomized due to the diversion effect of the first nozzle 13. However, in the atomization process, water mist with extremely small particles may be generated. After a small amount of water mist is transmitted to the first refrigeration chamber 110102 or the second refrigeration chamber 110103 through the first inlet 110201 or the second inlet 110202 and the air is released, it can adhere to the inner surfaces of the first refrigeration chamber 110102 and the second refrigeration chamber 110103. The wall is used to maintain the low temperature environment of the refrigeration chamber and enhance the efficiency of heat exchange in the refrigeration chamber. However, too much water mist will affect the size of the ice particles to a certain extent and interfere with the control of the size of the ice particles. Therefore, air can be transmitted to the atomizing defrosting chamber 110101 at a certain speed through the defrosting port 1104 to blow away the water mist with extremely small particles. Then, a part of the water mist with extremely small particles adheres to the side wall of the atomizing defrosting chamber 110101 close to the discharge port 1105, and finally, the water mist with extremely small particles is discharged through the discharge port 1105 to improve the control accuracy of the ice particle size.

[0061] When frost and ice form in the guide cavity 1101 and need to be defrosted and melted, the air processor can transmit air above room temperature through the defrosting port 1104 to the atomizing defrosting cavity 110101 to heat and defrost the frost in the wall, and then the melted water is discharged through the discharge port 1105 to improve the cleaning effect of the ice particle forming device 10.

[0062] Optionally, see Figure 2 The flow guiding chamber 1101 further comprises an ice particle generation and aging chamber 110104 and an ice particle aging acceleration chamber 110105, wherein: The ice particle generation and aging chamber 110104 is located between the first refrigeration chamber 110102 and the second refrigeration chamber 110103 , and the cavity radius of the ice particle generation and aging chamber 110104 is smaller than the cavity radius of the first refrigeration chamber 110102 and the cavity radius of the second refrigeration chamber 110103 .

[0063] The ice particle aging acceleration chamber 110105 is located between the second refrigeration chamber 110103 and the movable hose 12 , and the cavity radius of the ice particle aging acceleration chamber 110105 is smaller than the cavity radius of the second refrigeration chamber 110103 .

[0064] With such a configuration, the ice particle generation and aging chamber 110104 can provide a space for water mist and the low-temperature air entering the first refrigeration chamber 110102 through the first inlet 110201 to contact and exchange heat; the cavity radius of the ice particle generation and aging chamber 110104 is smaller than the cavity radius of the first refrigeration chamber 110102 and the cavity radius of the second refrigeration chamber 110103, which can enable the water mist and the low-temperature air entering the first refrigeration chamber 110102 to have better contact, thereby improving the efficiency of ice particle generation. The ice particle generation and aging chamber 110104 can provide a space for the prefabricated ice particles formed in the ice particle generation and aging chamber 110104 to contact and exchange heat with the ultra-low temperature air entering the first refrigeration chamber 110102 through the second inlet 110202. At the same time, the cavity radius of the ice particle aging acceleration chamber 110105 is smaller than the cavity radius of the second refrigeration chamber 110103, which can enable the prefabricated ice particles to have better contact with the ultra-low temperature air entering the second refrigeration chamber 110103, thereby improving the efficiency of ice particle generation and aging.

[0065] Optionally, see Figure 1 The air treatment device 20 includes an air compression device 21, an air impurity removal device 22 and an air cooling device 23, wherein: The air compression device 21 is used to compress and store air.

[0066] The input end of the air impurity removal device 22 is connected to the output end of the air compression device 21 , and the output end of the air impurity removal device 22 is connected to the defrosting port 1104 .

[0067] The air cooling device 23 includes a first output end 2301 and a second output end 2302. The input end of the air cooling device 23 is connected to the output end of the air removal device 22. The input end of the defrosting port 1104 is connected to the output end of the air removal device 22. The first inlet 110201 is connected to the first output end 2301, and the second inlet 110202 is connected to the second output end 2302.

