Cutter head machining method and system

Abstract

The invention relates to a cutterhead machining method and system and relates to the field of product cleaning, and the cutterhead machining method comprises the steps that a trigger signal of a preset cleaning area is obtained; acquiring regional image information based on the condition that the trigger signal is consistent with a preset working signal; cutter head model information is matched from a preset cutter head database according to the area image information and preset cutter head features; according to the cutterhead model information, a cleaning agent dosage is matched from a preset cleaning database; based on the cleaning agent dosage, preset cleaning equipment is controlled to flush the cutter head with a preset cleaning agent at a preset flushing force value; after flushing is completed, a preset clamping device is controlled to clamp the cutterhead into a preset placing area, and preset fishing equipment is controlled to fish the cleaning area; and after fishing is completed, a preset rotary feeding device is controlled to clean the cleaning area with a preset feeding cleaning method. The device has the effect of saving water resources.

Description

Technical Field

[0001] The present invention relates to the field of product processing, and in particular to a cutter head processing method and system. Background Art

[0002] The cutter head is a key component that is used to install cutting tools, has a specific structure and high precision requirements, and assists the device to complete cutting and other processing tasks through its own rotation or other movement methods.

[0003] After the cutter disc is produced, it is usually placed in a cleaning pool, where the metal debris on the surface of the cutter disc is washed away by high-pressure water washing or ultrasonic cleaning, and then the oil stains on the surface of the cutter disc are cleaned with chemical agents.

[0004] When chemical agents are used to treat the oil stains on the cutter disc, by-products produced by the reaction between the chemical agents and the oil stains will dissolve into the cleaning pool, requiring the water in the cleaning pool to be replaced regularly, thereby wasting water resources and requiring improvement. Summary of the Invention

[0005] In order to save water resources, the present invention provides a cutter head processing method and system.

[0006] In a first aspect, the present invention provides a cutter head processing method, which adopts the following technical solution: A cutter head processing method, comprising: Obtaining a trigger signal for a preset cleaning area; Acquiring regional image information based on the consistency between the trigger signal and the preset working signal; Matching the cutter head model information from a preset cutter head database according to the regional image information and the preset cutter head features; Match the cleaning agent dosage from the preset cleaning database according to the cutter head model information; Based on the amount of cleaning agent used, a preset cleaning device is controlled to flush the cutter disc with a preset cleaning agent at a preset flushing intensity value; After the flushing is completed, the preset clamping device is controlled to clamp the cutter disc to the preset placement area, and the preset salvaging equipment is controlled to salvage the cleaning area; After the salvaging is completed, the preset rotary feeding device is controlled to clean the cleaning area using a preset feeding and cleaning method.

[0007] By adopting the above technical solution, the presence of the cutter disc in the cleaning area is known by understanding the consistency between the trigger signal and the working signal. When the cutter disc enters the cleaning area, the amount of cleaning agent required is known by understanding the cutter disc model information, and the cutter disc can be flushed. After the flushing is completed, the cleaning area is salvaged by controlling the salvaging device to remove debris in the cleaning area. After the salvage is completed, the cleaning area is cleaned by controlling the rotary feeding device, so that the pool water in the cleaning area can be reused, thereby saving water resources.

[0008] Optional feeding and cleaning methods include: Obtain water quality test values, regional morphology information, and surrounding wind parameters of the preset cleaning area; Matching cleaning agents and cleaning dosage values ​​from a preset cleaning database based on water quality test values; Based on the consistency between the regional shape information and the preset circular shape, the area of ​​the circular region is obtained; According to the surrounding wind parameters, the area of ​​the circular area and the cleaning amount value, the circular feeding reference speed is matched from the preset feeding database; According to the area of ​​the circular region and the circular feed reference speed, the circular feed attenuation speed is matched from the feed database; The preset rotary feeding device is controlled to rotate and feed the cleaning agent at a circular feeding base speed, and after a preset rotation time, the rotary feeding device is controlled to decay the speed at a circular feeding decay speed so that the cleaning agent covers the cleaning area.

[0009] By adopting the above technical solution, when the regional morphology information is consistent with the circular shape, the circular feeding base speed can be known by understanding the surrounding wind parameters, the area of ​​the circular area and the cleaning amount value, and then the circular feeding attenuation speed can be known, so as to control the rotary feeding device to perform rotary feeding, so that the cleaning agent can better cover the cleaning area, thereby improving the cleaning speed of the cleaning area.

[0010] Optionally, a preset abnormal morphology cleaning method is also included, and the abnormal morphology cleaning method includes: Based on the consistency between the regional morphology information and the preset abnormal morphology, the regional range parameters are obtained; Matching device placement locations from a preset placement database based on area range parameters; Control the rotary feeding device to move to the device placement position, and match the shortest circumferential radius from the preset arrangement database based on the area range parameters; According to the shortest circumferential radius and the cleaning amount value, the regional feeding reference speed is matched from the preset feeding database; Match the blowing position and blowing force value from the preset blowing database according to the area range parameters and the area feeding reference speed; The preset blowing device is controlled to blow air at the blowing position with a blowing force value so that the cleaning agent covers the cleaning area.

[0011] By adopting the above technical solution, when the regional morphology information is consistent with the abnormal morphology, the regional feed reference speed is determined by understanding the circumferential shortest radius and the cleaning dosage value. By understanding the regional range parameters, the blowing position and blowing force value can be determined. In this way, the blowing device can be controlled to blow at the blowing position with the blowing force value to cover the cleaning area with cleaning agent, thereby improving the cleaning speed of the cleaning area.

[0012] Optionally, the abnormal form cleaning method also includes: Match the location where the medicine is missing from the cleaning database according to the area range parameters, the shortest circumferential radius and the regional feeding reference speed; Matching the medicine arrival distance value from a preset distance database according to the medicine shortage location and the preset device installation location; According to the medicine arrival distance value, the auxiliary pushing angle value and auxiliary pushing parameters are matched from the preset pushing database; According to the auxiliary pushing parameters, the amount of additional medicine is matched from the cleaning database; Get the current angle value of the rotary feeding device; Controlling the rotary feeding device to perform rotary feeding at the regional feeding reference speed and the cleaning dosage value, and based on the current angle value being consistent with the auxiliary pushing angle value, controlling the rotary feeding device to perform feeding at the regional feeding reference speed and increasing the dosage; The preset auxiliary pushing device is controlled to launch a preset pushing ball in the direction of the auxiliary pushing angle value with auxiliary pushing parameters to push the cleaning agent to the position where the agent is lacking.

[0013] By adopting the above technical solution, the distance to the medicine can be determined by understanding the location of the medicine shortage and the installation position of the device, thereby determining the auxiliary pushing angle value and auxiliary pushing parameters, and then knowing the amount of medicine to be increased. Then, by controlling the auxiliary pushing device to launch the pushing ball in the direction of the auxiliary pushing angle value and the auxiliary pushing parameters, the cleaning medicine can be pushed to the location of the medicine shortage, thereby better covering the cleaning area and improving the cleaning speed of the cleaning area.

