Cultivation tank cleaning system based on touch detection

Abstract

The invention relates to the technical field of cleaning control, in particular to a cultivation tank cleaning system based on touch detection, which comprises a sensor module and a cleaning module, and the cleaning module comprises a motion track for bearing a to-be-cleaned cultivation tank to perform horizontal reciprocating motion and a cleaning box for cleaning the cultivation tank; a control module, the data analysis unit is used for determining the type of dirt existing in the cultivation tank to be cleaned according to the type of abnormal tactile data detected by a tactile sensor and the type of an occurrence time point of the abnormal tactile data; control unit for determining the working mode of a pinch roller in a cleaning tank according to the type of dirt existing in a cultivation tank to be cleaned and the wear difference of a bearing wheel in the cleaning tank, and for determining the cleaning of a cleaning module or the pressing of the pinch roller according to the presence or absence of residual dirt in the cleaned cultivation tank and the presence form of the residual dirt and the adjusting unit is used for adjusting the force.

Description

Technical Field

[0001] The invention relates to the technical field of remote control, and in particular to a cultivation trough cleaning system based on tactile detection. Background Art

[0002] With the continuous development of modern agriculture, efficient planting technologies such as soilless cultivation and hydroponics have been widely used. As an important facility in these planting technologies, the cultivation trough is used frequently and is in a humid, nutrient-rich environment for a long time, which is easy to accumulate various dirt. If it is not cleaned effectively in time, it will not only affect the growth quality and yield of the plants, but also may cause the breeding of pests and diseases, increase the risk of agricultural production, and traditional cultivation trough cleaning mainly relies on manual work. This method is labor-intensive and inefficient, and requires a lot of manpower and time costs. It is easy to have incomplete cleaning, especially for some complex or difficult-to-reach areas. The cultivation trough may be damaged during manual cleaning, affecting its service life.

[0003] Chinese patent application publication number: CN116692416A discloses a plant factory cultivation trough plate cleaning equipment, wherein a first conveying mechanism is sequentially provided with a first tray dismantling area and a first flipping area along the conveying direction; the first tray dismantling mechanism is placed above the first tray dismantling area; a first clamping claw power source is connected to the first clamping claw; the first tray dismantling power source is connected to the first clamping claw power source; the first flipping mechanism is placed on one side of the first flipping area, and the first flipping mechanism is used to flip the cultivation trough or cultivation plate conveyed to the first flipping area; the cleaning mechanism is placed on the side of the first flipping mechanism away from the first tray dismantling mechanism, and the cleaning mechanism is used to clean the cultivation plate and the cultivation trough, and the cultivation plate and the cultivation trough are transported from the first tray dismantling area to the first flipping area by the setting of the first conveying mechanism; the cultivation plate and the cultivation trough are separated by the setting of the first tray dismantling mechanism; the cultivation plate and the cultivation trough are flipped to the entrance end of the cleaning mechanism by the setting of the first flipping mechanism, thereby improving the cleaning efficiency of the cultivation trough plate cleaning equipment.

[0004] It can be seen that the existing technology has the problem that the control of the cultivation tank cleaning process is not precise enough, resulting in the cultivation tank still having dirt after cleaning and requiring multiple cleanings. Summary of the invention

[0005] To this end, the present invention provides a cultivation trough cleaning system based on tactile detection, so as to overcome the problem in the prior art that the control of the cultivation trough cleaning process is not accurate enough, resulting in dirt still remaining in the cultivation trough after cleaning, and multiple cleanings are required.

[0006] To achieve the above object, the present invention provides a cultivation tank cleaning system based on tactile detection, comprising:

[0007] A sensor module, comprising a tactile sensor for obtaining dirt data of the cultivation tank to be cleaned and a displacement sensor for obtaining displacement data of the cultivation tank to be cleaned;

[0008] A cleaning module, which is connected to the sensor module and is used to carry a motion track for the cultivation trough to be cleaned to perform horizontal reciprocating motion and a cleaning box for cleaning the cultivation trough, wherein the cleaning box includes a carrying wheel for carrying the cultivation trough, a pressing wheel for fixing the cultivation trough, and a brush for cleaning the cultivation trough;

[0009] A control module, which is connected to the sensor module and the cleaning module respectively, includes:

[0010] A data analysis unit, which is used to determine the type of dirt present in the cultivation tank to be cleaned according to the type of abnormal tactile data detected by the tactile sensor and the type of time point of occurrence of the abnormal tactile data, wherein the dirt type includes sticky dirt, hard dirt and loose dirt;

[0011] A control unit, which is used to determine the working mode of the internal pressing wheel of the cleaning box according to the type of dirt present in the cultivation tank to be cleaned and the wear difference of the internal load-bearing wheel of the cleaning box, and is also used to determine whether to urgently stop the cleaning box according to the comparison result of the deviation displacement of the cultivation tank to be cleaned and the preset deviation displacement in the corresponding working mode, and the working modes of the internal pressing wheel of the cleaning box include a normal mode, an enhanced compression mode and a high-pressure fixed mode;

[0012] The adjusting unit is used to determine the cleaning module or adjust the pressure of the pressing wheel according to whether there is residual dirt in the cultivation tank after cleaning and the existence form of the residual dirt.

[0013] Furthermore, the data analysis unit determines the type of dirt present in the cultivation trough to be cleaned, including determining that the type of dirt present in the cultivation trough to be cleaned is sticky dirt under the condition that the tactile sensor detects that the abnormal tactile data type of the cultivation trough is a stable friction data type, or determining that the type of dirt present in the cultivation trough to be cleaned is hard dirt under the condition that the tactile sensor detects that the abnormal tactile data type of the cultivation trough is a sudden vibration data type and the occurrence time point type of the abnormal tactile data is a normal detection time point.

[0014] Further, the abnormal tactile data type of the data analysis unit includes determining that the abnormal tactile data type is a stable friction data type when the tactile sensor detects a continuous and stable high friction force, or determining that the abnormal tactile data type is a sudden vibration data type when the tactile sensor detects sudden vibration data.

[0015] Furthermore, the data analysis module determines the type of time point at which the abnormal tactile data occurs, including determining that the type of time point at which the abnormal tactile data occurs is a normal detection time point under the condition that the cleaning module performs a cleaning action when the abnormal tactile data occurs and the cleaning module does not fail.

[0016] Further, the control unit determines the working mode of the internal pressing wheel of the cleaning box, including determining that the working mode of the internal pressing wheel of the cleaning box is a normal mode under the condition that only loose dirt exists in the cultivation tank to be cleaned;

[0017] The control unit determines that the working mode of the pressing wheel inside the cleaning box is the enhanced pressing mode under the condition that there is sticky dirt or hard dirt in the cultivation tank to be cleaned and the wear difference of the load-bearing wheel is less than the preset wear difference;

[0018] The control unit determines that the working mode of the pressure wheel inside the cleaning box is the high-pressure fixed mode under the condition that there is sticky dirt or hard dirt in the cultivation tank to be cleaned and the wear difference of the load-bearing wheel is greater than or equal to the preset wear difference.

[0019] Further, the load-bearing wheel wear difference is determined according to the thickness wear amount of the load-bearing wheel.

[0020] Further, the control unit determines whether to urgently stop the cleaning box, including determining to urgently stop the cleaning box under the condition that the deviation displacement of the cultivation trough to be cleaned in the corresponding working mode is greater than a preset deviation displacement.

[0021] Furthermore, the adjustment unit determines the cleaning module or adjusts the pressure of the pressure wheel, including determining to adjust the pressure of the pressure wheel under the condition that there is residual dirt in the cultivation trough after cleaning and the residual dirt exists in the form of dots, or determines to clean the cleaning module under the condition that there is residual dirt in the cultivation trough after cleaning and the residual dirt exists in the form of strips.

[0022] Furthermore, the adjustment amount of the pressure of the pressing wheel is positively correlated with the amount of residual dirt in the cultivation trough after cleaning.

[0023] Furthermore, the adjusting unit determines the existence form of the residual dirt, including determining that the existence form of the residual dirt is a strip form under the condition that the length of the residual dirt is greater than a preset length.

[0024] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention can accurately distinguish sticky dirt, hard dirt and loose dirt by analyzing the different abnormal tactile data types detected by the tactile sensor. For example, for sticky dirt, it is judged by relying on the stable friction data type, because the sticky substance will cause the cleaning tool to produce a continuous and stable high friction between the surface of the cultivation trough. The system can accurately capture this feature and identify the sticky dirt, which helps to take targeted cleaning measures later and avoids the use of general but potentially inefficient cleaning methods due to the inability to accurately judge the dirt type. The above method improves the accuracy of the control of the cultivation trough cleaning process.

