Track self-propelled channel inner wall cleaning device and method

Abstract

The invention discloses a rail self-propelled channel inner wall cleaning device and method, and aims to solve the problems that a device in the prior art is low in manual cleaning efficiency, incomplete in cleaning and insufficient in automation degree. The device comprises a main supporting rod, a left cleaning rod body, a right cleaning rod body, a bottom cleaning rod body, a motor, a battery, a solar panel, a generator, an opening and closing water baffle, a cleaning brush head, a vibration motor and the like. The device drives the moving wheels to move along the channel track through the motor, and the detachable cleaning brush heads on the left and right cleaning rod bodies and the bottom are combined with the vibration motor to achieve comprehensive cleaning of the inner wall. The solar panel and the generator form a dual-energy system to ensure continuous operation of the device; the opening and closing water baffle enhances the fitting degree of the cleaning rod according to the Bernoulli principle, and the cleaning efficiency is improved; the device can automatically recognize the growth condition of algae on the inner wall of the channel or start cleaning operation according to a preset program, achieves intelligent management, effectively removes impurities on the inner wall, guarantees smooth water flow and stable operation of the channel, and has remarkable technical progress and practical value.

Description

Technical Field

[0001] The present invention relates to the technical field of water conservancy projects and channel maintenance, and particularly to an orbital self-propelled channel inner wall cleaning device and method. Background Art

[0002] In the fields of water conservancy projects and agricultural irrigation, etc., as an important water conveyance facility, the cleaning and maintenance of the inner wall of the channel are crucial for ensuring the normal operation of the channel and extending its service life. During the long-term operation of the inner wall of the channel, it is easy to attach sundries such as waterweeds, moss, and algae. If these attachments are not cleaned in time, a series of problems will occur, such as obstructing water flow, reducing water conveyance efficiency, and causing corrosion to the channel structure.

[0003] At present, for the cleaning and maintenance of the inner wall of the channel, although a variety of technologies have been proposed and applied, there are still many deficiencies. For example, CN210368858U discloses an energy-saving water conservancy project system, which includes components such as a channel, a T-shaped track, a C-shaped slider, a rack, a gear, a servo motor, and a sewage pump, and realizes the cleaning of the inner wall of the channel through an automated mechanical structure. However, this system still has some technical defects and deficiencies: Limited cleaning range: This system mainly realizes the cleaning of the inner wall of the channel by the sliding of the C-shaped slider on the T-shaped track, but its cleaning range is limited by the installation positions of the C-shaped slider and the sewage pump, and may not be able to fully cover the inner wall of the channel, especially the corner and dead-end areas, resulting in incomplete cleaning.

[0004] Poor adaptability: This system has poor adaptability to channels of different shapes and sizes. Due to the fixed installation positions and structures of components such as the C-shaped slider and the sewage pump, when facing channels with complex structures or large slopes, it may not be able to effectively fit the inner wall of the channel, affecting the cleaning effect.

[0005] Energy utilization efficiency needs to be improved: Although this system adopts a solar power supply method, in practical applications, due to the limitations of the installation position and orientation of the solar panels, as well as the influence of weather and other factors, the utilization efficiency of solar energy may not be high, resulting in the equipment being unable to work properly during some time periods.

[0006] Insufficient intelligence level: Although this system realizes automated cleaning, it lacks intelligent control and adaptive adjustment capabilities. For example, it cannot automatically adjust the cleaning frequency and intensity according to the cleaning state of the inner wall of the channel, nor can it make adaptive adjustments according to changes in the channel environment and working conditions.

[0007] In addition to the above patents, similar problems also exist in other existing inner wall cleaning technologies for channels. For example, manual cleaning is intuitive and effective, but it has a high labor intensity and low efficiency; although traditional mechanical equipment-assisted cleaning can improve the cleaning efficiency to a certain extent, it has a complex structure, inconvenient operation, high maintenance costs, and poor adaptability to different channel shapes and sizes. And some existing automated cleaning devices may have problems such as incomplete cleaning, low efficiency, and lack of intelligent control.

[0008] In summary, the existing inner wall cleaning technologies for channels still have obvious deficiencies in terms of cleaning efficiency, adaptability, intelligence, and automation level. Especially when facing channels with complex structures or large slopes, traditional cleaning devices are often difficult to effectively fit the inner wall of the channel, resulting in poor cleaning effects. In addition, some cleaning devices need to be externally powered during operation, further increasing the complexity of equipment layout and operating costs.