[0068] It is understood that the air compression device 21 can be a reciprocating compressor, a screw compressor or a centrifugal compressor, etc., but is not limited thereto. The air impurity removal device 22 can include components such as a filter, a dryer, an oil-water separator and an adsorption tower, etc., for removing dust, water, oil and acid from the air. The air refrigeration device 23 may include a plurality of refrigeration units consisting of air-cooled condensers and heat exchangers, wherein the power of each refrigeration unit is different. For example, the air refrigeration device 23 may be composed of three refrigeration units. The first refrigeration unit can cool the air output by the air removal device 22 to 2°C~15°C, and then transmit it to the second refrigeration unit. The second refrigeration unit cools the air output by the first refrigeration unit to -25°C~-35°C, and then transmits a portion of the low-temperature cold air to the first inlet 110201, and performs heat exchange with water mist in the first refrigeration cavity 110102. The other portion is transmitted to the third refrigeration unit. The third refrigeration unit cools part of the low-temperature cold air output by the second refrigeration unit to -30°C~-70°C. Finally, the third refrigeration unit transmits the ultra-low temperature cold air through the second inlet 110202 to the second refrigeration cavity 110103 for heat exchange with prefabricated ice particles. It can also be composed of a group of air-cooled condensers and heat exchangers, by cooling the air to different temperatures and storing them for a short time, and then transmitting the different temperatures to the ice particle forming device 10 for heat exchange with water mist, etc., but not limited to this.

[0069] With such arrangement, through the mutual cooperation of the air compression device 21, the air impurity removal device 22 and the air cooling device 23, an efficient, stable, reliable and economical refrigeration system can be realized, the efficiency and quality of ice particle generation are improved, the energy consumption and operating costs are reduced, and the flexibility and adaptability of the system are enhanced.

[0070] Optionally, see Figure 1 The air refrigeration device 23 includes a medium temperature refrigeration device 231, a low temperature refrigeration device 232 and an ultra-low temperature refrigeration device 233, wherein: The input end of the medium-temperature refrigeration device 231 is connected to the output end of the air impurity removal device 22 , and is used to perform refrigeration processing on the air transmitted by the air impurity removal device 22 .

[0071] The input end of the low-temperature refrigeration device 232 is connected to the output end of the medium-temperature refrigeration device 231 , and the output end of the low-temperature refrigeration device 232 is connected to the first inlet 110201 .

[0072] The input end of the ultra-low temperature refrigeration device 233 is connected to the low temperature refrigeration device 232 , and the output end of the ultra-low temperature refrigeration device 233 is connected to the second inlet 110202 .

[0073] It can be understood that the medium-temperature refrigeration device 231, the low-temperature refrigeration device 232 and the ultra-low-temperature refrigeration device 233 can all include a combination device formed by a condenser (such as an air-cooled condenser, a plate condenser, etc.) and a heat exchanger (such as a shell and tube heat exchanger, a plate heat exchanger, etc.).

[0074] In this way, the medium temperature refrigeration device 231 can cool the air output by the air impurity removal device 22 to 2°C~15°C, and then transmit it to the low temperature refrigeration device 232. The low temperature refrigeration device 232 cools the air output by the medium temperature refrigeration device 231 to -25°C~-35°C, and then transmits a part of the low temperature cold air to the first inlet 110201, and performs heat exchange with water mist in the first refrigeration cavity 110102, and another part is transmitted to the ultra-low temperature refrigeration device 233. The ultra-low temperature refrigeration device 233 cools part of the low temperature cold air output by the second refrigeration unit to -30°C~-70°C, and finally the ultra-low temperature refrigeration device 233 transmits the ultra-low temperature cold air to the second refrigeration cavity 110103 through the second inlet 110202 to perform heat exchange with prefabricated ice particles. Through multi-stage cooling and linkage with the ice particle forming device 10, efficient, stable and high-quality ice particle generation can be achieved. This design not only improves the overall performance of the system, but also reduces energy consumption, improves the reliability and adaptability of the system, and meets the needs of different application scenarios.