[0025] Furthermore, the present invention can accurately distinguish sticky dirt, hard dirt and loose dirt by clearly defining different abnormal tactile data types such as continuous stable high friction and sudden vibration data. For example, the stable friction data type is determined based on "the friction between the brush and the surface of the cultivation trough is continuously and stably higher than the friction reference value and lasts for a certain period of time" to determine the sticky dirt, and the sudden vibration data type is determined based on the sudden changes in vibration amplitude, frequency and other conditions to determine the hard dirt. This allows the cleaning system to clearly understand the actual situation of the dirt on the surface of the cultivation trough, so that it can take appropriate cleaning strategies in a targeted manner, such as using a cleaning method that enhances the fit friction for sticky dirt and using more powerful impact or vibration cleaning methods for hard dirt. This effectively improves the removal effect of different types of dirt and ensures that the cultivation trough can be thoroughly cleaned. It stipulates clear judgment standards for abnormal tactile data types, which can prevent inappropriate cleaning measures from being taken due to misjudgment of dirt types. For example, if it is not accurately distinguished whether the vibration is caused by hard dirt or equipment failure, the cleaning intensity may be mistakenly increased to deal with the non-existent hard dirt. The result is not only a waste of resources but also possible damage to the cleaning equipment and cultivation troughs. The above method improves the accuracy of the control of the cultivation trough cleaning process.

[0026] Furthermore, the present invention can optimize the cleaning process by adjusting the working mode of the pressure wheel accordingly for different types of dirt. For sticky dirt, an enhanced pressure mode is adopted to allow the pressure wheel to appropriately increase the pressure on the cultivation trough, so that the brush and the surface of the cultivation trough fit more closely, which helps to overcome the strong viscous resistance of sticky substances, thereby more thoroughly removing those residual substances containing sugar, pectin components, etc. with strong adhesion. For hard dirt, under the appropriate pressure wheel mode, the stability of the cultivation trough during cleaning can be guaranteed, and the large reaction force generated by the contact between the hard dirt and the brush can be avoided to cause the cultivation trough to shake, so that the brush can continue to act on the hard dirt effectively, and improve the removal effect of hard dirt. Even for loose dirt, the normal mode can ensure that the cleaning process is carried out smoothly, so that the brush can function normally to remove mud, light organic debris, etc., and finally achieve effective cleaning of various types of dirt, improve the overall cleaning quality, and improve the accuracy of the control of the cultivation trough cleaning process through the above method.

[0027] Furthermore, the present invention can more accurately solve the problem of incomplete cleaning by judging the existence form (dot or strip) of residual dirt in the cultivation trough after cleaning, and then taking different countermeasures. If the residual dirt is in dot form, it means that the pressure of the pressure wheel may be insufficient, resulting in the failure to effectively remove the dirt in some local areas. At this time, the adjustment unit determines to adjust the pressure of the pressure wheel so that the pressure wheel can better fix the cultivation trough and make the brush fit more closely with the surface of the cultivation trough, so as to focus on solving these dot-shaped residual dirt in subsequent cleaning and improve the overall cleaning level. For the residual dirt in strip form, it is likely that there is a problem with the cleaning module itself, such as damage to the brush, blockage in the cleaning box, etc., which affects the dirt cleaning effect of the long strip area. At this time, the cleaning module is determined to solve the problem from the root, ensure that the entire surface of the cultivation trough can be thoroughly cleaned, further optimize the cleaning quality, and provide good sanitary conditions for the subsequent use of the cultivation trough. The above method improves the accuracy of the control of the cultivation trough cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of a cultivation tank cleaning system based on tactile detection according to an embodiment of the present invention;

[0029] Figure 2 This is a flowchart of the control unit in the cultivation tank cleaning system based on tactile detection according to an embodiment of the present invention;

[0030] Figure 3 This is a flowchart of the adjustment unit in the cultivation tank cleaning system based on tactile detection according to an embodiment of the present invention;

[0031] Figure 4 A top view of a cultivation tank cleaning system based on tactile detection according to an embodiment of the present invention;

[0032] In the figure, 1, moving track; 2, cleaning box; 3, load-bearing wheel; 4, clamping wheel. DETAILED DESCRIPTION

[0033] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0035] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0036] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] See also Figure 1-Figure 4 As shown, Figure 1 This is a schematic diagram of the structure of a cultivation tank cleaning system based on tactile detection according to an embodiment of the present invention; Figure 2 This is a flowchart of the control unit in the cultivation tank cleaning system based on tactile detection according to an embodiment of the present invention; Figure 3 This is a flowchart of the adjustment unit in the cultivation tank cleaning system based on tactile detection according to an embodiment of the present invention; Figure 4 It is a top view of a cultivation trough cleaning system based on tactile detection according to an embodiment of the present invention.