[0014] Optionally, a preset mobile cleaning method is further included, and the mobile cleaning method includes: Based on the situation that the regional range parameter exceeds the preset reference range parameter, a reference feeding range is matched from a preset rotation speed database according to the preset reference rotation speed and cleaning amount value; Match the device movement path from the preset path database according to the reference feeding range and area range parameters; Match the feeding dead angle area from the cleaning database according to the area range parameters and the device movement path; Match the feeding dead angle position from the preset dead angle database according to the reference feeding range, the device moving path and the feeding dead angle area; Control the rotary feeding device to move and feed along the device moving path, and obtain the device moving position; Based on the situation that the moving position of the device is consistent with the position of the feeding dead angle, the auxiliary feeding device preset on the rotary feeding device is controlled to perform auxiliary feeding in the direction of the feeding dead angle area.

[0015] By adopting the above technical solution, when the area range parameters exceed the reference range parameters, the reference feeding range is known by understanding the reference rotation speed and the cleaning amount value, and the device movement path can be matched. The feeding dead angle area is then determined by the known device movement path and area range parameters, and the position of the feeding dead angle is known. In this way, when the device movement position is consistent with the feeding dead angle position, the auxiliary feeding device can be controlled to perform auxiliary feeding in the direction of the feeding dead angle area, so that the cleaning agent can better cover the cleaning area, thereby improving the cleaning speed of the cleaning area.

[0016] Optionally, a preset pressurized cleaning method is also included, and the pressurized cleaning method includes: Based on the situation where the regional range parameter exceeds the reference range parameter, matching the parameter difference value from a preset difference database according to the regional range parameter and the reference range parameter; Matching the pressurization pressure value from the preset pressurization database according to the parameter difference value; Based on the fact that the pressurizing pressure value does not exceed the preset reference pressurizing value, controlling the preset pressurizing device to pressurize the preset storage area in the rotary feeding device at the pressurizing pressure value; Based on the situation that the pressurization pressure value exceeds the reference pressurization value, the pressurization device is controlled to pressurize the storage area in the rotary feeding device with the reference pressurization value, and the post-pressurization feeding range is matched from the pressurization database according to the reference pressurization value; Match the post-pressing moving path from the path database according to the post-pressing feeding range and area range parameters; The feeding dead corner area is updated from the cleaning database according to the area range parameters and the post-pressing movement path.

[0017] By adopting the above technical solution, by understanding the area range parameters and the reference range parameters, the parameter difference value can be known, and then the pressurization pressure value can be matched. Then, by understanding the excess between the pressurization pressure value and the reference pressurization value, the pressurization method of the storage area can be known. When the pressurization pressure value does not exceed the reference pressurization value, the pressurization device can be directly controlled to pressurize the storage area with the pressurization pressure value, thereby increasing the feeding distance of the rotary feeding device so that the cleaning agent can cover the cleaning area. And when the pressurization pressure value exceeds the reference pressurization value, the pressurization device is controlled to pressurize the storage area with the reference pressurization value, thereby also increasing the feeding distance of the rotary feeding device, and then the post-pressurization moving path can be optimized, thereby reducing the moving distance of the rotary feeding device and improving the cleaning efficiency.

[0018] Optionally, a preset stirring method is also included, and the stirring method includes: When the rotary feeding device is rotating and feeding the cleaning area, the current rotation speed information of the rotary feeding device is obtained; According to the current rotation speed information, the cleaning amount value and the installation position of the device, the medicine landing point is matched from the preset rotation database; Get the depth value of the cleaning area; Match the stirring speed from the preset stirring database according to the area depth value; Control the preset stirring device to move to the medicine landing point and stir at the stirring speed.

[0019] By adopting the above technical solution, the current speed information of the rotary feeding device, the cleaning dosage value and the installation position of the device are understood to know the location of the agent landing point, and then the stirring speed is known by understanding the regional depth value. Then, the stirring equipment can be controlled to move to the agent landing point and stir the cleaning agent at the stirring speed, thereby improving the fusion speed of the cleaning agent.

[0020] Optionally, the stirring method further comprises: Match the stirring influence range from the stirring database according to the stirring speed and the preset stirring equipment size; Get the cleaning range parameters of the cleaning area; Matching the number of stirring devices from a preset device database based on stirring influence range and cleaning range parameters; Based on the condition that the number of stirring devices does not exceed the preset maximum number of devices, the arrival position of the stirring device is matched from the stirring database according to the stirring influence range, the cleaning range parameters and the number of stirring devices; Controlling the stirring devices corresponding to the number of stirring devices to move to corresponding stirring device arrival positions, and after arrival, controlling the stirring devices to stir at a stirring speed; In the case where the number of stirring devices exceeds the maximum number of devices, a stirring route is matched from the stirring database according to the location of the reagent landing point and the maximum number of devices; The stirring devices corresponding to the maximum number of devices are controlled to stir at a stirring speed along the stirring route.

[0021] By adopting the above technical solution, the specific stirring method of the stirring device is determined by understanding the excess between the number of stirring devices and the maximum number of devices. When the number of stirring devices does not exceed the maximum number of devices, the stirring devices corresponding to the number of stirring devices are controlled to reach the corresponding stirring device arrival position, and then the stirring devices can be controlled to stir at the stirring speed to increase the fusion speed of the cleaning agent. When the number of stirring devices exceeds the maximum number of devices, the stirring devices corresponding to the maximum number of devices are controlled to stir at the stirring speed along the stirring route to increase the fusion speed of the cleaning agent.

[0022] Optionally, the auxiliary pushing parameter needs to be calculated using a preset algorithm formula, and the algorithm formula is: , where F is the auxiliary pushing parameter, m is the weight of the pushing ball, g is the acceleration of gravity, x is the distance the agent reaches, d is the effective distance when the auxiliary pushing device launches the pushing ball, θ is the angle when the auxiliary pushing device launches the pushing ball, and y is the distance between the launch port of the auxiliary pushing device and the horizontal plane of the cleaning area.

[0023] By adopting the above technical solution and using the above algorithm formula, the accuracy of the auxiliary pushing parameters can be improved, thereby increasing the coverage of the cleaning agent on the cleaning area, thereby improving the cleaning efficiency of the cleaning area.

