A cultivation trough cleaning system based on tactile detection

Abstract

The present invention relates to the technical field of cleaning control, and particularly to a cultivation tank cleaning system based on tactile detection. The system includes a sensor module, a cleaning module, which includes a movement track for horizontally reciprocating the cultivation tank to be cleaned and a cleaning tank for cleaning the cultivation tank; a control module, which includes a data analysis unit for determining the type of dirt existing in the cultivation tank to be cleaned according to the type of abnormal tactile data detected by the tactile sensor and the type of occurrence time point of the abnormal tactile data, a control unit for determining the working mode of the pressing wheel inside the cleaning tank according to the type of dirt existing in the cultivation tank to be cleaned and the wear difference of the bearing wheels inside the cleaning tank, and an adjustment unit for determining 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 form of existence of the residual dirt.

Description

Technical Field

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

[0002] With the continuous development of modern agriculture, soilless cultivation, hydroponics and other efficient planting technologies have been widely applied. As an important facility in these planting technologies, the cultivation tank is used frequently and is in a humid and nutrient-rich environment for a long time, making it easy to accumulate various dirt. If it is not effectively cleaned in time, it will not only affect the growth quality and yield of plants, but may also lead to the breeding of pests and diseases, increasing the risks of agricultural production. Traditional cultivation tank cleaning mainly relies on manual labor. This method has a large labor intensity, low efficiency, requires a lot of human and time costs, and is prone to incomplete cleaning. Especially for some areas with complex shapes or difficult to reach, the cultivation tank may be damaged during the manual cleaning process, affecting its service life.

[0003] Chinese Patent Application Publication No.: CN116692416A discloses a cleaning device for a cultivation tank plate of a plant factory. A first conveying mechanism is sequentially provided with a first tray removal area and a first flipping area along the conveying direction; a first tray removal mechanism is placed above the first tray removal area; a first jaw power source is connected to the first jaw; a first tray removal power source is connected to the first jaw power source; a first flipping mechanism is placed on one side of the first flipping area, and the first flipping mechanism is used to flip the cultivation tank or cultivation plate conveyed to the first flipping area; a cleaning mechanism is placed on the side of the first flipping mechanism away from the first tray removal mechanism, and the cleaning mechanism is used to clean the cultivation plate and cultivation tank. Through the setting of the first conveying mechanism, the cultivation plate and cultivation tank are transported from the first tray removal area to the first flipping area; through the setting of the first tray removal mechanism, the cultivation plate and cultivation tank are separated; through the setting of the first flipping mechanism, the cultivation plate and cultivation tank are flipped to the inlet end of the cleaning mechanism, thereby improving the cleaning efficiency of the cultivation tank plate cleaning device.

[0004] It can be seen that the prior art has the problem that the control of the cultivation tank cleaning process is not accurate enough, resulting in dirt still remaining on the cleaned cultivation tank and requiring multiple cleanings. Summary of the Invention

[0005] Therefore, the present invention provides a cultivation tank cleaning system based on tactile detection to overcome the problem in the prior art that the control of the cultivation tank cleaning process is not accurate enough, resulting in dirt still remaining on the cleaned cultivation tank and requiring multiple cleanings.

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

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

[0008] A cleaning module, which is connected to the sensor module, and includes a motion track for carrying the cultivation tank to be cleaned for horizontal reciprocating motion and a cleaning tank for cleaning the cultivation tank. The cleaning tank includes a carrying wheel for carrying the cultivation tank, a pressing wheel for fixing the cultivation tank, and a brush for cleaning the cultivation tank;

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

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

[0011] A control unit, which is used to determine the working mode of the pressing wheel inside the cleaning tank according to the dirt type existing in the cultivation tank to be cleaned and the wear difference of the carrying wheel inside the cleaning tank, and is also used to determine whether to urgently stop the cleaning tank according to the comparison result between the deviation displacement of the cultivation tank to be cleaned and the preset deviation displacement under the corresponding working mode. The working mode of the pressing wheel inside the cleaning tank includes a normal mode, an enhanced pressing mode, and a high-pressure fixing mode;

[0012] An adjustment unit, which is used to determine whether to clean the cleaning module or adjust the pressure of the pressing wheel according to whether there is residual dirt on the cultivation tank after cleaning and the form of the existence of the residual dirt.