[0009] In view of the limitations of the above existing technologies, the present invention proposes an innovative track self-propelled inner wall cleaning device and method for channels. By integrating advanced automated control technologies, clean energy utilization technologies, and efficient cleaning components, this device aims to achieve comprehensive, efficient, and automatic cleaning of the inner wall of the channel, overcome the deficiencies of the existing technologies, and improve the intelligence and automation level of channel maintenance. Summary of the Invention

[0010] The technical problem to be solved by the present invention is to provide a track self-propelled inner wall cleaning device and method for channels, to solve the long-existing problem of inner wall cleaning of channels in the fields of water conservancy projects and channel maintenance, and the problems of the existing inner wall cleaning devices and methods for channels, such as incomplete cleaning, low efficiency, dependence on manual labor, poor adaptability, low energy utilization efficiency, and insufficient intelligence.

[0011] To solve the above technical problems, the technical solution adopted by the present invention is: a track self-propelled inner wall cleaning device for channels, including a main support rod that spans both sides of the channel, with telescopic springs provided at both ends. Action wheels are provided on the main support rod, and a storage battery, a motor, and a solar panel are installed. On both sides of the main support rod, a left cleaning rod and a right cleaning rod are respectively hinged. An adjustable bottom cleaning rod is installed between the left cleaning rod and the right cleaning rod. Cleaning brush heads, cleaning vibration motors, and opening and closing water baffle plates are respectively installed on the main bodies of each cleaning rod.

[0012] In a preferred solution, a solar panel is installed above the main support rod. The solar panel is electrically connected to the storage battery, and the storage battery is electrically connected to the motor. The motor is installed on the end face of the action wheel to drive the action wheel to move.

[0013] In a preferred solution, a water turbine generator is installed below the main support rod. The water turbine generator is connected to the storage battery, and the storage battery is electrically connected to the motor.

[0014] In a preferred embodiment, filtering devices are installed on both the left and right sides of the main support rod. The filtering device includes a filter with a feed pipe arranged at the top. The feed pipe is connected to a feed pump. A walking wheel is arranged at the bottom of the feed pump. The feed inlet of the feed pump is arranged on both sides of the bottom cleaning rod. A drain pipe is arranged at the bottom of the filter, and the drain outlet of the drain pipe is connected to the water surface of the water channel.

[0015] In a preferred embodiment, tracks are provided on both sides of the channel, and the moving wheels travel along the tracks.

[0016] In a preferred embodiment, an algal growth sensor is arranged in the channel. The algal growth sensor is connected to a control system, and the control system is connected to a motor. The motor is a forward and reverse motor. The sensor and the control system are both electrically connected to a storage battery. The cleaning vibration motor and the water turbine generator are respectively connected to the control system.

[0017] In a preferred embodiment, the bottom cleaning rod is respectively hinged to the left cleaning rod and the right cleaning rod, and is adjusted according to the slope of the channel.

[0018] In a preferred embodiment, the left cleaning rod, the right cleaning rod, and the bottom cleaning rod are each detachably installed with a cleaning brush head, a cleaning vibration motor, and an opening and closing water baffle.

[0019] In a preferred embodiment, the left cleaning rod, the right cleaning rod, and the bottom cleaning rod are respectively connected to the opening and closing water baffle through electric push rods. The opening and closing water baffle is designed to be streamlined based on fluid mechanics. The electric push rods are connected to the storage battery and the control system.

[0020] A method for cleaning the inner wall of a track self-propelled channel uses a track self-propelled channel inner wall cleaning device as described in any one of the above. The method includes the following steps: Step1: Place the device in the channel, adjust each cleaning rod to an appropriate position, and ensure that the cleaning brush head is closely attached to the inner wall of the channel; Step2: Start the motor, and move the device along the channel track and the bottom through the left and right moving wheels and the bottom moving wheels; Step3: Turn on the cleaning vibration motor, and use the cleaning brush head and the cleaning vibration motor to clean the inner wall of the channel; Step4: According to the water flow direction in the channel, adjust the angle of the opening and closing water baffle, and use Bernoulli's principle to enhance the cleaning effect; Step5: The control system monitors the power of the storage battery in real time. When the power is insufficient, start the water turbine generator to generate electricity and charge the storage battery for energy replenishment; Step6: When the device completes the cleaning of one channel, start the motor to reverse through the control system, and repeat Step2 to Step5 until the cleaning operation of the entire channel is completed; Step 7: During the process, the filtering device collects pollutants such as algae in channel 2 and conducts filtering treatment. The cleaned water is discharged back into channel 2 through the drain pipe 17 to keep channel 2 clean and unobstructed.

[0021] In a preferred embodiment, the method further includes automatically starting or continuing the cleaning operation according to the signal of the algal proliferation sensor or the preset program of the control system.

[0022] In a preferred embodiment, the method further includes that after the channel cleaning is completed, the device returns to the starting position, automatically stops working, and waits for the trigger of the next cleaning operation.