[0024] In a second aspect, the present application provides a cutterhead processing system, which adopts the following technical solution: A cutterhead processing system, comprising: An acquisition module is used to obtain trigger signals, regional image information, water quality detection values, regional morphology information, surrounding wind parameters, circular area, regional range parameters, current angle value, device movement position, current speed information, regional depth value, and cleaning range parameters; A memory for storing a program for any of the above-mentioned cutterhead processing methods; The program in the processor memory can be loaded and executed by the processor to implement any of the above-mentioned cutter head processing methods.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. By understanding the consistency between the trigger signal and the working signal, the presence of the cutter disc in the cleaning area is known. When the cutter disc enters the cleaning area, the amount of cleaning agent required is known by understanding the cutter disc model information, and the cutter disc can be flushed. After the flushing is completed, the cleaning area is salvaged by controlling the salvaging equipment to remove debris in the cleaning area. After the salvage is completed, the cleaning area is cleaned by controlling the rotary feeding device, so that the pool water in the cleaning area can be reused, thereby saving water resources; 2. When the regional morphology information is consistent with the circular shape, the reference speed of the circular feed is known by understanding the surrounding wind parameters, the area of ​​the circular area, and the cleaning amount value, and then the circular feed attenuation speed can be known. This is used to control the rotary feeder to perform rotary feeding, so that the cleaning agent can better cover the cleaning area, thereby improving the cleaning speed of the cleaning area; 3. By understanding the excess between the number of stirring devices and the maximum number of devices, the specific stirring method of the stirring device can be determined. When the number of stirring devices does not exceed the maximum number of devices, the stirring device corresponding to the number of stirring devices is controlled to reach the corresponding stirring device arrival position, and then the stirring device can be controlled to stir at the stirring speed to increase the fusion speed of the cleaning agent. When the number of stirring devices exceeds the maximum number of devices, the stirring device corresponding to the maximum number of devices is controlled to stir at the stirring speed along the stirring route to increase the fusion speed of the cleaning agent. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic structural diagram of a cutter head according to an embodiment of the present invention; Figure 2 is a method flow chart of a cutter head processing method according to an embodiment of the present invention; Figure 3 is a method flow chart of a feeding and cleaning method according to an embodiment of the present invention; Figure 4 is a method flow chart of an abnormal morphology cleaning method according to an embodiment of the present invention; The parts indicated by the numerical symbols in the above drawings are as follows: 1. Cutter disc; 2. Cutting gear ring; 3. Limit driving groove. DETAILED DESCRIPTION

[0027] The following is combined with Figures 1 to 4 The present invention is further described in detail with reference to examples.

[0028] Reference Figure 1The cutter disc 1 is located at the bottom of the garbage shredder and is used to crush garbage into fine particles for subsequent processing. Cutting tooth rings 2 are evenly distributed on the surface of the cutter disc 1 from the axis outward to crush the garbage. A limited drive groove 3 is also provided on the surface of the cutter disc 1 along the circumference. The external drive shaft engages with the limited drive groove 3. When the external drive shaft rotates, it drives the cutter disc 1 to rotate through the limited drive groove 3 to crush the garbage.

[0029] The present application discloses a method for processing a cutter disc. After a cutter disc 1 is placed in a cleaning area, a cleaning device is controlled to clean the cutter disc 1. After cleaning is completed, the water quality in the cleaning area is understood to match a corresponding cleaning agent and cleaning dosage value. Furthermore, the specific regional morphological information of the cleaning area is understood to determine the feeding method of the cleaning agent. After the cleaning agent is fed, a stirring device is controlled to stir the cleaning agent and sewage to decontaminate the sewage in the cleaning area.

[0030] Reference Figure 2 , a cutter head processing method comprises the following steps: Step 100: Obtain a trigger signal for a preset cleaning area.

[0031] The cleaning area refers to the cleaning pool used for the final cleaning of the cutter disc 1 after production. The trigger signal is used to determine whether a cutter disc 1 has been placed in the cleaning area. The trigger signal includes a standby signal and an operating signal. The standby signal is used when no cutter disc 1 is placed in the cleaning area, while the operating signal is used when the cutter disc 1 has entered the cleaning area. The cleaning area, standby signal, and operating signal are all pre-defined by those skilled in the art and are not described in detail here. The trigger signal is obtained via a signal transceiver located in the cleaning area.

[0032] Step 101: Acquire regional image information based on the fact that the trigger signal is consistent with the preset working signal.

[0033] The area image information refers to an image of the cleaning area. The area image information is captured by a camera. When the trigger signal matches the working signal, it indicates that the cutter head 1 has been transported into the cleaning area, and the area image information needs to be captured for subsequent steps.

[0034] Step 102: Match the cutter head model information from a preset cutter head database according to the regional image information and the preset cutter head features.

[0035] Cutterhead characteristics refer to the characteristics of the cutterhead 1 in terms of shape, size, tool layout, material, and wear resistance. These characteristics are pre-determined by those skilled in the art and are not detailed here. Cutterhead model information refers to the size, material, and shape of the cutterhead 1 to be cleaned. The cutterhead database can be used to match regional image information with cutterhead characteristics and cutterhead model information. This database contains the correspondence between regional image information, cutterhead characteristics, and cutterhead model information. The cutterhead database is manually configured and is not detailed here.

[0036] Step 103: Match the amount of cleaning agent from a preset cleaning database according to the cutter head model information.

[0037] The cleaning agent dosage refers to the amount of agent used to remove oil stains from the surface of the cutter disc 1. The cleaning agent dosage corresponding to the cutter disc model information can be matched using a cleaning database, which contains the correspondence between the cutter disc model information and the cleaning agent dosage. The cleaning database is a manually set database and will not be detailed here.

[0038] Step 104: Based on the amount of cleaning agent used, a preset cleaning device is controlled to flush the cutter disc 1 with the preset cleaning agent at a preset flushing force value.

[0039] The cleaning device is used to flush away oil stains and metal debris from the surface of the cutter disc 1. The cleaning agent is used to flush away oil stains from the surface of the cutter disc 1. The flushing force value is the force used to flush away oil stains and metal debris from the surface of the cutter disc 1. The cleaning agent and flushing force value are both pre-determined by those skilled in the art and are not detailed here.

[0040] The cleaning device is controlled to flush the cutter disc 1 with a cleaning agent corresponding to the cleaning agent dosage and at a flushing force value, so as to flush away the oil stains and metal debris on the surface of the cutter disc 1 .

[0041] Step 105: After the flushing is completed, the preset clamping device is controlled to clamp the cutter disc 1 to the preset placement area, and the preset salvaging equipment is controlled to salvage the cleaning area.

[0042] The clamping device is used to clamp the cleaned cutterhead 1 to the storage area. The storage area is the area where the cleaned cutterhead 1 is placed. The salvaging equipment is used to salvage and remove metal debris and other debris from the cleaning area. The storage area is pre-determined by those skilled in the art and will not be described in detail here.

[0043] After the cutter disc 1 is cleaned, the clamping device needs to be controlled to clamp the cleaned cutter disc 1 to the placement area for subsequent use, and then the metal debris and other debris that fell into the cleaning area when the cutter disc 1 was cleaned are salvaged and removed through the salvage equipment, so as to subsequently clean the pool water in the cleaning area.

[0044] Step 106: After the salvaging is completed, the preset rotary feeding device is controlled to clean the cleaning area using a preset feeding and cleaning method.