[0075] See also Figure 3 and Figure 4 The embodiment of the present application also provides a cleaning method for removing paint and rust from large offshore wind power equipment, the cleaning method for removing paint and rust from large offshore wind power equipment comprising: S100, acquiring an image to be cleaned in real time; wherein the image to be cleaned is used to indicate the location of the offshore wind power equipment that needs to be cleaned and the degree of rust and paint on the surface.

[0076] It can be understood that the image to be cleaned can be acquired by a camera or other imaging devices.

[0077] S200, analyzing the image to be cleaned to obtain a cleaning path; wherein the cleaning path is used to reflect the travel route of the second nozzle of a cleaning device used for removing paint and rust from large offshore wind power equipment.

[0078] It can be understood that in order to achieve the best cleaning effect and cleaning consistency, the second nozzle should always be within a certain cleaning distance range from the surface of the large offshore wind power equipment. This distance range can be set manually or obtained from the cleaning database. The cleaning database refers to a database containing the cleaning distance range. These data can be obtained through laboratory experiments, on-site measurements and monitoring, and past experience. After obtaining, the collected data will be sorted, classified and archived, useful information and rules will be extracted, and the relevant data will be saved in the database to form a cleaning database. The route of the second nozzle includes the movement route of the second nozzle in the vertical direction to the surface of the large offshore wind power equipment during the surface structure change of the large offshore wind power equipment (i.e., the compensation route), and the movement route of the second nozzle in the horizontal direction on the surface of the large offshore wind power equipment.

[0079] For example, the movement route of the second nozzle in the horizontal direction of the surface of the large offshore wind power equipment can be obtained by analyzing the size and distribution of the rusted paint area at the location of the rusted paint reflected in the image to be cleaned, and the movement route of the second nozzle in the vertical direction of the surface of the large offshore wind power equipment during the surface structure change of the large offshore wind power equipment can be obtained by analyzing the structural gradient change of the rusted paint of the large offshore wind power equipment reflected in the image to be cleaned. It is also possible to input the image to be cleaned into the learning model, and the learning model outputs the corresponding cleaning path, etc., but not limited to this. The learning model is trained with multiple sets of training data, and each set of training data in the multiple sets of training data includes the image to be cleaned and the cleaning path.

[0080] In a possible implementation, in step S200, analyzing the image to be cleaned to obtain a cleaning path includes: S210, analyzing the image to be cleaned to obtain position area information and gradient change information; wherein the position area information is used to reflect the distribution of rusted paint on offshore wind power equipment, and the gradient change information is used to reflect the change in the structure of rusted paint on offshore wind power equipment.

[0081] It is understandable that the image to be cleaned can be segmented to separate the rusty paint area from other areas to obtain the location area information, and then the 2D image can be converted into a 3D model through 3D reconstruction technology to analyze the structural changes of the rusty paint area, and then the 3D point cloud data can be fitted into a surface using surface fitting technology to obtain gradient change information. The image to be cleaned can also be input into the learning model, and the learning model can then output the corresponding location area information and gradient change information, etc., but not limited to this.

[0082] S220, analyzing the location area information and the gradient change information to obtain a planned path for the cleaning path; wherein the planned path is used to reflect the path of the second nozzle moving along the surface of the offshore wind power equipment.

[0083] It can be understood that the rust and paint area reflected by the location area information can be divided into multiple small areas through the structural changes of the offshore wind power equipment and the distribution of the rust and paint area. After path planning is performed on these small areas respectively, the path planning of all small areas is integrated to obtain the behavior planning route. The location area information and gradient change information can also be input into the learning model, and the learning model outputs the corresponding behavior planning route, etc., but not limited to this.

[0084] In a possible implementation, in step S220, the location area information and the gradient change information are analyzed to obtain a planned route of the cleaning path, including: S221, dividing the position area information into regions according to the gradient change information to obtain a plurality of sub-regions; wherein the sub-regions are used to reflect the region size and position where the variation range of the structure of the rusted paint in the region is less than or equal to the preset variation range.