[0023] An in-rail self-propelled inner wall cleaning device and method for channels provided by the present invention have the following beneficial effects: 1. The present invention solves the long-existing problem of cleaning the inner wall of channels in the fields of water conservancy projects and channel maintenance, as well as problems such as incomplete cleaning, low efficiency, dependence on manual labor, poor adaptability, low energy utilization efficiency, and insufficient intelligence in the prior art.

[0024] 2. Through the design of cleaning rod bodies on both the left and right sides and the bottom, and the combination of the left, right, and bottom cleaning rods, the present invention realizes a comprehensive and multi-angle cleaning operation on the inner wall of the channel, effectively avoiding cleaning blind spots and improving the cleaning efficiency and quality.

[0025] 3. The present invention adopts a dual energy supply system of solar panels and generators (including water turbine generators), realizing self-sufficiency and green sustainable utilization of energy, greatly reducing the operation cost, and conforming to the environmental protection concept. At the same time, the application of the cleaning vibration motor further improves the cleaning efficiency and reduces the cleaning time.

[0026] 4. The application of the intelligent control system and the adaptive adjustment mechanism of the present invention enables the device to automatically adjust the cleaning frequency and intensity according to the cleaning state of the inner wall of the channel and the channel slope, ensuring the consistency of the cleaning effect; in addition, the control system can also automatically start or continue the cleaning operation according to the preset program or the signal of the algal proliferation sensor, improving the efficiency and accuracy of the cleaning operation.

[0027] 5. The cleaning rod body and the cleaning brush head of the present invention both adopt a detachable design, which is convenient for replacement and maintenance, and reduces the maintenance cost.

[0028] 6. The bottom cleaning rod and the left and right cleaning rods of the present invention are hinged, which can be adaptively adjusted according to the slope of the channel to ensure that the cleaning brush head always adheres tightly to the inner wall of the channel, maintaining a stable cleaning effect; at the same time, the adjustable cleaning rod and the opening and closing water baffle design enable the device to adapt to channels with different shapes and slopes.

[0029] 7. The specially added filtering device of the present invention is used to collect and process impurities and dirt generated during the cleaning process, keep the channel clean and prevent the impact on the downstream environment.

[0030] 8. The device of the present invention adopts a track self-propelled design and can travel independently in the channel, greatly improving the convenience and efficiency of the cleaning operation, reducing manual intervention, and lowering the cost and risk of the cleaning operation.

[0031] 9. Through unique structural design, intelligent energy management and control system, and efficient cleaning mechanism, the present invention has successfully solved the problem of cleaning the inner wall of the existing channel, providing a strong guarantee for the healthy and stable operation of the channel. The track self-propelled inner wall cleaning device and method of the present invention have significant technological progress and practical value, effectively solving the problems and deficiencies existing in the prior art. Brief Description of the Drawings

[0032] The present invention will be further described below in conjunction with the drawings and embodiments: Figure 1 It is a schematic diagram of the overall structure of the device of the present invention; Figure 2 It is an axonometric view of the overall structure of the device of the present invention; Figure 3 It is a front view of the overall structure of the device of the present invention; Figure 4 It is a top view of the overall structure of the device of the present invention; In the figure: main support rod 1, channel 2, driving wheel 3, energy storage battery 4, motor 5, solar panel 6, left cleaning rod 7, right cleaning rod 8, bottom cleaning rod 9, cleaning brush head 10, cleaning vibration motor 11, opening and closing water baffle 12, water wheel generator 13, filter 14, feed pipe 15, feed pump 16, traveling wheel 17, drain pipe 18, track 19. Detailed Embodiments

[0033] The technical solutions in the present invention will be further described below in conjunction with the drawings and embodiments: Embodiment 1 As Figures 1 to 4 shown, this embodiment provides a track self-propelled inner wall cleaning device for channels, and its basic structure is carefully designed to ensure efficient and stable cleaning operations.

[0034] 1. Main support rod 1: The main support rod 1 is arranged across the channel 2 and is made of high-strength and lightweight materials to withstand various forces and vibrations during the cleaning operation; Both ends are equipped with telescopic springs to adapt to channels of different widths and ensure that the device can work stably in various channels; The solar panel 6 is installed above to provide renewable energy for the device; A water turbine generator 13 can be optionally installed below as an auxiliary energy supply device.

[0035] 2. Action wheel 3 and drive system: The action wheel 3 travels along the channel track and is driven by the motor 5 to achieve the movement of the device. The motor 5 adopts an energy-efficient design to ensure long-term operation without overheating. The control system (not shown in the figure) is responsible for monitoring the speed and position of the action wheel 3 to ensure the stable travel of the device in the channel.