[0045] The rotary feeder is a device used to deliver cleaning agents to the cleaning area. In this embodiment, the rotary feeder is in the shape of a circular pancake and has a discharge port. The rotary feeder generates centrifugal force by controlling its rotation to deliver the cleaning agents to the cleaning area. The feeding and cleaning method is a method used to deliver the cleaning agents to the cleaning area. The specific feeding and cleaning method is described in detail in subsequent steps 200 to 205 and will not be detailed here.

[0046] After the metal scraps and other debris in the cleaning area are salvaged, the rotary feeding device is controlled to rotate and feed the cleaning area in a feeding and cleaning method, thereby cleaning the cleaning area.

[0047] Reference Figure 3 , the feeding and cleaning method comprises the following steps: Step 200: Obtain water quality detection values, regional morphological information, and surrounding wind parameters of the cleaning area.

[0048] Water quality values ​​refer to the various indicators obtained from testing the water within the cleaning area. Regional morphology information refers to the shape, size, boundaries, and spatial distribution of the cleaning area. This information is obtained using a pre-set infrared scanner. Ambient wind parameters refer to the wind speed and direction around the cleaning area. These parameters are measured using a pre-set ultrasonic wind speed and direction sensor.

[0049] Step 201: Match the cleaning agent and cleaning dosage value from a preset cleaning database according to the water quality detection value.

[0050] A cleaning agent is an agent used to clean sewage in the cleaning area. The sewage contains a mixed solution produced by the cleaning agent after cleaning oil stains on the cutter disc 1. The cleaning dosage value refers to the amount of agent required to clean the sewage in the cleaning area. The cleaning agent and cleaning dosage value corresponding to the water quality test value can be matched using the cleaning database, which contains the corresponding relationship between the water quality test value, the cleaning agent, and the cleaning dosage value. The cleaning database is a manually set database and will not be described in detail here.

[0051] Step 202: Based on the fact that the region shape information is consistent with the preset circular shape, the area of ​​the circular region is obtained.

[0052] The circular morphology refers to the shape of the cleaning area, which is a regular circle. This circular morphology is pre-determined by those skilled in the art and will not be described in detail here. The circular area refers to the area of ​​the cleaning area. This area is obtained by scanning with a preset infrared scanner. When the area morphology information is consistent with a circular morphology, it indicates that the cleaning area is a regular circular area. The circular area area is required for subsequent steps.

[0053] Step 203: Match the circular feeding reference speed from the preset feeding database according to the surrounding wind parameters, the circular area and the cleaning amount value.

[0054] The circular feeding reference speed refers to the speed at which the rotary feeding device performs rotary feeding in the cleaning area when the cleaning area is a regular circular area.

[0055] The feeding database can be used to match the circular feeding reference speed corresponding to the surrounding wind parameters, circular area and cleaning usage values. It includes the correspondence between the surrounding wind parameters, circular area, cleaning usage values ​​and circular feeding reference speed. The feeding database is a manually set database and will not be elaborated here.

[0056] Step 204: Match the circular feed attenuation speed from the feed database according to the area of ​​the circular region and the circular feed reference speed.

[0057] Circular feed attenuation speed refers to the rotational speed of the rotary feeder being reduced during feeding to ensure better coverage of the cleaning area with cleaning agents. In this embodiment, the rotary feeder feeds from far to near. By controlling the rotary feeder to reduce its speed, the feeding distance is controlled, thereby achieving better coverage of the cleaning area with agents. The circular feed attenuation speed corresponding to the circular area area and the circular feed base speed can be matched using the feed database, which contains the corresponding relationship between the circular area area, the circular feed base speed, and the circular feed attenuation speed.

[0058] Step 205: Control the preset rotary feeding device to rotate and feed the cleaning agent at a circular feeding base speed, and after a preset rotation time, control the rotary feeding device to decay the speed at a circular feeding decay speed so that the cleaning agent covers the cleaning area.

[0059] The rotation time refers to the time during which the rotary feeder maintains the rotation speed matching the circular feed reference speed. The rotation time is set in advance by those skilled in the art and will not be described in detail here.

[0060] The rotary feeding device is controlled to feed the cleaning agent in a circular feeding base speed, and after the rotation time, the rotary feeding device is controlled to gradually decay the speed at a circular feeding decay speed, so as to gradually reduce the feeding distance, thereby allowing the cleaning agent to cover the cleaning area.

[0061] Reference Figure 4 , the abnormal morphology cleaning method includes the following steps: Step 300: Based on the consistency between the regional morphology information and the preset abnormal morphology, obtain the regional range parameters.

[0062] Abnormal morphology refers to the shape of the cleaning area when it is not circular. Abnormal morphology is pre-determined by those skilled in the art and will not be described in detail here. Area range parameters refer to the size parameters of the cleaning area. Area range parameters are obtained using a pre-set infrared scanner. If the area morphology information matches the abnormal morphology, it indicates that the cleaning area is not circular, and the area range parameters must be obtained for subsequent steps.

[0063] Step 301: Match device placement locations from a preset placement database based on area range parameters.

[0064] The device placement position refers to the location within the cleaning area where the rotary feeder is placed when the area morphology information matches the irregular shape. The placement database, which contains the correspondence between area range parameters and device placement positions, can be used to match the device placement position within the cleaning area. The placement database is a manually configured database and is not detailed here.

[0065] Step 302: Control the rotary feeding device to move to the device placement position, and match the shortest circumferential radius from a preset arrangement database based on the area range parameters.

[0066] The circumferential minimum radius is the shortest distance between the rotary feeder and the wall of the cleaning area, with the rotary feeder itself as the center. After the rotary feeder is controlled and moved to its placement position, the permutation database is used to match the area range parameters to the circumferential minimum radius for subsequent steps. The permutation database contains the correspondence between area range parameters and the circumferential minimum radius. This database is manually configured and will not be detailed here.

[0067] Step 303: Match the regional feed reference speed from the preset feed database according to the shortest circumferential radius and the cleaning amount value.

[0068] The regional feed reference speed is the rotational speed at which the rotary feeder delivers the cleaning agent into the cleaning area when the regional morphology information matches the irregular shape. The feed database can be used to match the regional feed reference speed corresponding to the minimum circumferential radius and cleaning dosage value. This database contains the corresponding relationship between the minimum circumferential radius, cleaning dosage value, and regional feed reference speed. The feed database is a manually configured database and is not detailed here.

[0069] Step 304: Match the blowing position and blowing force value from a preset blowing database according to the regional range parameter and the regional feed reference speed.

[0070] The air blowing position refers to the position where the cleaning agent is blown after the rotary feeder rotates and feeds it into the cleaning area. The air blowing force value refers to the force at which the cleaning agent is blown after the rotary feeder rotates and feeds it into the cleaning area. The air blowing database can be used to match the air blowing position and air blowing force values ​​corresponding to the area range parameters and the area feed base speed. It contains the corresponding relationship between the area range parameters, the area feed base speed, the air blowing position, and the air blowing force values. The air blowing database is a manually set database and is not detailed here.