[0013] Furthermore, the data analysis unit determines that the dirt type existing in the cultivation tank to be cleaned includes determining that the dirt type existing in the cultivation tank to be cleaned is viscous dirt under the condition that the abnormal tactile data type detected by the tactile sensor for the cultivation tank is a stable friction data type, or determining that the dirt type existing in the cultivation tank to be cleaned is hard dirt under the condition that the abnormal tactile data type detected by the tactile sensor for the cultivation tank is a mutation vibration data type and the occurrence time point type of the abnormal tactile data is a normal detection time point.

[0014] Furthermore, 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 continuous and stable high friction force, or determining that the abnormal tactile data type is a mutation vibration data type when the tactile sensor detects mutation vibration data.

[0015] Further, the data analysis module determines that the occurrence time point type of the abnormal tactile data includes determining that the occurrence time point type of the abnormal tactile data is the normal detection time point under the condition that there is a cleaning action of the cleaning module when the abnormal tactile data occurs and the cleaning module does not malfunction.

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

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

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

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

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

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

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

[0023] Further, the adjustment unit determines the form of the residual dirt, including determining that the form of the residual dirt is in the form of strips under the condition that the length of the residual dirt is greater than the preset length.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows. By analyzing different types of abnormal tactile data detected by the tactile sensor, the present invention can accurately distinguish between sticky dirt, hard dirt, and loose dirt. For example, for sticky dirt, it is judged based on the stable friction data type because the sticky substance will cause a continuous and stable high frictional force between the cleaning tool and the surface of the cultivation tank. The system can accurately capture this feature and identify the sticky dirt, which helps to take targeted cleaning measures subsequently, avoiding the use of a general but possibly inefficient cleaning method due to the inability to accurately judge the dirt type. By the above method, the accuracy of the cleaning process control of the cultivation tank is improved.

[0025] Furthermore, by clearly defining different types of abnormal tactile data such as continuous and stable high frictional force and mutation vibration data, the present invention can accurately distinguish between sticky dirt, hard dirt, and loose dirt. For example, based on "the frictional force between the brush and the surface of the cultivation tank continuously and stably exceeds the frictional force reference value and lasts for a certain period of time" to determine the stable friction data type and thus identify the sticky dirt, and judging the mutation vibration data type according to the mutation conditions such as the vibration amplitude and frequency to determine the hard dirt. This enables the cleaning system to clearly understand the actual situation of the dirt on the surface of the cultivation tank, so that appropriate cleaning strategies can be taken accordingly, such as adopting a cleaning method of enhancing the fitting friction for sticky dirt and using a more powerful impact or vibration cleaning means for hard dirt, effectively improving the cleaning effect of different types of dirt and ensuring that the cultivation tank can be thoroughly cleaned. By stipulating the clear judgment criteria for abnormal tactile data types, it can prevent inappropriate cleaning measures from being taken due to misjudging the dirt type. For example, if it is not accurately distinguished whether the vibration is caused by hard dirt or equipment failure, it may wrongly increase the cleaning intensity to deal with non-existent hard dirt, resulting in not only wasting resources but also possibly damaging the cleaning equipment and the cultivation tank. By the above method, the accuracy of the cleaning process control of the cultivation tank is improved.

[0026] Furthermore, the present invention can optimize the cleaning process by correspondingly adjusting the working mode of the pressing wheel for different types of dirt. For viscous dirt, the enhanced pressing mode is adopted, allowing the pressing wheel to appropriately increase the pressing force on the cultivation tank, making the brush fit more closely to the surface of the cultivation tank, which helps to overcome the strong viscous resistance of the viscous substance, and thus more thoroughly remove the residual substances with strong adhesion, such as those containing sugar, pectin components, etc. For hard dirt, under the appropriate pressing wheel mode, the stability of the cultivation tank during cleaning can be ensured, avoiding the shaking of the cultivation tank caused by the large reaction force generated when the hard scale contacts the brush, enabling the brush to continuously and effectively act on the hard scale, and improving the cleaning effect on hard dirt. Even for loose dirt, the cleaning process can be smoothly carried out in the normal mode, enabling the brush to normally play its role in removing sediment, lightweight organic debris, etc., ultimately achieving effective cleaning of various types of dirt, improving the overall cleaning quality, and enhancing the accuracy of the control of the cultivation tank cleaning process through the above method.