[0036] 4. Energy system: The energy storage battery 4 stores electrical energy and powers components such as the motor 5 and the cleaning vibration motor 11. The solar panel 6 converts solar energy into electrical energy to charge the energy storage battery 4, realizing the utilization of green energy.

[0037] 5. Cleaning components: The left cleaning rod 7, the right cleaning rod 8 and the bottom cleaning rod 9 are hinged to the main support rod 1 and can be adjusted adaptively according to the shape and slope of the channel. The cleaning brush head 10 is installed on the cleaning rod and is made of wear-resistant and highly elastic materials to ensure effective cleaning of the inner wall of the channel. The cleaning vibration motor 11 is installed on the cleaning rod to enhance the cleaning effect through vibration.

[0038] 6. Other auxiliary components: The opening and closing water baffle 12 is designed at the front end of the cleaning rod to control the water flow direction and enhance the cleaning effect.

[0039] The device also includes necessary connectors, fasteners, etc. to ensure the firm connection and stable operation between components.

[0040] Embodiment 2 In another preferred embodiment, based on Embodiment 1, this embodiment further details the adjustment mechanism of the cleaning rod and the opening and closing water baffle 12 to ensure the effective operation of the device in different channels.

[0041] 1. Adjustment mechanism of the cleaning rod: The bottom cleaning rod 9 is respectively connected to the left cleaning rod 7 and the right cleaning rod 8 through hinges, enabling adjustment in the up-down and left-right directions. The adjustment mechanism can be manual or electric and can be precisely adjusted according to the slope and shape of the channel. The cleaning rod is provided with scales or indicators to facilitate the operator to understand the current adjustment position.

[0042] 2. Design and function of the opening and closing water baffle 12: The opening and closing water baffle 12 is designed in a streamline shape based on the principle of fluid mechanics to reduce water flow resistance; The water baffle is connected to the storage battery 4 and the control system through an electric push rod or a hydraulic cylinder to achieve precise control of the opening and closing action.

[0043] According to the water flow direction in the channel, the control system can adjust the angle of the opening and closing water baffle 12, and use Bernoulli's principle to enhance the cleaning effect. For example, during downstream cleaning, the opening and closing water baffle 12 can be opened at a certain angle to allow the water flow to pass through the cleaning brush head more smoothly; during upstream cleaning, the opening and closing water baffle 12 can be closed or adjusted to an appropriate angle to block the water flow and enhance the scrubbing force.

[0044] Embodiment 3 In another preferred embodiment, on the basis of Embodiments 1 and 2, this embodiment describes a method for cleaning the inner wall of a channel by a track self-propelled type, which is the working principle of a track self-propelled type inner wall cleaning device of the present invention, and details the composition and working mode of its energy system.

[0045] 1. Working principle: Place the device in the channel 2, adjust the positions of the cleaning rod and the opening and closing water baffle 12, and then start the motor 5 to drive the driving wheels to move.

[0046] Turn on the cleaning vibration motor 11 to enable the cleaning brush head 10 to perform cleaning operations in a vibrating state, improving the cleaning efficiency.

[0047] The control system monitors the power of the storage battery 4. When the power is insufficient, start the water turbine generator 13 to charge and replenish energy.

[0048] After the cleaning operation is completed, turn off the motor 5 and the vibration motor 11 through the control system.

[0049] 2. Composition of the energy system: The solar panel 6 is used as the main energy supply device to convert solar energy into electrical energy and store it in the energy storage battery 4.

[0050] The water turbine generator 13 is used as an auxiliary energy supply device to generate electricity using the channel water flow when the light is insufficient or the device is moving and charge it to the energy storage battery 4.

[0051] The energy storage battery 4 adopts advanced energy storage technologies such as high-performance lithium batteries or supercapacitors to ensure stable power supply for a long time.

[0052] 3. Energy management strategy: The control system intelligently adjusts the working states of the solar panel 6 and the water turbine generator 13 according to the power of the storage battery 4 and the requirements of the cleaning operation.

[0053] When there is sufficient sunlight and sufficient power, the solar panel 6 is preferentially used for power supply; when there is insufficient sunlight or insufficient power, the water turbine generator 13 is started for energy supplement.

[0054] The control system also has the functions of power monitoring and warning. When the power is lower than the set threshold, it will timely remind the operator to charge or replace the battery.

[0055] Embodiment 4 In another preferred embodiment, on the basis of Embodiments 1, 2, and 3, this embodiment focuses on introducing the intelligent management function and automatic operation process of the device to improve the efficiency and accuracy of the cleaning operation.

[0056] 1. Intelligent management function: The device is equipped with an algae proliferation sensor (not shown in the figure) for monitoring the growth of algae in the channel 2. The sensor transmits the signal to the control system to provide data support for the cleaning operation.