[0071] Step 305: Control the preset blowing device to blow air at the blowing position with a blowing force value to cover the cleaning area with the cleaning agent.

[0072] The air blowing device is a device used to blow air into the cleaning agent. Since the cleaning agent is fed by the rotary feeding device, all circumferential cleaning agents can only reach the landing point corresponding to the shortest circumferential radius. Furthermore, since the current cleaning area is irregular, some agents cannot completely reach the edge of the cleaning area. The air blowing device is required to blow the cleaning agents that cannot reach the edge to the edge, thereby covering the cleaning area with the cleaning agents. The air blowing device is controlled to blow air at the blowing position with a certain blowing force value to blow the cleaning agents to the edge, thereby ensuring that the cleaning agents can cover the cleaning area.

[0073] The abnormal form cleaning method further includes the following steps: Step 400: Match the medicine shortage position from the cleaning database according to the area range parameters, the shortest circumferential radius and the regional feed reference speed.

[0074] The missing agent location refers to the point where the rotary feeder is unable to deliver the cleaning agent through rotation. Since the rotary feeder is a rotary feeder, when the cleaning area is not a regular circle, the rotary feeder will have feeding dead spots during rotation. These feeding dead spots are the missing agent locations. The cleaning database can be used to match the missing agent locations corresponding to the area range parameters, the shortest circumferential radius, and the regional feeding reference speed. This database contains the corresponding relationships between the area range parameters, the shortest circumferential radius, the regional feeding reference speed, and the missing agent locations.

[0075] Step 401: Match the medicine arrival distance value from a preset distance database according to the medicine shortage location and the preset device installation location.

[0076] The device installation position refers to the location where the rotary feeding device is installed on the cleaning area. The device installation position is pre-set by those skilled in the art and will not be described in detail here. The agent arrival distance value refers to the distance from the cleaning agent to the agent shortage position after it is ejected from the rotary feeding device. The agent arrival distance value corresponding to the agent shortage position and the device installation position can be matched using the distance database, which contains the corresponding relationship between the agent shortage position and the device installation position and the agent arrival distance value. The distance database is a manually set database and will not be described in detail here.

[0077] Step 402: Match auxiliary pushing angle values ​​and auxiliary pushing parameters from a preset pushing database according to the medicine arrival distance value.

[0078] The auxiliary pushing angle value refers to the angle at which the auxiliary pushing device launches the pushing ball to the location where the agent is missing for pushing. The auxiliary pushing parameter refers to the force with which the auxiliary pushing device launches the pushing ball to the location where the agent is missing for pushing. The auxiliary pushing device refers to the device used to launch the pushing ball to the location where the agent is missing for pushing. The pushing ball refers to a ferromagnetic ball used to push the cleaning agent to the location where the agent is missing. After being launched to the location where the agent is missing, the pushing ball can be driven to move to various locations where the agent is missing in the cleaning area by controlling the movement of a magnetic suction device preset at the bottom of the cleaning area.

[0079] In this embodiment, there may be multiple locations where the agent is missing, and the push balls may have multiple volume specifications. Different volume specifications can drive different amounts of cleaning agents. The specific volume specifications are selected by those skilled in the art based on the number of locations where the agent is missing, and will not be elaborated here.

[0080] When the auxiliary pushing device is launching the pushing ball, the stirring device mentioned in subsequent steps 700 to 704 and steps 800 to 806 needs to stop stirring until the staff collects the pushing balls from the cleaning area, and then the stirring device can be controlled to perform the corresponding stirring operation.

[0081] The auxiliary pushing angle value corresponding to the medicine arrival distance value can be matched by pushing the database, which includes the correspondence between the medicine arrival distance value and the auxiliary pushing angle value. The pushing database is a manually set database and will not be described here.

[0082] The push database also contains the algorithm formula for calculating the auxiliary push parameters: Where F is the auxiliary pusher parameter, M is the weight of the pusher ball, g is the acceleration due to gravity, x is the distance the agent reaches, d is the distance the auxiliary pusher device launches the pusher ball, θ is the angle at which the auxiliary pusher device launches the pusher ball, and y is the distance between the launch port of the auxiliary pusher device and the horizontal plane of the cleaning area. m, d, θ, and y are measured in advance by those skilled in the art and are not detailed here.

[0083] Step 403: Match the increased medicine amount from the cleaning database according to the auxiliary pushing parameters.

[0084] The increased dosage is used to ensure that after the pusher ball pushes the cleaning agent to a location where the agent is insufficient, the amount of cleaning agent at the original location will not fall below the dosage corresponding to the cleaning dosage value. The cleaning database can be used to match the auxiliary pushing parameters with the increased dosage, which contains the corresponding relationship between the auxiliary pushing parameters and the increased dosage.

[0085] Step 404: Obtain the current angle value of the rotary feeding device.

[0086] The current angle value refers to the current orientation angle of the rotary feeder. The current angle value is measured by the angle sensor.

[0087] Step 405: Control the rotary feeding device to perform rotary feeding at the regional feeding reference speed and the cleaning dosage value, and based on the current angle value being consistent with the auxiliary pushing angle value, control the rotary feeding device to perform feeding at the regional feeding reference speed and increase the medicine dosage.

[0088] The rotary feeding device is controlled to rotate and feed at the regional feeding base speed and the cleaning dosage value, and when the current angle value is consistent with the auxiliary pushing angle value, it means that the current rotary feeding device is heading towards the position where the medicine is missing, and the rotary feeding device needs to be controlled to feed at the regional feeding base speed and increase the medicine dosage.

[0089] Step 406: Control the preset auxiliary pushing device to launch the preset pushing ball in the direction of the auxiliary pushing angle value with the auxiliary pushing parameters to push the cleaning agent to the agent-deficient position.

[0090] The auxiliary pushing device is controlled to launch the pushing ball in the direction of the auxiliary pushing angle value with the auxiliary pushing parameter, so as to push the cleaning agent to the position where the agent is lacking, thereby covering the cleaning area.

[0091] The mobile cleanup method includes the following steps: Step 500: Based on the situation that the area range parameter exceeds the preset reference range parameter, a reference feeding range is matched from a preset rotation speed database according to a preset reference rotation speed and a cleaning amount value.

[0092] The reference range parameter refers to the maximum range of the cleaning area that can be covered by the cleaning agent when the rotary feeding device is rotating and feeding at the maximum rotation speed. The reference rotation speed refers to the speed of the rotary feeding device when it is rotating at maximum power. The reference rotation speed and reference range parameters are both set in advance by those skilled in the art and will not be described in detail here. The reference feeding range refers to the range of the rotary feeding device when it is rotating and feeding at the reference rotation speed after being loaded with the cleaning agent corresponding to the cleaning dosage value. The reference feeding range corresponding to the reference rotation speed and the cleaning dosage value can be matched through the rotation speed database, which includes the correspondence between the reference rotation speed and the cleaning dosage value and the reference feeding range. The rotation speed database is an artificially set database and will not be described in detail here.