[0038] The cultivation tank cleaning system based on tactile detection according to the embodiment of the present invention comprises:

[0039] A sensor module, comprising a tactile sensor for obtaining dirt data of the cultivation tank to be cleaned and a displacement sensor for obtaining displacement data of the cultivation tank to be cleaned;

[0040] A cleaning module, which is connected to the sensor module and is used to carry a motion track 1 for carrying the cultivation trough to be cleaned to perform horizontal reciprocating motion and a cleaning box 2 for cleaning the cultivation trough, wherein the cleaning box includes a carrying wheel 3 for carrying the cultivation trough, a pressing wheel 4 for fixing the cultivation trough, and a brush for cleaning the cultivation trough (not shown in the figure);

[0041] A control module (not shown in the figure), which is connected to the sensor module and the cleaning module respectively, includes:

[0042] A data analysis unit, which is used to determine the type of dirt present in the cultivation tank to be cleaned according to the type of abnormal tactile data detected by the tactile sensor and the type of time point of occurrence of the abnormal tactile data, wherein the dirt type includes sticky dirt, hard dirt and loose dirt;

[0043] A control unit, which is used to determine the working mode of the internal pressing wheel of the cleaning box according to the type of dirt present in the cultivation tank to be cleaned and the wear difference of the internal load-bearing wheel of the cleaning box, and is also used to determine whether to urgently stop the cleaning box according to the comparison result of the deviation displacement of the cultivation tank to be cleaned and the preset deviation displacement in the corresponding working mode, and the working modes of the internal pressing wheel of the cleaning box include a normal mode, an enhanced compression mode and a high-pressure fixed mode;

[0044] The adjusting unit is used to determine the cleaning module or adjust the pressure of the pressing wheel according to whether there is residual dirt in the cultivation tank after cleaning and the existence form of the residual dirt.

[0045] The dirt data of the cultivation trough to be cleaned in the embodiment of the present invention includes but is not limited to "friction data, vibration data and pressure data", and the tactile sensor includes but is not limited to "pressure sensor, friction sensor and vibration sensor".

[0046] Specifically, the data analysis unit determines the type of dirt present in the cultivation tank to be cleaned based on the type of abnormal tactile data detected by the tactile sensor and the type of time point at which the abnormal tactile data occurs, under the condition that the type of dirt present in the cultivation tank to be cleaned is determined;

[0047] If the tactile sensor detects that the abnormal tactile data type of the cultivation trough is a stable friction data type, the data analysis unit determines that the type of dirt present in the cultivation trough to be cleaned is sticky dirt;

[0048] If the tactile sensor detects that the abnormal tactile data type of the cultivation trough is a sudden vibration data type and the occurrence time point type of the abnormal tactile data is a normal detection time point, the data analysis unit determines that the dirt type present in the cultivation trough to be cleaned is hard dirt;

[0049] If the abnormal tactile data type detected by the tactile sensor of the cultivation trough is a normal data type, the data analysis unit determines that the dirt type existing in the cultivation trough to be cleaned is loose dirt.

[0050] The present invention can accurately distinguish sticky dirt, hard dirt and loose dirt by analyzing the types of different abnormal tactile data detected by the tactile sensor. For example, for sticky dirt, it is judged by relying on the stable friction data type, because the sticky substance will cause the cleaning tool to produce a continuous and stable high friction between the surface of the cultivation trough. The system can accurately capture this feature and identify the sticky dirt, which helps to take targeted cleaning measures later and avoids the use of general but potentially inefficient cleaning methods due to the inability to accurately judge the type of dirt. The above method improves the accuracy of the control of the cultivation trough cleaning process.