[0057] The control system has a preset program function. According to parameters such as the length, width, and slope of the channel and the growth of algae, it can automatically set the cleaning operation path, speed, and frequency.

[0058] The control system also has the functions of remote monitoring and diagnosis. The operator can remotely view information such as the working status, power situation, and cleaning effect of the device through terminal devices such as mobile phones or computers, and make necessary adjustments and maintenance.

[0059] 2. Automatic operation process: After the device is started, it automatically travels to the designated position according to the preset program or the sensor signal to start the cleaning operation.

[0060] During the cleaning process, the control system real-time monitors the working status of the cleaning brush head 10, the angle of the opening and closing water baffle 12, and the speed and position of the driving wheel 3 to ensure the accuracy and stability of the cleaning operation.

[0061] When a channel is cleaned, the control system automatically starts the motor 5 to reverse, so that the device returns to the starting position or proceeds to clean the next channel 2.

[0062] During the entire operation process, the control system also has the functions of fault self-detection and alarm. Once an abnormal situation occurs (such as the motor 5 overheating, insufficient power, the cleaning brush head 10 being blocked, etc.), the control system will immediately issue an alarm signal and stop the operation to ensure the safe operation of the device.

[0063] Through the detailed description of the above four embodiments, the track self-propelled inner wall cleaning device of the present invention and its working method are comprehensively and deeply demonstrated. The embodiments are logically coherent and mutually supportive, jointly constituting a complete technical solution.

[0064] Example 5 In another preferred embodiment, based on Embodiment 1, this embodiment provides an in-rail self-propelled cleaning device for the inner wall of a channel, and the structure and working principle of this device are described as follows.

[0065] 1. Device Structure This in-rail self-propelled cleaning device for the inner wall of a channel mainly includes components such as a main support rod 1, driving wheels 3, a storage battery 4, a motor 5, a solar panel 6, a left cleaning rod 7, a right cleaning rod 8, a bottom cleaning rod 9, cleaning brush heads 10, cleaning vibration motors 11, and opening and closing water baffles 12.

[0066] Main support rod 1: Spanning both sides of the channel 2, telescopic springs are provided at both ends to adapt to channels of different widths and maintain the stability of the device. Driving wheels 3 are installed on the main support rod, and the driving wheels travel along the tracks 13 opened on both sides of the channel to ensure the device can move smoothly. A storage battery 4, a motor 5, and a solar panel 6 are also installed on the main support rod. The solar panel 6 is electrically connected to the storage battery 4 and is used to convert solar energy into electrical energy and store it in the storage battery 4.

[0067] Driving wheels 3: Installed below the main support rod 1, driven by the motor 5, and through the cooperation of the left and right side driving wheels and the bottom driving wheels, the device can move along the channel track and the bottom.

[0068] Storage battery 4: As the main power source of the device, it provides electrical energy for components such as the motor 5 and the cleaning vibration motor 11.

[0069] Motor 5: Installed on the end face of the driving wheel 3 to drive the driving wheel to travel. At the same time, the motor 5 is also electrically connected to the control system and can rotate forward and backward according to the instructions of the control system to achieve the forward and backward movement of the device.

[0070] Solar panel 6: Installed above the main support rod 1, used to convert solar energy into electrical energy to charge the storage battery 4 and achieve green and sustainable utilization of energy.

[0071] Left cleaning rod 7, right cleaning rod 8, and bottom cleaning rod 9: Hinged on both sides and below the main support rod 1 respectively, and can be adjusted according to the slope of the channel to ensure that the cleaning brush heads 10 can closely adhere to the inner wall of the channel. Cleaning brush heads 10, cleaning vibration motors 11, and opening and closing water baffles 12 are installed on the main bodies of each cleaning rod.

[0072] Cleaning brush heads 10: Used to brush the inner wall of the channel, and through the vibration of the cleaning vibration motor 11, the cleaning effect is improved.

[0073] Cleaning vibration motors 11: Installed inside the main body of the cleaning rod, driving the cleaning brush heads 10 to vibrate to enhance the cleaning effect.

[0074] Open and close water baffle 12: Designed to be streamlined based on fluid mechanics, connected to the battery 4 and the control system through an electric push rod. According to the water flow direction in the channel, adjust the angle of the open and close water baffle, and utilize Bernoulli's principle to enhance the cleaning effect.

[0075] Water turbine generator 13: Installed below the main support rod 1. When the device moves, utilize the channel water flow to drive the water turbine generator to rotate and charge the energy storage battery 4, realizing the recycling of energy.