[0085] It can be understood that the preset variation range is a preset gradient variation range value, which can be manually input or obtained from a cleaning database, etc., but is not limited thereto. For example, the rust paint area can be divided into multiple sub-areas by using a depth-first search (DFS) algorithm, and the gradient variation in each sub-area does not exceed the preset variation range; the position area information can also be directly input into the learning model, and the learning model outputs the area information after the position area information is divided, etc., but is not limited thereto.

[0086] S222, analyzing the sub-regions to obtain two maximum span points; wherein the maximum span point includes two endpoints in the sub-region that are farthest apart.

[0087] Exemplarily, the edge distance of each sub-region can be calculated using edge detection technology to obtain the line segment with the longest straight-line distance, and then the two ends of the line segment are determined as the maximum span points. The sub-region can also be input into a learning model, and the learning model outputs the corresponding maximum span point, etc., but is not limited to this.

[0088] S223, using the two maximum span points as the starting point and the end point for simulation analysis to obtain a minimum path; wherein the minimum path is used to reflect the shortest moving path of the second nozzle covering the sub-area after passing through the two maximum span points as the starting point and the end point.

[0089] Exemplarily, the sub-area where the starting point and the end point are located can be traversed by a traversal algorithm, that is, all point pairs in the traversal sub-area are calculated, and the Euclidean distance between them is calculated to obtain multiple paths, which are compared by Euclidean distance to obtain the minimum path. The starting point, the end point and the corresponding sub-area can also be input into the learning model, and the learning model then outputs the corresponding minimum path, etc., but is not limited to this.

[0090] S224, analyzing the minimum path and the maximum span point of the adjacent sub-area to obtain a transition path; wherein the transition path is used to reflect the shortest moving path from the maximum span point of one sub-area to the maximum span point of another adjacent sub-area.

[0091] It can be understood that when one of the sub-areas is cleaned and needs to span to another adjacent sub-area, in order to improve the cleaning efficiency, the cleaning can be started from the maximum span point in the pre-analyzed minimum path, and the maximum span point between each two adjacent sub-areas may appear in different positions. Therefore, when moving from the maximum span point of one sub-area to the maximum span point of another adjacent sub-area, the shortest moving path of the maximum span points of the two adjacent sub-areas can be calculated through an analytical method similar to step S223 through a traversal algorithm or a learning model, which is the transition path.

[0092] S225, arranging the minimum path of each sub-area and the transition path between every two adjacent sub-areas to obtain a planned route of the cleaning path.

[0093] It can be understood that after obtaining the minimum paths of all sub-areas and the transition paths between adjacent sub-areas, all the minimum paths and transition paths are arranged and connected in order through the distribution between the sub-areas to obtain the planned route.

[0094] With such a setting, through detailed analysis of gradient change information and position area information, the optimality and efficiency of the cleaning path can be improved, while energy consumption and maintenance costs are reduced, the reliability and stability of the system are improved, and thus the cleaning efficiency and cleaning quality are significantly improved.

[0095] S230, analyzing according to the gradient change information to obtain a compensation path of the cleaning path; wherein the compensation path is used to reflect the compensation movement route of the second nozzle.

[0096] It can be understood that the distance value of the second nozzle close to or away from the surface of the large offshore wind power equipment can be obtained through the gradient change information, and the route formed by controlling the movement of the second nozzle through the distance value is the compensation path of the clear path.

[0097] This arrangement can finely control the second nozzle in three dimensions through the structure and rust and paint distribution of large offshore wind power equipment, which can significantly improve the cleaning efficiency and cleaning quality, ensure the optimality and efficiency of the cleaning path, reduce unnecessary repeated cleaning and omissions, and at the same time reduce energy consumption and maintenance costs, and improve the reliability and stability of the system. S300, analyzing the degree of rust and paint to obtain cleaning parameters; wherein the cleaning parameters include ice particle size, ice particle temperature, spray speed and spray angle.