[0027] Furthermore, the present invention can more accurately solve the problem of incomplete cleaning by judging the existing form (dot-like or strip-like) of the residual dirt on the cultivation tank after cleaning and then taking different countermeasures. If the residual dirt is in dot-like form, it means that the pressure of the pressing 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 pressing wheel, enabling the pressing wheel to better fix the cultivation tank and making the brush fit more closely to the surface of the cultivation tank, so as to focus on solving these dot-like residual dirt in subsequent cleaning and improve the overall cleanliness. For strip-like residual dirt, it is very likely that there are problems with the cleaning module itself, such as damaged brushes or blockages in the cleaning tank, which affect the cleaning effect of the long strip area. At this time, it is determined to clean the cleaning module to solve the problem at the root, ensuring that the entire surface of the cultivation tank can be thoroughly cleaned, further optimizing the cleaning quality, and providing good sanitary conditions for the subsequent use of the cultivation tank. Through the above method, the accuracy of the control of the cultivation tank cleaning process is improved. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0029] Figure 2 It is a flowchart of the working process 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 It is a flowchart of the working process 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 It is a top view of the cultivation tank cleaning system based on tactile detection according to an embodiment of the present invention;

[0032] In the figure, 1 is the movement track; 2 is the cleaning tank; 3 is the carrier wheel; 4 is the pressing wheel. Specific embodiments

[0033] In order to make the objectives and advantages of the present invention more clearly understood, the present invention will be 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 will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0035] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for 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, and therefore should not be construed as a limitation of the present invention.

[0036] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. 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] Please refer to Figures 1 - 4 as shown Figure 1 which is a schematic structural diagram of the cultivation tank cleaning system based on tactile detection according to an embodiment of the present invention; Figure 2 which is a working 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 which is a working 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 which is a top view of the cultivation tank 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 an embodiment of the present invention includes:

[0039] A sensor module, which includes a tactile sensor for obtaining dirt data of the cultivation tank to be cleaned and a displacement sensor for obtaining deviation 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 movement track 1 for the cultivation tank to be cleaned to perform horizontal reciprocating movement and a cleaning tank 2 for cleaning the cultivation tank. The cleaning tank includes a carrying wheel 3 for carrying the cultivation tank, a pressing wheel 4 for fixing the cultivation tank, and a brush (not shown in the figure) for cleaning the cultivation tank;

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

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

[0043] A control unit, which is used to determine the working mode of the pressing wheel inside the cleaning tank according to the type of dirt existing in the cultivation tank to be cleaned and the wear difference of the carrying wheel inside the cleaning tank, and is also used to determine whether to urgently stop the cleaning tank according to the comparison result between the deviation displacement of the cultivation tank to be cleaned and the preset deviation displacement under the corresponding working mode. The working modes of the pressing wheel inside the cleaning tank include a normal mode, an enhanced pressing mode, and a high-pressure fixing mode;

[0044] An adjustment unit, which is used to determine 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 form of the existence of the residual dirt.

[0045] In the embodiment of the present invention, the dirt data of the cultivation tank to be cleaned includes but is not limited to "friction force data, vibration data, and pressure data", and the tactile sensors include but are not limited to "pressure sensors, friction force sensors, and vibration sensors".

[0046] Specifically, the data analysis unit determines the type of dirt existing in the cultivation tank to be cleaned according to the type of abnormal tactile data detected by the tactile sensor and the type of occurrence time point of the abnormal tactile data under the condition of determining the type of dirt existing in the cultivation tank to be cleaned;

[0047] If the type of abnormal tactile data detected by the tactile sensor for the cultivation tank is a stable friction data type, the data analysis unit determines that the type of dirt existing in the cultivation tank to be cleaned is sticky dirt;

[0048] If the type of abnormal tactile data detected by the tactile sensor for the cultivation tank is a mutation vibration data type and the type of occurrence time point of the abnormal tactile data is a normal detection time point, the data analysis unit determines that the type of dirt existing in the cultivation tank to be cleaned is hard dirt;

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

[0050] By analyzing different abnormal tactile data types detected by the tactile sensor, the present invention can accurately distinguish between viscous dirt, hard dirt, and loose dirt. For example, for viscous dirt, it is judged based on the stable friction data type because the viscous substance will cause a continuous and stable high friction force between the cleaning tool and the surface of the cultivation tank, and the system can accurately capture this feature and identify the viscous dirt, which helps to take targeted cleaning measures subsequently, avoiding the use of a general but possibly inefficient cleaning method due to the inability to accurately judge the dirt type, and improving the accuracy of the cleaning process control of the cultivation tank through the above method.