[0076] Filter device: Comprising a filter 14, a feed pipe 15, a feed pump 16, a walking wheel 17, and a drain pipe 18. The filter device is fixed on both the left and right sides of the main support rod 1. The feed pipe 15 is connected to the feed pump 16, and the feed port of the feed pump 16 is arranged on both sides of the bottom cleaning rod 9 for collecting pollutants such as algae cleaned from the channel 2. The filter 14 filters the impurities, and the cleaned water is discharged back into the channel through the drain pipe 18. The design of the walking wheel 17 facilitates movement and position adjustment.

[0077] 2. Working principle The working principle of this rail self-propelled inner wall cleaning device for channels is as follows: Place the device in the channel 2, adjust the telescopic springs at both ends of the main support rod 1 according to the width of the channel 2 to ensure that the device stably straddles both sides of the channel 2. Adjust each cleaning rod to an appropriate position to ensure that the cleaning brush head 10 closely adheres to the inner wall of the channel 2.

[0078] Start the motor 5, and move the device along the channel 2 rail 19 and the bottom through the left and right side moving wheels 3 and the bottom moving wheels 3. The control system monitors the power of the battery 4. When the power is sufficient, preferentially use the electric energy provided by the solar panel 6; when the power is insufficient, start the water turbine generator 13 for charging and energy supplement.

[0079] Turn on the cleaning vibration motor 11, and use the cleaning brush head 10 and the cleaning vibration effect to clean the inner wall of the channel 2. At the same time, according to the water flow direction in the channel 2, adjust the angle of the open and close water baffle 12, and utilize Bernoulli's principle to enhance the cleaning effect.

[0080] The filter device collects the impurities in the channel 2 and conducts filtration treatment, and the cleaned water is discharged back into the channel through the drain pipe to keep the channel clean and unobstructed.

[0081] When the device completes the cleaning of one channel 2, start the motor 5 to reverse through the control system, so that the device returns to the starting position or proceeds to the cleaning operation of the next channel 2. Repeat the above steps until the cleaning operation of the entire channel 2 is completed.

[0082] The device can also be equipped with an algal growth sensor and a preset program of the control system. The algal growth sensor monitors the growth of algae in the channel and transmits signals to the control system. The control system automatically starts or continues the cleaning operation according to the preset program or the signals from the sensor, realizing intelligent management.

[0083] In a preferred embodiment, a solar panel 6 is installed above the main support rod 1. The solar panel 6 is electrically connected to the energy storage battery 4, and the energy storage battery 4 is electrically connected to the motor 5. The motor 5 is installed on the end face of the driving wheel 3 to drive the driving wheel 3 to move; with the above settings, the solar energy resources are fully utilized, achieving self-sufficiency in energy and improving the endurance of the device; at the same time, the precise control of the motor 5 ensures the stable movement of the driving wheel 3, improving the operation efficiency and reliability of the overall system.

[0084] In a preferred embodiment, a water turbine generator 13 is installed below the main support rod 1. The water turbine generator 13 is connected to the energy storage battery 4, and the energy storage battery 4 is electrically connected to the motor 5; with the above settings, the water turbine generator 13 is driven by water flow to generate electricity, and the generated electric energy is stored in the energy storage battery 4. When needed, the energy storage battery 4 provides power support for the motor 5, realizing the recycling and self-sufficiency of energy.

[0085] In a preferred embodiment, filtering devices are fixed on both the left and right sides of the main support rod 1. The filtering device includes a filter 14 with a feed pipe 15 arranged at the top. The feed pipe 15 is connected to a feed pump 16. A walking wheel 17 is arranged at the bottom of the feed pump 16. The feed inlet of the feed pump 16 is arranged on both sides of the bottom cleaning rod 9. A drain pipe 18 is arranged at the bottom of the filter 14, and the drain outlet of the drain pipe 18 is connected to the water surface of the water channel; with the above settings, it ensures that the materials can smoothly enter the filter and be effectively processed. The design of the walking wheel 17 facilitates movement and position adjustment. The bottom cleaning rod 9 can clean the wall impurities during operation, and the drain pipe 18 directly discharges the purified water back into the water channel, achieving the dual goals of recycling and efficient cleaning.

[0086] In a preferred embodiment, tracks 19 are opened on both sides of the channel 2, and the driving wheels 3 move along the tracks 19; with the above settings, it ensures the stable operation of the driving wheels 3 in the channel 2, effectively preventing deviation, improving the stability and reliability of the overall device. At the same time, the design of the tracks 19 also facilitates the maintenance and replacement of the driving wheels 3.

[0087] In a preferred embodiment, an algal growth sensor is provided inside the channel 2. The algal growth sensor is connected to a control system, which is in turn connected to the motor 5. The motor 5 is a reversible motor. Both the sensor and the control system are electrically connected to the battery 4. The cleaning vibration motor 11 and the water turbine generator 13 are respectively connected to the control system. With the above settings, real-time monitoring and feedback of the algal growth state can be achieved. The control system can intelligently regulate the forward and reverse rotation of the motor 5 to optimize the water flow and promote algal growth. At the same time, the water flow is used to drive the water turbine generator 13 to generate electricity, providing power for the cleaning vibration motor 11 to achieve self-cleaning and energy self-sufficiency.