[0098] It can be understood that different degrees of rust and paint correspond to a cleaning parameter, and the degree of rust and paint reflected by the image to be cleaned can be input into the cleaning database for matching to obtain the corresponding cleaning parameter, or the image to be cleaned can be input into the learning model, and the learning model outputs the corresponding cleaning parameter, etc., but not limited to this. Among them, the cleaning database also includes cleaning parameters corresponding to different degrees of rust and paint.

[0099] S400, the control device controls the cleaning device for removing paint and rust from large offshore wind power equipment to perform cleaning based on the cleaning path and cleaning parameters.

[0100] In this way, the method can accurately indicate the area of ​​offshore wind power equipment that needs to be cleaned and the degree of rust and paint, ensure the optimal path of the second nozzle, and dynamically adjust the ice particle size, ice particle temperature, spray speed and spray angle according to the degree of rust and paint, so as to achieve efficient and accurate cleaning effects, reduce unnecessary repeated cleaning and omissions, improve cleaning quality and efficiency, reduce energy consumption and maintenance costs, enhance system reliability and stability, and is suitable for paint and rust removal cleaning tasks of large offshore wind power equipment, and has broad application prospects and practical value.

[0101] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0102] Corresponding to the cleaning method for removing paint and rust from large offshore wind power equipment described in the above embodiment, the embodiment of the present application also provides a cleaning system for removing paint and rust from large offshore wind power equipment, and the various modules of the system can implement the various steps of the cleaning method for removing paint and rust from large offshore wind power equipment. Figure 5 A structural block diagram of a cleaning system for removing paint and rust from large offshore wind power equipment provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0103] Reference Figure 5 The cleaning system for removing paint and rust from large offshore wind power equipment includes: An acquisition module is used to acquire the image to be cleaned in real time; wherein the image to be cleaned is used to indicate the location of the offshore wind power equipment that needs to be cleaned and the degree of rust and paint on the surface; The first analysis module is used to analyze the image to be cleaned to obtain a cleaning path; wherein the cleaning path is used to reflect the path of the second nozzle of the cleaning device for removing paint and rust from large offshore wind power equipment; The second analysis module is used to analyze the degree of rust and paint to obtain cleaning parameters; wherein the cleaning parameters include ice particle size, ice particle temperature, spray speed and spray angle; The third analysis module is used to control the cleaning device used for removing paint and rust from large offshore wind power equipment to perform cleaning based on the cleaning path and cleaning parameters.

[0104] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0105] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above modules is used as an example for illustration. In practical applications, the above functions can be assigned to different modules as needed, that is, the internal structure of the system can be divided into different modules to complete all or part of the functions described above. The modules in the embodiment can be integrated into a processing unit, or each module can exist physically alone, or two or more modules can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the modules are only for the convenience of distinguishing from each other, and are not used to limit the scope of protection of this application. The specific working process of the modules in the above system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0106] An embodiment of the present application also provides a cleaning device for removing paint and rust from large offshore wind power equipment, including the cleaning device and control device for removing paint and rust from large offshore wind power equipment in the above embodiment, and the control device is electrically connected to the cleaning device for removing paint and rust from large offshore wind power equipment. Figure 6 This is a schematic diagram of the structure of a control device 6 provided in an embodiment of the present application. Figure 6 As shown, the control device 6 of this embodiment includes: at least one processor 60 ( Figure 6 Only one is shown), at least one memory 61 ( Figure 6Only one is shown in the figure) and a computer program 62 stored in the at least one memory 61 and executable on the at least one processor 60. When the processor 60 executes the computer program 62, the control device 6 implements the steps in any of the above-mentioned cleaning method embodiments for removing paint and rust from large offshore wind power equipment, or implements the functions of each module in the above-mentioned system embodiments.

[0107] Exemplarily, the computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 62 in the control device 6.