[0051] Specifically, the data analysis unit determines that the abnormal tactile data type includes determining that the abnormal tactile data type is a stable friction data type under the condition that the tactile sensor detects a continuous and stable high friction force;

[0052] The data analysis unit determines that the abnormal tactile data type is a sudden vibration data type under the condition that the tactile sensor detects sudden vibration data.

[0053] The continuously stable high friction force described in the embodiment of the present invention includes that the friction force between the brush and the surface of the cultivation trough is continuously and stably higher than the friction force reference value, and the friction force reference value is the friction force when the cleaning tool (such as a brush) contacts the clean cultivation trough surface when there is no dirt. For example, the cleaning surface reference friction force is F0. During the cleaning process, the friction force detected by the tactile sensor is always higher than F0 and lasts for 2 seconds; the sudden vibration data includes that the value of the vibration sensor suddenly increases to several multiples of the original value. For example, the vibration amplitude detected by the tactile sensor is between 0.1-0.2 mm, and when it contacts hard dirt, the vibration amplitude may instantly increase to more than 0.5 mm; the data analysis unit determines that the abnormal tactile data type is a normal data type when the tactile sensor detects abnormal tactile data and the abnormal tactile data type is not a stable friction data type and a sudden vibration data type.

[0054] Specifically, the data analysis module determines the type of time point at which the abnormal tactile data occurs, including determining that the type of time point at which the abnormal tactile data occurs is a normal detection time point under the condition that the cleaning module performs a cleaning action when the abnormal tactile data occurs and the cleaning module does not fail.

[0055] In the embodiment of the present invention, it is assumed that during the cleaning process, the motor of the cleaning box suddenly fails, the motor runs unstably, and abnormal vibration occurs. This vibration is transmitted to the brush and the tactile sensor through the transmission structure. At this time, the tactile sensor also detects vibration data, and abnormal changes occur in the vibration amplitude and frequency. For example, the vibration amplitude reaches 0.5 mm, and the vibration frequency becomes 30 Hz. However, this time point occurs when the cleaning module fails (motor failure), which does not meet the condition that "the cleaning module has not failed". Therefore, the data analysis module determines that the time point when the tactile sensor detects the vibration data is an abnormal time point, and will not use it as a basis for judging the presence of hard dirt in the cultivation tank, but will prompt the system that there may be equipment failure, and it is necessary to first inspect and troubleshoot the motor and other related components before continuing the cleaning and dirt judgment work.

[0056] The present invention can accurately distinguish sticky dirt, hard dirt and loose dirt by clearly defining different abnormal tactile data types such as continuous stable high friction and sudden vibration data. For example, the stable friction data type is determined based on "the friction between the brush and the surface of the cultivation trough is continuously and stably higher than the friction reference value and lasts for a certain period of time" to determine the sticky dirt, and the sudden vibration data type is determined based on the sudden changes in vibration amplitude, frequency and other conditions to determine the hard dirt. This allows the cleaning system to clearly understand the actual situation of the dirt on the surface of the cultivation trough, so that it can take appropriate cleaning strategies in a targeted manner, such as using a cleaning method that enhances the fit friction for sticky dirt and using more powerful impact or vibration cleaning methods for hard dirt. This effectively improves the removal effect of different types of dirt and ensures that the cultivation trough can be thoroughly cleaned. It stipulates clear judgment standards for abnormal tactile data types, which can prevent inappropriate cleaning measures from being taken due to misjudgment of dirt types. For example, if it is not accurately distinguished whether the vibration is caused by hard dirt or equipment failure, the cleaning intensity may be mistakenly increased to deal with the non-existent hard dirt. The result is not only a waste of resources but also possible damage to the cleaning equipment and cultivation troughs. The above method improves the accuracy of the control of the cultivation trough cleaning process.

[0057] Specifically, the control unit determines the working mode of the pressing wheel inside the cleaning box according to the type of dirt present in the cultivation tank to be cleaned and the wear difference of the load-bearing wheel inside the cleaning box under the condition of determining the working mode of the pressing wheel inside the cleaning box;

[0058] If there is sticky dirt or hard dirt in the cultivation tank to be cleaned, and the wear difference of the load-bearing wheel is less than the preset wear difference, the control unit determines that the working mode of the clamping wheel inside the cleaning box is the enhanced clamping mode;

[0059] If there is sticky dirt or hard dirt in the cultivation tank to be cleaned, and the wear difference of the load-bearing wheel is greater than or equal to the preset wear difference, the control unit determines that the working mode of the pressure wheel inside the cleaning box is the high-pressure fixed mode.