[0093] When the area range parameter exceeds the reference range parameter, it means that even if the rotary feeding device rotates and feeds at the reference rotation speed, it cannot completely cover the cleaning area. The reference feeding range corresponding to the reference rotation speed and cleaning amount value must be matched through the speed database for subsequent steps.

[0094] Step 501: Matching a device moving path from a preset path database according to a reference feeding range and area range parameters.

[0095] The device movement path refers to the path that the rotary feeder moves along as it feeds within the cleaning area. The path database, which contains the correspondence between the reference feed range and area parameters and the device movement path, can be used to match the device movement path to the reference feed range and area parameters. The path database is manually configured and will not be detailed here.

[0096] Step 502: Match the feeding dead angle area from the cleaning database according to the area range parameters and the device movement path.

[0097] Feeding dead zones are locations where the rotary feeder cannot deliver cleaning agents during rotational feeding. The cleaning database can be used to match the area range parameters and the device's movement path to the feeding dead zones. This database contains the corresponding relationship between the area range parameters, the device's movement path, and the feeding dead zones.

[0098] Step 503: Match the feeding dead angle position from a preset dead angle database according to the reference feeding range, the device moving path and the feeding dead angle area.

[0099] Feeding blind spots refer to locations where a rotary feeder encounters a feeding blind spot when feeding along its path. The blind spot database matches the baseline feeding range, device path, and feeding blind spot locations. This database contains the corresponding relationships between the baseline feeding range, device path, feeding blind spot areas, and feeding blind spot locations. The blind spot database is a manually configured database and will not be detailed here.

[0100] Step 504: Control the rotary feeding device to move and feed along the device moving path, and obtain the device moving position.

[0101] The device's travel position refers to the position of the rotary feeder along its travel path. The device's travel position can be obtained using the GPS positioning chip on the rotary feeder. The rotary feeder is controlled to move along the travel path and feed the material, and the device's travel position is obtained for subsequent steps.

[0102] Step 505: Based on the fact that the device moving position is consistent with the position of the feeding dead angle, the auxiliary feeding device preset on the rotary feeding device is controlled to perform auxiliary feeding in the direction of the feeding dead angle area.

[0103] The auxiliary feeding device is used to assist in feeding materials to areas with blind spots. When the device's movement position coincides with the position of the blind spot, it means that the rotary feeding device is feeding materials in the direction of the blind spot. The auxiliary feeding device needs to be controlled to assist in feeding materials in the direction of the blind spot, so that the cleaning agent can cover the cleaning area.

[0104] The pressure cleaning method includes the following steps: Step 600: Based on the situation that the area range parameter exceeds the reference range parameter, a parameter difference value is matched from a preset difference database according to the area range parameter and the reference range parameter.

[0105] The parameter difference value refers to the numerical value of the range difference between the regional range parameter and the reference range parameter. When the regional range parameter exceeds the reference range parameter, it means that even if the rotary feeder rotates and feeds at the reference rotation speed, the cleaning agent cannot completely cover the cleaning area. The difference database is required to match the parameter difference value corresponding to the regional range parameter and the reference range parameter for subsequent steps. The difference database contains the correspondence between the regional range parameter and the reference range parameter and the parameter difference value. The difference database is a manually set database and is not described in detail here.

[0106] Step 601: Matching a pressurization pressure value from a preset pressurization database according to the parameter difference value.

[0107] The pressurization pressure value refers to the pressure used to pressurize the storage area within the rotary feeder. The storage area is the area used to store the cleaning agent. The storage area is pre-defined by those skilled in the art and is not described here. The pressurization pressure value corresponding to the parameter difference value can be matched using a pressurization database, which contains the correspondence between the parameter difference value and the pressurization pressure value. The pressurization database is a manually defined database and is not described here.

[0108] Step 602: Based on the fact that the pressurization pressure value does not exceed the preset reference pressurization value, control the preset pressurization device to pressurize the preset storage area in the rotary feeding device with the pressurization pressure value.

[0109] The baseline pressure value is the maximum pressure at which the material storage area within the rotary feeder can be pressurized. The pressurizing device is the device used to pressurize the material storage area within the rotary feeder. When the pressurization pressure value does not exceed the baseline pressure value, the pressurizing device can be controlled to pressurize the material storage area at the pressurized pressure value. Simply control the pressurizing device to pressurize the material storage area within the rotary feeder at the pressurized pressure value.

[0110] Step 603: Based on the situation that the pressurization pressure value exceeds the reference pressurization value, control the pressurization device to pressurize the storage area in the rotary feeding device with the reference pressurization value, and match the pressurized feeding range from the pressurization database according to the reference pressurization value.

[0111] The post-pressurization feeding range is the range within which the rotary feeder can deliver the cleaning agent after the storage area is pressurized. The post-pressurization feeding range corresponding to the baseline pressurization value can be matched using the pressurization database, which contains the corresponding relationship between the baseline pressurization value and the post-pressurization feeding range.

[0112] When the pressurization pressure exceeds the reference pressure value, it means that the pressurization device cannot be controlled to pressurize the storage area at the pressurization pressure value. The pressurization device must first be controlled to pressurize the storage area within the rotary feeding device at the reference pressure value, and then the pressurization database is used to match the post-pressurization feeding range corresponding to the reference pressure value for subsequent steps.

[0113] Step 604: Match the post-pressing moving path from the path database according to the post-pressing feeding range and the area range parameters.

[0114] After the storage area is pressurized, the base feeding range of the rotary feeding device becomes wider during rotary feeding, thus becoming the post-pressing feeding range. The post-pressing movement path refers to the change in the device's movement path caused by the change in the base feeding range. The path database can be used to match the post-pressing feeding range and area range parameters to the post-pressing movement path, which contains the corresponding relationship between the post-pressing feeding range, area range parameters, and the post-pressing movement path.

[0115] Step 605: Update the feeding dead angle area from the cleaning database according to the area range parameters and the post-pressing movement path.

[0116] Since the device moving path changes to the post-pressing moving path, the feeding dead corner area will change accordingly, and it is necessary to clean up the database to match the area range parameters and the feeding dead corner area corresponding to the post-pressing moving path, so as to update the feeding dead corner area in step 502, and then the feeding dead corner position in step 503 can be updated.

[0117] After the feeding dead corner area and the feeding dead corner position are updated, when the device moving position is consistent with the updated feeding dead corner position, the auxiliary feeding device is controlled to perform auxiliary feeding in the direction of the updated feeding dead corner area, so as to facilitate the cleaning agent to cover the cleaning area.