[0108] The control device 6 can be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The cleaning method for removing paint and rust from large offshore wind power equipment may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that Figure 6 It is only an example of the control device 6 and does not constitute a limitation on the control device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, buses, etc.

[0109] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0110] In some embodiments, the memory 61 may be an internal storage unit of the control device 6, such as a hard disk or memory of the control device 6. In other embodiments, the memory 61 may also be an external storage device of the control device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the control device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the control device 6. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0111] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0112] An embodiment of the present application provides a computer program product. When the computer program product is run on a cleaning device for removing paint and rust from large offshore wind power equipment, the cleaning device for removing paint and rust from large offshore wind power equipment implements the steps in any of the above-mentioned method embodiments.

[0113] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program code to the cleaning method for removing paint and rust from large offshore wind power equipment. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0114] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0116] In the embodiments provided in the present application, it should be understood that the disclosed cleaning system and equipment for removing paint and rust from large offshore wind power equipment can be implemented in other ways. For example, the above-described cleaning system embodiment for removing paint and rust from large offshore wind power equipment is merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0117] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A cleaning device for removing paint and rust from large offshore wind power equipment, characterized in that: include: An ice particle forming device, used for generating ice particles and conveying the ice particles to the outside; An air treatment device, the output end of which is connected to the ice particle forming device, for removing impurities and cooling the external ambient air and conveying it to the ice particle forming device; A water treatment device, the output end of which is connected to the ice particle forming device, for pressurizing and precooling water and then delivering it to the ice particle forming device; A cleaning transmission device is connected to one side of the ice particle forming device and is used to control the position of the ice particle forming device outputting ice particles.

2. The cleaning device for removing paint and rust from large offshore wind power equipment according to claim 1, characterized in that: The ice particle forming device comprises: A flow guide member, wherein the flow guide member is provided with a flow guide cavity, an air flow inlet and a water inlet, and the water inlet is located at an input end of the flow guide member; A movable hose, one end of which is connected to an end of the guide member away from the water inlet; A first nozzle, which is disposed at one end of the flow guide member away from the movable hose and is connected to the water inlet and the flow guide cavity; a second nozzle, the second nozzle being connected to an end of the movable hose away from the flow guide, and the second nozzle being connected to the cleaning transmission device; Wherein, the guide cavity is communicated with the air flow inlet and the water inlet respectively, the water inlet is communicated with the output end of the water treatment device, and the air flow inlet is communicated with the output end of the air treatment device.

3. The cleaning device for removing paint and rust from large offshore wind power equipment according to claim 2, characterized in that: The flow guide cavity comprises: An atomizing defrosting chamber, wherein the atomizing defrosting chamber is connected to the water inlet; A first refrigeration chamber, the first refrigeration chamber is connected to the atomizing and defrosting chamber, and the cavity radius of the first refrigeration chamber is smaller than the cavity radius of the atomizing and defrosting chamber; a second refrigeration chamber, one end of the second refrigeration chamber being connected to one end of the first refrigeration chamber away from the atomizing defrosting chamber, and the other end of the second refrigeration chamber being connected to the moving hose; The air flow inlet comprises: a first inlet, the first inlet being located on a side wall of the flow guide and being connected to the first refrigeration chamber and the air handling device; a second inlet, the second inlet being located on a side wall of the flow guide and being connected to the second refrigeration chamber and the air handling device; Wherein, the output end of the air treatment device is connected to the first inlet and the second inlet respectively.

4. The cleaning device for removing paint and rust from large offshore wind power equipment according to claim 3, characterized in that: The ice particle forming device also includes: A first nozzle, wherein the first nozzle is located in the first refrigeration cavity, an input end of the first nozzle is connected to the first inlet, and an output end of the first nozzle is directed toward the second refrigeration cavity along the axial direction of the flow guide; A second nozzle, wherein the second nozzle is located in the second refrigeration chamber, an input end of the second nozzle is connected to the second inlet, and an output end of the second nozzle is directed toward the movable hose along the axial direction of the flow guide.