[0060] If there is only loose dirt in the cultivation tank to be cleaned, the control unit determines that the working mode of the pressure wheel inside the cleaning box is the normal mode.

[0061] The wear difference in the embodiment of the present invention is the maximum wear difference among several load-bearing wheels inside the cleaning box. The value range of the preset wear difference is set to 1-3 mm, and the value of the preset wear difference is preferably 2 mm. The wear difference of the load-bearing wheels is determined according to the thickness wear of the load-bearing wheels. For example, before cleaning the cultivation trough, through detection by the tactile sensor and judgment by the data analysis unit, it is found that the dirt on the surface of the cultivation trough is mainly some mud and light organic debris, which is loose dirt. Then the thickness of the load-bearing wheel inside the cleaning box is measured. It is known through professional measuring tools that the initial thickness of the load-bearing wheel is 10 mm, and the current measured thickness is 9.8 mm, so the thickness wear difference of the load-bearing wheel is 0.2 mm. Since there is only loose dirt in the cultivation trough, and the thickness wear of the load-bearing wheel is less than the preset thickness wear of 2 mm, the control unit determines that the working mode of the pressure wheel inside the cleaning box is the normal mode. The control unit determines that the working mode of the pressure wheel inside the cleaning box is the normal mode. In this mode, the pressure wheel fixes the cultivation trough according to the conventional pressure value preset by the system, ensuring that the cultivation trough can move smoothly in the cleaning box with the rotation of the load-bearing wheel. At the same time, the brush can normally clean the loose dirt on the surface of the cultivation trough, and gradually remove the mud, sand and organic debris.

[0062] In the embodiment of the present invention, after detection by tactile sensors and data analysis, it is determined that there is sticky dirt on the surface of the cultivation trough. These sticky dirt may be some substances containing sugar and pectin components left after the previous fertilization, and they have strong adhesion. The thickness of the load-bearing wheel inside the cleaning box is measured again. The initial thickness is also 10 mm. The thickness is now measured to be 9 mm. The thickness wear of the load-bearing wheel is calculated to be 1 mm. Because there is sticky dirt in the cultivation trough, and the thickness wear difference of the load-bearing wheel is less than the preset wear difference, according to the rule "If there is sticky dirt or hard dirt in the cultivation trough to be cleaned, and the wear difference of the load-bearing wheel is less than the preset wear difference, the control unit determines that the working mode of the clamping wheel inside the cleaning box is the enhanced clamping mode", the control unit determines that the working mode of the clamping wheel inside the cleaning box is the enhanced clamping mode. At this time, the clamping wheel will appropriately increase the clamping force on the cultivation trough, so that it fits more closely with the brush, so that the brush can better overcome the viscous resistance of the sticky dirt, and clean the surface of the cultivation trough more thoroughly to remove those sticky residual substances.

[0063] The present invention can optimize the cleaning process by adjusting the working mode of the pressure wheel accordingly for different types of dirt. For sticky dirt, an enhanced pressure mode is adopted to allow the pressure wheel to appropriately increase the pressure on the cultivation trough, so that the brush and the surface of the cultivation trough fit more closely, which helps to overcome the strong viscous resistance of sticky substances, thereby more thoroughly removing those residual substances containing sugar, pectin components, etc. with strong adhesion. For hard dirt, under the appropriate pressure wheel mode, the stability of the cultivation trough during cleaning can be guaranteed, and the large reaction force generated by the contact between the hard dirt and the brush can be avoided to cause the cultivation trough to shake, so that the brush can continue to effectively act on the hard dirt, thereby improving the removal effect of the hard dirt. Even for loose dirt, the normal mode can ensure that the cleaning process is carried out smoothly, so that the brush can function normally to remove mud, light organic debris, etc., and finally achieve effective cleaning of various types of dirt, improve the overall cleaning quality, and improve the accuracy of the control of the cultivation trough cleaning process through the above method.