[0051] Specifically, the data analysis unit determines that the abnormal tactile data type includes determining that the abnormal tactile data type is the 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 the mutation vibration data type under the condition that the tactile sensor detects mutation vibration data.

[0053] In the embodiment of the present invention, the continuous and stable high friction force includes that the friction force between the brush and the surface of the cultivation tank 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 surface of the cultivation tank when there is no dirt. For example, the reference friction force of the clean surface is F0, and during the cleaning process, the friction force detected by the tactile sensor is always higher than F0 and lasts for 2 seconds; the mutation vibration data includes that the value of the vibration sensor suddenly increases to several times the original value. For example, the vibration amplitude detected by the tactile sensor is between 0.1 - 0.2 mm, and when contacting hard dirt, the vibration amplitude may instantaneously increase to more than 0.5 mm; the data analysis unit determines that the abnormal tactile data type is the normal data type when the tactile sensor detects abnormal tactile data and the abnormal tactile data type is not the stable friction data type and the mutation vibration data type.

[0054] Specifically, the data analysis module determines that the occurrence time point type of the abnormal tactile data includes determining that the occurrence time point type of the abnormal tactile data is the normal detection time point under the condition that there is a cleaning action of the cleaning module and the cleaning module does not malfunction when the abnormal tactile data occurs.

[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 the cultivation tank to be cleaned has sticky dirt or hard dirt, and the wear difference of the carrier wheels is greater than or equal to the preset wear difference, the control unit determines that the working mode of the pressing wheel inside the cleaning tank is the high-pressure fixed mode.

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

[0061] In the embodiment of the present invention, the wear difference is the maximum wear difference among several carrier wheels inside the cleaning tank. The value range of the preset wear difference is set to 1 - 3 mm, and the preferred value of the preset wear difference is 2 mm. The wear difference of the carrier wheels is determined according to the thickness wear amount of the carrier wheels. For example, before cleaning the cultivation tank, through the detection of the tactile sensor and the judgment of the data analysis unit, it is found that the dirt on the surface of the cultivation tank is mainly some sediment and light organic debris, which belongs to loose dirt. Subsequently, the thickness of the carrier wheels inside the cleaning tank is measured. Through professional measuring tools, it is known that the initial thickness of the carrier wheels is 10 mm, and the currently measured thickness is 9.8 mm. Then the thickness wear difference of the carrier wheels is 0.2 mm. Since the cultivation tank only has loose dirt and the thickness wear amount of the carrier wheels is less than the preset thickness wear amount of 2 mm, the control unit determines that the working mode of the pressing wheel inside the cleaning tank is the normal mode. The control unit determines that the working mode of the pressing wheel inside the cleaning tank is the normal mode. In this mode, the pressing wheel fixes the cultivation tank according to the conventional pressure value preset by the system, ensuring that the cultivation tank can move smoothly with the rotation of the carrier wheels inside the cleaning tank. At the same time, the brush can normally clean the loose dirt on the surface of the cultivation tank, gradually removing sediment and organic debris, etc.

[0062] In the embodiment of the present invention, after detection by the tactile sensor and data analysis, it is determined that there is sticky dirt on the surface of the cultivation tank. These sticky dirt may be some substances containing sugar and pectin components remaining after previous fertilization, with strong adhesion. The thickness of the carrier wheels inside the cleaning tank is measured again. The initial thickness is also 10 mm, and the currently measured thickness is 9 mm. It is calculated that the thickness wear amount of the carrier wheels is 1 mm. Because the cultivation tank has sticky dirt and the wear difference of the carrier wheels is less than the preset wear difference, according to the rule that "if the cultivation tank to be cleaned has sticky dirt or hard dirt, and the wear difference of the carrier wheels is less than the preset wear difference, the control unit determines that the working mode of the pressing wheel inside the cleaning tank is the enhanced pressing mode", the control unit determines that the working mode of the pressing wheel inside the cleaning tank is the enhanced pressing mode. At this time, the pressing wheel will appropriately increase the pressing force on the cultivation tank, making the fit between it and the brush closer, so that the brush can better overcome the viscous resistance of the sticky dirt and clean the surface of the cultivation tank more thoroughly to remove those sticky residual substances.