5. The cleaning device for removing paint and rust from large offshore wind power equipment according to claim 4, characterized in that: The deflector is also provided with a defrost port and a discharge port, wherein the defrost port and the discharge port are connected to the atomizing defrost chamber and are symmetrically arranged on both sides of the cavity body of the atomizing defrost chamber, the input end of the defrost port is connected to the output end of the air treatment device, and the output end of the discharge port is connected to the outside.

6. The cleaning device for removing paint and rust from large offshore wind power equipment according to claim 3, characterized in that: The flow guide cavity further comprises: An ice particle generation and aging chamber, wherein the ice particle generation and aging chamber is located between the first refrigeration chamber and the second refrigeration chamber, and the cavity radius of the ice particle generation and aging chamber is smaller than the cavity radius of the first refrigeration chamber and the cavity radius of the second refrigeration chamber; An ice particle aging acceleration chamber is located between the second refrigeration chamber and the movable hose, and a cavity radius of the ice particle aging acceleration chamber is smaller than a cavity radius of the second refrigeration chamber.

7. The cleaning device for removing paint and rust from large offshore wind power equipment according to claim 5, characterized in that: The air treatment device comprises: An air compression device, used to compress and store air; An air impurity removal device, wherein the input end of the air impurity removal device is connected to the output end of the air compression device, and the output end of the air impurity removal device is connected to the defrosting port; An air cooling device, the air cooling device comprising a first output end and a second output end, the input end of the air cooling device being connected to the output end of the air impurity removal device; The input end of the defrost port is connected to the output end of the air de-impurity device, the first inlet is connected to the first output end, and the second inlet is connected to the second output end.

8. The cleaning device for removing paint and rust from large offshore wind power equipment according to claim 7, characterized in that: The air cooling device comprises: A medium-temperature refrigeration device, the input end of which is connected to the output end of the air impurity removal device, for refrigerating the air transmitted by the air impurity removal device; A low-temperature refrigeration device, wherein the input end of the low-temperature refrigeration device is connected to the output end of the medium-temperature refrigeration device, and the output end of the low-temperature refrigeration device is connected to the first inlet; An ultra-low temperature refrigeration device, wherein the input end of the ultra-low temperature refrigeration device is connected to the low temperature refrigeration device, and the output end of the ultra-low temperature refrigeration device is connected to the second inlet.

9. A cleaning method for removing paint and rust from large offshore wind power equipment, characterized in that: The cleaning device for removing paint and rust from large offshore wind power equipment according to any one of claims 1 to 8 is used for cleaning, and the method comprises: Acquire the image to be cleaned in real time; wherein the image to be cleaned is used to indicate the location of the offshore wind power equipment that needs to be cleaned and the degree of rust and paint on the surface; Analyzing the image to be cleaned to obtain a cleaning path; wherein the cleaning path is used to reflect the path of the second nozzle of the cleaning device for removing paint and rust from large offshore wind power equipment; Analyze the rust paint degree to obtain cleaning parameters; wherein the cleaning parameters include ice particle size, ice particle temperature, spray speed and spray angle; The control device controls the cleaning device for removing paint and rust from large offshore wind power equipment to perform cleaning based on the cleaning path and the cleaning parameters.

10. The cleaning method for removing paint and rust from large offshore wind power equipment according to claim 9, characterized in that: The step of analyzing the image to be cleaned to obtain a cleaning path includes: Analyzing the image to be cleaned to obtain position area information and gradient change information; wherein the position area information is used to reflect the distribution of rusted paint on offshore wind power equipment, and the gradient change information is used to reflect the change of the structure of rusted paint on offshore wind power equipment; Analyze the location area information and the gradient change information to obtain a planned path of the cleaning path; wherein the planned path is used to reflect the path of the second nozzle moving along the surface of the offshore wind power equipment; An analysis is performed based on the gradient change information to obtain a compensation path for the cleaning path; wherein the compensation path is used to reflect the compensation movement route of the second nozzle.

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