[0088] In a preferred embodiment, the bottom cleaning rod 9 is hinged to the left cleaning rod 7 and the right cleaning rod 8 respectively, and is adjusted according to the slope of the channel 2. With the above settings, the cleaning device can adapt to channels with different inclination angles, ensuring that there are no dead corners in the bottom and on both sides during cleaning. At the same time, the hinged design enhances the flexibility and durability of the device, improving the cleaning efficiency and effect.

[0089] In a preferred embodiment, the left cleaning rod 7, the right cleaning rod 8, and the bottom cleaning rod 9 are each detachably installed with a cleaning brush head 10, a cleaning vibration motor 11, and an opening and closing water baffle 12. With the above settings, it can flexibly meet the cleaning requirements of different ground environments. The cleaning brush head 10 can penetrate into the gaps for cleaning, the vibration motor 11 enhances the cleaning effect, and the opening and closing water baffle 12 effectively prevents liquid from splashing in, ensuring that the cleaning process is efficient and safe.

[0090] In a preferred embodiment, the left cleaning rod 7, the right cleaning rod 8, and the bottom cleaning rod 9 are respectively connected to the opening and closing water baffle 12 through electric push rods. The opening and closing water baffle 12 is designed in a streamline shape based on fluid mechanics. The electric push rods are connected to the battery 4 and the control system. With the above settings, it ensures that the cleaning rods can flexibly adjust their positions under different cleaning requirements. At the same time, the streamline-shaped opening and closing water baffle effectively reduces the water flow resistance, improving the cleaning efficiency. The battery 4 provides lasting power for the electric push rods, and the control system precisely commands to achieve intelligent cleaning operations.

[0091] In a preferred embodiment, the method further includes automatically starting or continuing the cleaning operation according to the signal of the algal growth sensor or the preset program of the control system. With the above settings, manual intervention can be significantly reduced, improving the cleaning efficiency and accuracy. At the same time, the system can monitor the algal growth situation in real time and flexibly adjust the cleaning intensity to ensure the continuous health and ecological balance of the marine environment.

[0092] In a preferred embodiment, the method further includes that after the cleaning of channel 2 is completed, the device returns to the starting position, automatically stops working, and waits for the trigger of the next cleaning operation; the above settings ensure the efficient operation and energy conservation of the device. At the same time, the intelligent system built into the device can record the progress and status of each cleaning, facilitating the user to view and manage at any time, greatly improving the execution efficiency and convenience of the cleaning task.

[0093] An inner wall cleaning device and method for a self-propelled track in a channel proposed by the present invention adopt innovative technical solutions for the long-existing cleaning problems in the fields of water conservancy projects and channel maintenance, as well as the problems of incomplete cleaning, low efficiency, dependence on manual labor, poor adaptability, low energy utilization efficiency, and insufficient intelligence in the existing technologies. The device can travel autonomously in channel 2 without manual operation or external traction, greatly improving the convenience and efficiency of the cleaning operation; by equipping adjustable cleaning rods, vibration motors, and opening and closing water baffle plates 12, the cleaning components can adapt to channels 2 with different shapes and slopes, enhancing the cleaning effect and improving the applicability and cleaning ability of the device; the specially added filtering device effectively collects and processes the impurities and dirt generated during the cleaning process, keeping channel 2 clean and preventing the impact on the downstream environment, reflecting the environmental protection concept; at the same time, the water algae proliferation sensor and control system equipped on the device realize the intelligent management of the cleaning operation, automatically adjusting the cleaning path, speed, and frequency according to the actual situation of channel 2, improving the accuracy and intelligent level of the operation. In addition, the adaptive adjustment mechanism, energy self-sufficient system design, and intelligent and automated operation mode of the device not only improve the efficiency and accuracy of the cleaning operation, reduce the cost and risk of manual intervention, but also fully reflect the environmental protection and energy conservation concepts, effectively solving the problems and deficiencies existing in the existing inner wall cleaning operation of channel 2, and having significant technological progress and practical value.

Claims

1. An in-rail self-propelled cleaning device for the inner wall of a channel, characterized in that, It includes a main support rod (1) that spans both sides of the channel (2), with telescopic springs provided at both ends. An action wheel (3) is provided on the main support rod (1), and a storage battery (4), a motor (5), and a solar panel (6) are installed. On both sides of the main support rod (1), a left cleaning rod (7) and a right cleaning rod (8) are respectively hinged. An adjustable bottom cleaning rod (9) is installed between the left cleaning rod (7) and the right cleaning rod (8). On each cleaning rod body, a cleaning brush head (10), a cleaning vibration motor (11), and an opening and closing water baffle (12) are respectively installed.