[0063] The present invention can optimize the cleaning process by correspondingly adjusting the working mode of the pressing wheel for different types of dirt. For viscous dirt, an enhanced pressing mode is adopted, allowing the pressing wheel to appropriately increase the pressing force on the cultivation tank, making the brush fit more closely to the surface of the cultivation tank, which helps to overcome the strong viscous resistance of the viscous substance, thereby more thoroughly removing the residual substances with strong adhesion, such as those containing sugar, pectin components, etc. For hard dirt, under a suitable pressing wheel mode, the stability of the cultivation tank during cleaning can be ensured, avoiding the shaking of the cultivation tank caused by the large reaction force generated when the hard scale contacts the brush, enabling the brush to continuously and effectively act on the hard scale, and improving the cleaning effect on hard dirt. Even for loose dirt, the cleaning process can be ensured to proceed smoothly in the normal mode, enabling the brush to function normally to remove sediment, lightweight organic debris, etc., ultimately achieving effective cleaning of various types of dirt, improving the overall cleaning quality, and improving the accuracy of the control of the cultivation tank cleaning process through the above method.

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

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

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

[0067] Among them, the value of the preset deviation displacement is eleven-tenths of the width of the cultivation tank to be cleaned, and the deviation displacement is the maximum distance between the two ends of the cultivation tank to be cleaned. However, the above values are not limited to this, and those skilled in the art can also adjust this 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 form of the existence of the residual dirt when determining the condition for cleaning the cleaning module or adjusting the pressure of the pressing wheel;

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

[0070] If there is residual dirt in the cultivation tank after cleaning and the form of the existence of the residual dirt is in a strip form, the adjustment unit determines to clean the cleaning module;

[0071] If there is no residual dirt in the cultivation tank after cleaning, the adjustment unit determines that the cleaning module does not need to be cleaned and the pressure of the pressing wheel does not need to be adjusted.

[0072] In the embodiment of the present invention, the adjustment unit determines the form of the residual dirt, including determining that the form of the residual dirt is strip-shaped under the condition that the length of the residual dirt is greater than the preset length. The preset length is the maximum dirt length before the cultivation tank is cleaned. The cleaning module includes but is not limited to "cleaning movement track, cleaning brush, and cleaning carrier wheel".

[0073] Specifically, when the adjustment unit determines to adjust the preset cleaning difficulty, it determines to adjust the preset cleaning difficulty with an adjustment coefficient.

[0074] In the embodiment of the present invention, the value range of the adjustment coefficient is set to 1.05 - 1.22. The preferred value of the adjustment coefficient is 1.16. The adjustment amount of the pressing wheel pressure is positively correlated with the number of residual dirt in the cultivation tank after cleaning. However, the above values are not limited to this, and those skilled in the art can also adjust the values according to actual needs.

[0075] The present invention judges the form (dot-shaped or strip-shaped) of the residual dirt in the cultivation tank after cleaning, and then takes different countermeasures, which can more accurately solve the problem of incomplete cleaning. If the residual dirt is in dot-shaped form, it means that the pressure of the pressing wheel may be insufficient, resulting in the dirt in some local areas not being effectively removed. At this time, the adjustment unit determines to adjust the pressure of the pressing wheel to make the pressing wheel better fix the cultivation tank and make the brush fit more closely with the surface of the cultivation tank, so as to focus on solving these dot-shaped residual dirt in the subsequent cleaning and improve the overall cleanliness. For the strip-shaped residual dirt, it is very likely that there is a problem with the cleaning module itself, such as the brush being damaged or the cleaning tank being blocked, which affects the cleaning effect of the long strip area. At this time, it is determined to clean the cleaning module to solve the problem from the root cause, ensure that the entire surface of the cultivation tank can be thoroughly cleaned, further optimize the cleaning quality, and provide good sanitary conditions for the subsequent use of the cultivation tank. By the above method, the accuracy of the cleaning process control of the cultivation tank is improved.