[0118] The stirring method comprises the following steps: Step 700: When the rotary feeding device performs rotary feeding on the cleaning area, obtain current rotation speed information of the rotary feeding device.

[0119] Current speed information refers to the speed of the rotary feeder while it is feeding. This speed information is measured by the speed sensor on the rotary feeder. When the rotary feeder is feeding the cleaning area, this speed information is required for subsequent steps.

[0120] Step 701: Match the medicine landing point from a preset rotation database according to the current rotation speed information, the cleaning amount value and the device installation position.

[0121] The agent drop point refers to the location where the cleaning agent lands in the cleaning area. The rotation database can be used to match the current speed information, cleaning dosage value, and device installation position to the agent drop point. This database contains the corresponding relationship between the current speed information, cleaning dosage value, device installation position, and agent drop point. The rotation database is a manually set database and will not be detailed here.

[0122] Step 702: Obtain the area depth value of the cleaning area.

[0123] The zone depth value refers to the depth of water in the cleaning area. The zone depth value is measured by a preset water level sensor.

[0124] Step 703: Match the stirring speed from a preset stirring database according to the regional depth value.

[0125] Agitation speed refers to the speed at which the agitator mixes the cleaning agent and wastewater. The agitation database, which contains the corresponding relationship between regional depth values ​​and agitation speed, can be used to match the agitation speed to the regional depth value. The agitation database is a manually set database and will not be detailed here.

[0126] Step 704: Control the preset stirring device to move to the medicine landing point and stir at the stirring speed.

[0127] The stirring device is used to mix the cleaning agent and sewage. The stirring device is controlled to move to the location where the agent is dropped. At the location where the agent is dropped, the stirring device is controlled to stir at a stirring speed to quickly mix the cleaning agent and sewage, thereby achieving a rapid decontamination effect.

[0128] The auxiliary pushing device mentioned in the above step 406 will launch the pushing balls into the cleaning area. When there are pushing balls in the cleaning area, the stirring device should stop the stirring operation until the staff collects the stirring balls from the cleaning area and then continue the stirring operation.

[0129] The stirring method further comprises the following steps: Step 800: Match the stirring influence range from the stirring database according to the stirring speed and the preset stirring equipment size.

[0130] The stirring device size refers to the specifications of the stirring blades. The stirring device size is predetermined by those skilled in the art and will not be detailed here. The stirring influence range refers to the size of the area within the cleaning area that the stirring action of the stirring device can reach and produce an effect during the stirring process. The stirring database can be used to match the stirring influence range corresponding to the stirring speed and stirring device size, which includes the corresponding relationship between the stirring speed, stirring device size, and stirring influence range.

[0131] Step 801: Acquire the cleaning range parameters of the cleaning area.

[0132] The cleaning range parameter refers to the size of the cleaning area. The cleaning range parameter is obtained by scanning with a preset infrared scanning device.

[0133] Step 802: Match the number of stirring devices from a preset device database according to the stirring influence range and cleaning range parameters.

[0134] The number of agitators refers to the number of agitators required. The device database can be used to match the number of agitators corresponding to the agitation influence range and cleaning range parameters. This database contains the corresponding relationship between the agitation influence range and cleaning range parameters and the number of agitators. The device database is a manually set database and is not detailed here.

[0135] Step 803: Based on the fact that the number of stirring devices does not exceed the preset maximum number of devices, the arrival position of the stirring device is matched from the stirring database according to the stirring influence range, the cleaning range parameters and the number of stirring devices.

[0136] The maximum number of devices refers to the maximum number of stirring devices that can be used. The maximum number of devices is set in advance by those skilled in the art and will not be described in detail here. The stirring device arrival position refers to the position where the stirring device needs to reach. The stirring database can be used to match the stirring influence range, cleaning range parameters, and stirring device arrival positions corresponding to the number of stirring devices, which includes the corresponding relationship between the stirring influence range, cleaning range parameters, number of stirring devices, and stirring device arrival positions.

[0137] If the number of stirring devices does not exceed the maximum number of devices, it means that the stirring devices corresponding to the number of stirring devices can be used to stir the cleaning area. The stirring database is required to match the stirring influence range, cleaning range parameters, and the stirring device arrival position corresponding to the number of stirring devices for subsequent steps.

[0138] Step 804: Control the stirring devices corresponding to the number of stirring devices to move to the corresponding stirring device arrival positions, and after arriving, control the stirring devices to stir at the stirring speed.

[0139] The stirring devices corresponding to the number of stirring devices are controlled to move to the corresponding stirring device arrival positions, and after arriving, each stirring device is controlled to stir the cleaning agent and sewage in the cleaning area at a stirring speed to accelerate the removal efficiency of the sewage.

[0140] Step 805: Based on the situation that the number of stirring devices exceeds the maximum number of devices, a stirring route is matched from the stirring database according to the location of the medicine landing point and the maximum number of devices.

[0141] The stirring route is the path that the stirring device moves along within the cleaning area. The stirring database can be used to match the stirring routes corresponding to the reagent drop point location and the maximum number of devices. This database contains the corresponding relationship between the reagent drop point location, the maximum number of devices, and the stirring route.

[0142] If the number of stirring devices exceeds the maximum number of devices, it means that the stirring devices corresponding to the number of stirring devices cannot be used to stir the cleaning area. The stirring database is required to match the agent landing point and the stirring route corresponding to the maximum number of devices for subsequent steps.

[0143] Step 806: Control the stirring devices corresponding to the maximum number of devices to stir along the stirring route at the stirring speed.

[0144] The stirring devices corresponding to the maximum number of devices are controlled to stir the cleaning agent and sewage in the cleaning area at the same stirring speed along the stirring routes corresponding to the stirring devices, so as to accelerate the removal efficiency of the sewage.

[0145] Based on the same inventive concept, an embodiment of the present invention provides a cutter head processing system, comprising: An acquisition module is used to obtain trigger signals, regional image information, water quality detection values, regional morphology information, surrounding wind parameters, circular area, regional range parameters, current angle value, device movement position, current speed information, regional depth value, and cleaning range parameters; A memory for storing a program of a cutter head processing method; The program in the memory can be loaded and executed by the processor to implement a tool head processing method.

[0146] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0147] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for processing a cutter head, characterized in that: include: Obtaining a trigger signal for a preset cleaning area; Based on the fact that the trigger signal is consistent with the preset working signal, the regional image information is obtained; Matching the cutter head model information from a preset cutter head database according to the regional image information and the preset cutter head features; According to the cutter head model information, the amount of cleaning agent is matched from the preset cleaning database; Based on the amount of cleaning agent used, a preset cleaning device is controlled to flush the blade disc (1) with the preset cleaning agent at a preset flushing force value; After flushing is completed, controlling a preset clamping device to clamp the cutter disc (1) to a preset placement area, and controlling a preset salvaging device to salvage the cleaning area; After the salvaging is completed, the preset rotary feeding device is controlled to clean the cleaning area using a preset feeding and cleaning method.