2. The inner wall cleaning device for the track self-propelled channel according to claim 1, characterized in that: Above the main support rod (1), a solar panel (6) is installed. The solar panel (6) is electrically connected to the storage battery (4), and the storage battery (4) is electrically connected to the motor (5). The motor (5) is installed on the end face of the action wheel (3) to drive the action wheel (3) to move.

3. The self-propelled track-type inner wall cleaning device for channels according to claim 2, wherein: Below the main support rod (1), a water turbine generator (13) is installed. The water turbine generator (13) is connected to the storage battery (4), and the storage battery (4) is electrically connected to the motor (5).

4. The self-propelled track-type inner wall cleaning device for channels according to claim 3, characterized in that: On the left and right sides of the main support rod (1), a filtering device is installed. The filtering device includes a filter (14) with a feed pipe (15) provided at the top. The feed pipe (15) is connected to a feed pump (16). At the bottom of the feed pump (16), walking wheels (18) are provided. The feed inlet of the feed pump (16) is arranged on both sides of the bottom cleaning rod (9). At the bottom of the filter (14), a drain pipe (17) is provided, and the drain outlet of the drain pipe (17) is connected to the water surface of the water channel.

5. The self-propelled track-type inner wall cleaning device for channels according to claim 4, characterized in that: On both sides of the channel (2), tracks (19) are opened, and the action wheels (3) move along the tracks (19).

6. The self-propelled track type inner wall cleaning device for channels according to claim 5, characterized in that: In the channel (2), an algae proliferation sensor is provided. The algae proliferation sensor is connected to a control system, and the control system is connected to the motor (5). The motor (5) is a forward and reverse motor. Both the sensor and the control system are electrically connected to the storage battery (4). The cleaning vibration motor (11) and the water turbine generator (13) are respectively connected to the control system.

7. The self-propelled track-type inner wall cleaning device for channels according to claim 6, characterized in that: The bottom cleaning rod (9) is respectively hinged to the left cleaning rod (7) and the right cleaning rod (8), and is adjusted according to the slope of the channel (2).

8. The self-propelled track-type inner wall cleaning device for channels according to claim 7, characterized in that: On the left cleaning rod (7), the right cleaning rod (8), and the bottom cleaning rod (9), a cleaning brush head (10), a cleaning vibration motor (11), and an opening and closing water baffle (12) are respectively detachably installed.

9. The self-propelled track type inner wall cleaning device for channels according to claim 7, characterized in that: The left cleaning rod (7), the right cleaning rod (8), and the bottom cleaning rod (9) are respectively connected to the opening and closing water baffle (12) through electric push rods. The opening and closing water baffle (12) is designed to be streamlined based on fluid mechanics. The electric push rods are connected to the storage battery (4) and the control system.

10. A method for cleaning the inner wall of an orbital self-propelled channel, characterized in that, It is an in-rail self-propelled inner wall cleaning device for channels described in any one of claims 1 to 9. The method includes the following steps: Step1: Place the device in the channel (2), adjust each cleaning rod to an appropriate position, and ensure that the cleaning brush head (9) closely adheres to the inner wall of the channel; Step2: Start the motor (5), and move the device along the channel track and the bottom through the left and right action wheels (11) and the bottom action wheel (12); Step3: Turn on the cleaning vibration motor (11), and use the cleaning brush head (9) and the cleaning vibration motor (10) to clean the inner wall of the channel; Step4: According to the water flow direction in the channel, adjust the angle of the opening and closing water baffle (8), and use the Bernoulli principle to enhance the cleaning effect; Step5: The control system monitors the battery (4) power in real time. When the power is insufficient, start the water turbine generator (7) to generate electricity and charge the battery (4); Step6: When the device completes the cleaning of one channel (2), start the motor (5) to reverse through the control system, and repeat Step2 to Step5 until the cleaning operation of the entire channel (2) is completed; Step7: During the process, the filtering device collects pollutants such as algae in the channel (2) and filters them. The cleaned water is discharged back into the channel (2) through the drain pipe (17) to keep the channel (2) clean and unobstructed.

11. A method for cleaning the inner wall of a channel by a track self-propelled vehicle according to claim 10, characterized in that: The method further includes automatically starting or continuing the cleaning operation according to the signal of the algae proliferation sensor or the preset program of the control system.

12. A method for cleaning the inner wall of a track self-propelled channel according to claim 11, characterized in that: The method further includes that after the cleaning of the channel (2) is completed, the device returns to the starting position, automatically stops working, and waits for the trigger of the next cleaning operation.

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