[0076] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the 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 are only the preferred embodiments of the present invention and are not intended to limit the present invention; for those skilled in the art, various modifications and variations can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A cultivation tank cleaning system based on tactile detection, characterized in that Including: A sensor module, which includes a tactile sensor for obtaining dirt data of the cultivation tank to be cleaned and a displacement sensor for obtaining deviation displacement data of the cultivation tank to be cleaned; A cleaning module, which is connected to the sensor module, includes a motion track for carrying the cultivation tank to be cleaned for horizontal reciprocating motion and a cleaning tank for cleaning the cultivation tank. The cleaning tank includes a carrying wheel for carrying the cultivation tank, a pressing wheel for fixing the cultivation tank, and a brush for cleaning the cultivation tank; A control module, which is respectively connected to the sensor module and the cleaning module, includes, A data analysis unit, which is used to determine the dirt type existing in the cultivation tank to be cleaned according to the abnormal tactile data type detected by the tactile sensor and the occurrence time point type of the abnormal tactile data. The dirt type includes viscous dirt, hard dirt, and loose dirt; A control unit, which is used to determine the working mode of the pressing wheel inside the cleaning tank according to the dirt type existing in the cultivation tank to be cleaned and the wear difference of the carrying wheels inside the cleaning tank, and is also used to determine whether to urgently stop the cleaning tank according to the comparison result between the deviation displacement of the cultivation tank to be cleaned and the preset deviation displacement under the corresponding working mode. The working mode of the pressing wheel inside the cleaning tank includes a normal mode, an enhanced pressing mode, and a high-pressure fixing mode; An adjustment unit, which is used to determine 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 form of the existence of the residual dirt; The data analysis unit determines that the dirt type existing in the cultivation tank to be cleaned includes determining that the dirt type existing in the cultivation tank to be cleaned is viscous dirt under the condition that the abnormal tactile data type detected by the tactile sensor for the cultivation tank is a stable friction data type, or determining that the dirt type existing in the cultivation tank to be cleaned is hard dirt under the condition that the abnormal tactile data type detected by the tactile sensor for the cultivation tank is a mutation vibration data type and the occurrence time point type of the abnormal tactile data is a normal detection time point; The abnormal tactile data type includes determining that the abnormal tactile data type is a stable friction data type when the tactile sensor detects continuous and stable high friction force, or determining that the abnormal tactile data type is a mutation vibration data type when the tactile sensor detects mutation vibration data; The data analysis unit determines that the occurrence time point type of the abnormal tactile data includes determining that the occurrence time point type of the abnormal tactile data is a normal detection time point under the condition that there is a cleaning action in the cleaning module and the cleaning module does not malfunction when the abnormal tactile data occurs.

2. The cultivation tank cleaning system based on tactile detection according to claim 1, characterized in that The control unit determines that the working mode of the pressing wheel inside the cleaning tank includes determining that the working mode of the pressing wheel inside the cleaning tank is the 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 tank is the enhanced pressing mode under the condition that viscous dirt or hard dirt exists in the cultivation tank to be cleaned and the wear difference of the carrying wheels is less than the preset wear difference; The control unit determines that the working mode of the pressing wheel inside the cleaning tank is the high-pressure fixed mode under the conditions that there is sticky dirt or hard dirt in the cultivation tank to be cleaned and the wear difference of the carrier wheel is greater than or equal to the preset wear difference.

3. The cultivation tank cleaning system based on tactile detection according to claim 2, characterized in that, The wear difference of the carrier wheel is determined according to the thickness wear amount of the carrier wheel.

4. The cultivation tank cleaning system based on tactile detection according to claim 3, wherein, The control unit determines to urgently stop the cleaning tank under the condition that the deviation displacement of the cultivation tank to be cleaned in the corresponding working mode is greater than the preset deviation displacement.

5. The cultivation tank cleaning system based on tactile detection according to claim 4, wherein The adjustment unit determines to adjust the pressure of the pressing wheel under the condition that there is residual dirt in the cultivation tank after cleaning and the form of the residual dirt is in a dot form. The adjustment unit determines to clean the cleaning module under the condition that there is residual dirt in the cultivation tank after cleaning and the form of the residual dirt is in a strip form.

6. The cultivation tank cleaning system based on tactile detection according to claim 5, wherein, The adjustment amount of the pressing wheel pressure is positively correlated with the quantity of the residual dirt in the cultivation tank after cleaning.

7. The cultivation tank cleaning system based on tactile detection according to claim 6, wherein The adjustment unit determines that the form of the residual dirt includes determining that the form of the residual dirt is in a strip form under the condition that the length of the residual dirt is greater than the preset length.

Images