[0064] Specifically, the control unit determines whether to urgently stop the cleaning box according to the comparison result of the deviation displacement of the cultivation tank to be cleaned in the corresponding working mode and the preset deviation displacement under the condition of determining whether to urgently stop the cleaning box;

[0065] If the deviation displacement of the cultivation tank to be cleaned in the corresponding working mode is greater than the preset deviation displacement, the control unit determines to urgently stop the cleaning box;

[0066] If the deviation displacement of the cultivation tank to be cleaned in the corresponding working mode is less than or equal to the preset deviation displacement, the control unit determines not to urgently stop the cleaning box;

[0067] Among them, the preset deviation displacement value is eleven tenths of the width of the cultivation trough to be cleaned, and the deviation displacement is the maximum distance between the two ends of the cultivation trough to be cleaned, but the above value is not limited to this, and technical personnel in this field can also adjust the value according to actual needs.

[0068] Specifically, the adjustment unit determines whether to clean the cleaning module or adjust the pressure of the pressing wheel according to whether there is residual dirt in the cultivation tank after cleaning and the existence form of the residual dirt under the condition of determining whether to clean the cleaning module or adjust the pressure of the pressing wheel;

[0069] If there is residual dirt in the cultivation tank after cleaning and the residual dirt exists in the form of dots, the adjustment unit determines to adjust the pressure of the pressing wheel;

[0070] If residual dirt exists in the cultivation tank after cleaning and the residual dirt exists in the form of strips, the adjustment unit determines the cleaning module;

[0071] If there is no residual dirt in the cultivation tank after the cleaning is completed, the adjustment unit determines that it is not necessary to clean the cleaning module and it is not necessary to adjust the pressure of the pressing wheel.

[0072] In the embodiment of the present invention, the adjustment unit determines the existence form of the residual dirt, including determining that the existence form of the residual dirt is a strip form under the condition that the length of the residual dirt is greater than a preset length, and the preset length is the maximum dirt length before the cultivation trough is cleaned, and the cleaning module is not limited to "cleaning motion track, cleaning brush and cleaning carrying wheel".

[0073] Specifically, the adjustment unit determines to adjust the preset cleaning difficulty using an adjustment coefficient under the condition that the preset cleaning difficulty is adjusted.

[0074] In the embodiment of the present invention, the value range of the adjustment coefficient is set to 1.05-1.22, and the value of the adjustment coefficient is preferably 1.16. The adjustment amount of the pressure of the pressure wheel is positively correlated with the amount of residual dirt in the cultivation trough after cleaning. However, the above value is not limited to this, and technical personnel in this field can also adjust the value according to actual needs.

[0075] The present invention can more accurately solve the problem of incomplete cleaning by judging the existence form (dot or strip) of the residual dirt in the cultivation trough after cleaning, and then taking different countermeasures. If the residual dirt is in the form of dots, it means that the pressure of the pressure wheel may be insufficient, resulting in the failure to effectively remove the dirt in some local areas. At this time, the adjustment unit determines to adjust the pressure of the pressure wheel so that the pressure wheel can better fix the cultivation trough and make the brush fit more closely with the surface of the cultivation trough, so as to focus on solving these dot-shaped residual dirt in subsequent cleaning and improve the overall cleaning level. As for the residual dirt in the form of strips, it is likely that there are problems with the cleaning module itself, such as damage to the brush, blockage in the cleaning box, etc., which affect the dirt cleaning effect of the long strip area. At this time, the cleaning module is determined to solve the problem from the root, ensure that the entire surface of the cultivation trough can be thoroughly cleaned, further optimize the cleaning quality, and provide good sanitary conditions for the subsequent use of the cultivation trough. The above method improves the accuracy of the control of the cultivation trough cleaning process.

[0076] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cultivation tank cleaning system based on tactile detection, characterized in that: include: A sensor module, comprising a tactile sensor for obtaining dirt data of the cultivation tank to be cleaned and a displacement sensor for obtaining displacement data of the cultivation tank to be cleaned; A cleaning module, which is connected to the sensor module and is used to carry a motion track for the cultivation trough to be cleaned to perform horizontal reciprocating motion and a cleaning box for cleaning the cultivation trough, wherein the cleaning box includes a carrying wheel for carrying the cultivation trough, a pressing wheel for fixing the cultivation trough, and a brush for cleaning the cultivation trough; A control module, which is connected to the sensor module and the cleaning module respectively, includes: A data analysis unit, which is used to determine the type of dirt present in the cultivation tank to be cleaned according to the type of abnormal tactile data detected by the tactile sensor and the type of time point of occurrence of the abnormal tactile data, wherein the dirt type includes sticky dirt, hard dirt and loose dirt; A control unit, which is used to determine the working mode of the internal pressing wheel of the cleaning box according to the type of dirt present in the cultivation tank to be cleaned and the wear difference of the internal load-bearing wheel of the cleaning box, and is also used to determine whether to urgently stop the cleaning box according to the comparison result of the deviation displacement of the cultivation tank to be cleaned and the preset deviation displacement in the corresponding working mode, and the working modes of the internal pressing wheel of the cleaning box include a normal mode, an enhanced compression mode and a high-pressure fixed mode; The adjusting unit is used to determine the cleaning module or adjust the pressure of the pressing wheel according to whether there is residual dirt in the cultivation tank after cleaning and the existence form of the residual dirt.