2. A cutter head processing method according to claim 1, characterized in that: Feed cleaning methods include: Obtain water quality test values, regional morphology information and surrounding wind parameters in the cleaning area; Matching cleaning agents and cleaning dosage values ​​from a preset cleaning database according to water quality test values; Based on the fact that the regional shape information is consistent with the preset circular shape, the area of ​​the circular region is obtained; According to the surrounding wind parameters, the area of ​​the circular area and the cleaning amount value, the circular feeding reference speed is matched from the preset feeding database; According to the circular area and the circular feed reference speed, the circular feed attenuation speed is matched from the feed database; The rotary feeding device is controlled to rotate and feed the cleaning agent at a circular feeding reference speed, and after a preset rotation time, the rotary feeding device is controlled to decay the speed at a circular feeding decay speed so that the cleaning agent covers the cleaning area.

3. A cutter head processing method according to claim 2, characterized in that: It also includes a preset abnormal morphology cleaning method, which includes: Based on the situation that the regional morphology information is consistent with the preset abnormal morphology, the regional range parameters are obtained; Matching the device placement location from a preset placement database according to the area range parameters; Control the rotary feeding device to move to the device placement position, and match the shortest circumferential radius from a preset arrangement database based on the area range parameters; According to the shortest circumferential radius and the cleaning amount value, the regional feeding reference speed is matched from the preset feeding database; According to the regional range parameters and the regional feed reference speed, the blowing position and the blowing force value are matched from the preset blowing database; The preset blowing device is controlled to blow air to the blowing position at a blowing force value so that the cleaning agent covers the cleaning area.

4. A cutter head processing method according to claim 3, characterized in that: Abnormal form cleaning methods also include: Match the position where the medicine is missing from the cleaning database according to the area range parameters, the shortest circumferential radius and the regional feeding reference speed; Matching the medicine arrival distance value from a preset distance database according to the medicine shortage location and the preset device installation location; According to the medicine arrival distance value, the auxiliary pushing angle value and auxiliary pushing parameters are matched from the preset pushing database; According to the auxiliary pushing parameters, the amount of additional medicine is matched from the cleaning database; Get the current angle value of the rotary feeding device; Control the rotary feeding device to perform rotary feeding at the regional feeding reference speed and the cleaning dosage value, and when the current angle value is consistent with the auxiliary pushing angle value, control the rotary feeding device to perform feeding at the regional feeding reference speed and the increased dosage; The preset auxiliary pushing device is controlled to launch a preset pushing ball in the direction of the auxiliary pushing angle value with auxiliary pushing parameters to push the cleaning agent to the position where the agent is lacking.

5. A cutter head processing method according to claim 4, characterized in that: Also included is a preset mobile cleaning method, the mobile cleaning method comprising: Based on the situation that the area range parameter exceeds the preset reference range parameter, a reference feeding range is matched from a preset rotation speed database according to a preset reference rotation speed and a cleaning amount value; Matching the device moving path from a preset path database according to the reference feeding range and area range parameters; Match the feeding dead angle area from the cleaning database according to the area range parameters and the device movement path; Match the feeding dead angle position from the preset dead angle database according to the reference feeding range, the device moving path and the feeding dead angle area; Control the rotary feeding device to move and feed along the device moving path, and obtain the moving position of the device; Based on the fact that the moving position of the device is consistent with the position of the feeding dead angle, the auxiliary feeding device preset on the rotary feeding device is controlled to perform auxiliary feeding in the direction of the feeding dead angle area.

6. A cutter head processing method according to claim 5, characterized in that: Also included is a preset pressurized cleaning method, the pressurized cleaning method comprising: Based on the situation that the regional range parameter exceeds the reference range parameter, matching the parameter difference value from a preset difference database according to the regional range parameter and the reference range parameter; Matching the pressurization pressure value from a preset pressurization database according to the parameter difference value; Based on the fact that the pressurization pressure value does not exceed the preset reference pressurization value, controlling the preset pressurization device to pressurize the preset storage area in the rotary feeding device with the pressurization pressure value; Based on the situation that the pressurization pressure value exceeds the reference pressurization value, the pressurization device is controlled to pressurize the storage area in the rotary feeding device with the reference pressurization value, and the post-pressurization feeding range is matched from the pressurization database according to the reference pressurization value; Match the post-pressing moving path from the path database according to the post-pressing feeding range and area range parameters; Update the feeding dead angle area from the cleaning database according to the area range parameters and the post-pressing moving path.

7. A cutter head processing method according to claim 3, characterized in that: Also included is a preset stirring method, the stirring method comprising: When the rotary feeding device is rotating and feeding the cleaning area, obtaining the current rotation speed information of the rotary feeding device; According to the current rotation speed information, the cleaning amount value and the device installation position, the medicine landing point position is matched from the preset rotation database; Get the area depth value of the cleaning area; Match the stirring speed from the preset stirring database according to the area depth value; Control the preset stirring device to move to the medicine landing point and stir at the stirring speed.

8. A cutter head processing method according to claim 7, characterized in that: The stirring method also includes: Match the stirring influence range from the stirring database according to the stirring speed and the preset stirring equipment size; Get the cleaning range parameters of the cleaning area; According to the stirring influence range and cleaning range parameters, the number of stirring devices is matched from the preset device database; Based on the situation that the number of stirring devices does not exceed the preset maximum number of devices, the stirring device arrival position is matched from the stirring database according to the stirring influence range, the cleaning range parameters and the number of stirring devices; Control the stirring device corresponding to the number of stirring devices to move to the corresponding stirring device arrival position, and after arriving, control the stirring device to stir at the stirring speed; Based on the situation that the number of stirring devices exceeds the maximum number of devices, a stirring route is matched from the stirring database according to the location of the reagent drop point and the maximum number of devices; The stirring devices corresponding to the maximum number of devices are controlled to stir at the stirring speed along the stirring route.

9. A cutter head processing method according to claim 3, characterized in that: It also includes that the auxiliary pushing material parameters need to be calculated by a preset algorithm formula, and the algorithm formula is: , where F is the auxiliary pushing parameter, m is the weight of the pushing ball, g is the acceleration of gravity, x is the distance value of the reagent arrival, d is the effective distance when the auxiliary pushing device launches the pushing ball, θ is the angle when the auxiliary pushing device launches the pushing ball, and y is the distance between the launching port of the auxiliary pushing device and the horizontal plane of the cleaning area.

10. A cutter head processing system, characterized in that: include: An acquisition module is used to acquire trigger signals, regional image information, water quality detection values, regional morphology information, surrounding wind parameters, circular area area, regional range parameters, current angle value, device moving position, current speed information, regional depth value, and cleaning range parameters; A memory for storing a program of a cutter head processing method according to any one of claims 1 to 9; The program in the memory can be loaded and executed by the processor to implement a tool disc processing method as described in any one of claims 1 to 9.

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