2. The cultivation tank cleaning system based on tactile detection according to claim 1 is characterized in that: The data analysis unit determines the type of dirt present in the cultivation trough to be cleaned, including determining that the type of dirt present in the cultivation trough to be cleaned is sticky dirt under the condition that the tactile sensor detects that the abnormal tactile data type of the cultivation trough is a stable friction data type, or determining that the type of dirt present in the cultivation trough to be cleaned is hard dirt under the condition that the tactile sensor detects that the abnormal tactile data type of the cultivation trough is a sudden vibration data type and the occurrence time point type of the abnormal tactile data is a normal detection time point.

3. The cultivation tank cleaning system based on tactile detection according to claim 2 is characterized in that: The data analysis unit determines that the abnormal tactile data type is a stable friction data type when the tactile sensor detects a continuous and stable high friction force, or determines that the abnormal tactile data type is a sudden vibration data type when the tactile sensor detects sudden vibration data.

4. The cultivation tank cleaning system based on tactile detection according to claim 3 is characterized in that: The data analysis module determines the type of time point at which the abnormal tactile data occurs, including determining that the type of time point at which the abnormal tactile data occurs is a normal detection time point under the condition that the cleaning module performs a cleaning action when the abnormal tactile data occurs and the cleaning module does not fail.

5. The cultivation tank cleaning system based on tactile detection according to claim 4 is characterized in that: The control unit determines the working mode of the internal pressing wheel of the cleaning box, including determining that the working mode of the internal pressing wheel of the cleaning box is a normal mode under the condition that only loose dirt exists in the cultivation tank to be cleaned; The control unit determines that the working mode of the pressing wheel inside the cleaning box is the enhanced pressing mode under the condition that there is sticky dirt or hard dirt in the cultivation tank to be cleaned and the wear difference of the load-bearing wheel is less than the preset wear difference; The control unit determines that the working mode of the pressure wheel inside the cleaning box is the high-pressure fixed mode under the condition that there is sticky dirt or hard dirt in the cultivation tank to be cleaned and the wear difference of the load-bearing wheel is greater than or equal to the preset wear difference.

6. The cultivation tank cleaning system based on tactile detection according to claim 5 is characterized in that: The load-bearing wheel wear difference is determined according to the thickness wear amount of the load-bearing wheel.

7. The cultivation tank cleaning system based on tactile detection according to claim 6 is characterized in that: The control unit determines whether to urgently stop the cleaning box, including determining to urgently stop the cleaning box under the condition that the deviation displacement of the cultivation trough to be cleaned in the corresponding working mode is greater than a preset deviation displacement.

8. The cultivation tank cleaning system based on tactile detection according to claim 7, characterized in that: The adjustment unit determines the cleaning module or adjusts the pressure of the pressure wheel, including determining to adjust the pressure of the pressure wheel under the condition that there is residual dirt in the cultivation trough after cleaning and the residual dirt exists in the form of dots, or determines to clean the cleaning module under the condition that there is residual dirt in the cultivation trough after cleaning and the residual dirt exists in the form of strips.

9. The cultivation tank cleaning system based on tactile detection according to claim 8, characterized in that: The adjustment amount of the pressure of the pressing wheel is positively correlated with the amount of residual dirt in the cultivation tank after cleaning.

10. The cultivation tank cleaning system based on tactile detection according to claim 9, characterized in that: The adjusting unit determines the existence form of the residual dirt, including determining that the existence form of the residual dirt is a strip form under the condition that the length of the residual dirt is greater than a preset length.

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