Ultrasonic cavitation jet type coal bunker inner wall cleaning robot and cleaning method

Abstract

The invention relates to the technical field of coal bunker cleaning robots, and aims to solve the problems that a traditional three-dimensional reconstruction method is difficult to accurately identify and position wall-mounted coal in a coal bunker, and particularly, accurate and efficient cleaning operation is difficult to realize under the conditions of high dust concentration, poor visibility, complex shielding and the like in the coal bunker. The invention provides an ultrasonic cavitation jet type coal bunker inner wall cleaning robot and a cleaning method, a movement mechanism is installed at the top of a coal bunker and comprises multiple sections of mechanical rocker arms, an identification mechanism is installed at the tail end of the movement mechanism, and a cleaning mechanism is installed at the tail end of the movement mechanism. The robot uses an infrared lens group to carry out machine vision identification in an automatic inspection state, uses a multi-mode radar to carry out three-dimensional reconstruction on the interior of a coal bunker, and uses ultrasonic cavitation jet flow to execute a cleaning task after wall-mounted coal is identified. The coal bunker cleaning difficulty can be remarkably reduced, coal bunker maintenance is facilitated, and the service life of a coal bunker is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of coal bunker cleaning robots, and in particular to an ultrasonic cavitation jet type coal bunker inner wall cleaning robot and a cleaning method. Background Art

[0002] With the coal industry's pursuit of safe production and efficient operations, unmanned, automated, and precise coal bunker wall cleaning technology is becoming the primary development direction. Existing bunker wall cleaning robots can locate coal adhering to the bunker wall through methods such as 3D reconstruction. However, the cleaning method used by bunker wall cleaning robots is crucial for ensuring the bunker's continued stable operation. For bunker wall cleaning robots, the cleaning method is closely linked to the bunker's service life. Common methods of physical scraping can easily damage the bunker wall's service life, generate large dust particles that pose an explosion risk, and generate heat and static electricity that can cause coal piles to smolder. Compressed air cannons are difficult to completely remove adhering coal and leave a high level of residue. High-pressure water jets can produce coal slime, which, if not properly recovered, can further lead to the formation of sticking coal.

[0003] Traditional 3D reconstruction methods have difficulty accurately identifying and locating the coal hanging on the wall in the coal bunker, especially when the dust concentration inside the coal bunker is high, visibility is poor, and there are complex obstructions, making it difficult to achieve accurate and efficient cleaning operations. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an ultrasonic cavitation jet coal bunker inner wall cleaning robot and cleaning method, a coal bunker inner wall cleaning robot system and cleaning method using supercritical carbon dioxide as the working material. After the identification mechanism detects the hanging coal, the mechanical rocker arm is moved to align the cleaning mechanism with the hanging coal, and the ultrasonic cavitation jet generator continuously emits ultrasonic cavitation jets to the edge of the hanging coal to complete the cleaning task; when an obstruction appears between the cleaning mechanism and the hanging coal, several sections of the mechanical rocker arm are coordinated to establish an optimal obstacle avoidance curve path to ensure the feasibility of the cleaning task.

[0005] To achieve the above object, the technical solution of the present invention is: A coal bunker inner wall cleaning robot system based on ultrasonic cavitation jet technology includes an identification mechanism for identifying wall-mounted coal in the coal bunker, a motion mechanism for automatic inspection, and a cleaning mechanism for cleaning wall-mounted coal in the coal bunker, wherein: the motion mechanism is installed on the top of the coal bunker and includes a plurality of mechanical rocker arms, and the adjacent mechanical rocker arms are hinged to enable the mechanical rocker arms to be freely folded or rotated; the identification mechanism and the cleaning mechanism are both arranged at the end of the last mechanical rocker arm away from the installation position of the motion mechanism, and the identification mechanism detects wall-mounted coal in the coal bunker through infrared light machine vision; the cleaning mechanism uses a plurality of ultrasonic cavitation jet modules to complete the cleaning operation of the wall-mounted coal according to the position and hardness of the wall-mounted coal detected by the identification mechanism.

[0006] Furthermore, a positioning module for obtaining the relative position information of this section of the mechanical rocker arm is provided at one end of the mechanical rocker arm. The main control module obtains the position information of each section of the mechanical rocker arm through the positioning module in each section of the mechanical rocker arm to realize the drive and control of the motion mechanism.

[0007] Furthermore, the identification mechanism includes a main control module, a machine vision module, a multimodal radar module, a dust concentration monitoring module, and a Raman spectroscopy probe module. The multimodal radar module uses a laser radar and a microwave radar to detect the wall coal in the coal bunker, realizes the three-dimensional reconstruction of the coal bunker, and feeds back the three-dimensional reconstruction information of the wall coal to the main control module; the Raman spectroscopy probe module is used to detect the hardness of the wall coal in real time, and inverts the coal slag hardness by comparing it with the locally deployed coal Raman spectrum library, and automatically adjusts the ultrasonic frequency and jet pressure; the dust concentration monitoring module includes several dust concentration sensors for detecting the dust concentration in the coal bunker, and performs comprehensive weight calculation on the data received by the laser radar and microwave radar inside the multimodal radar according to the dust concentration.

[0008] Furthermore, the ultrasonic cavitation jet modules of the cleaning mechanism are equidistantly distributed around the identification mechanism, the nozzle direction of the ultrasonic cavitation jet module is inclined toward the axial direction of the identification mechanism, the ultrasonic vibration frequency and jet pressure are adjusted by the main control module, and the number of ultrasonic cavitation jet modules is not less than two.

[0009] A method for cleaning the inner wall of a coal bunker based on ultrasonic cavitation jet technology. The motion mechanism uses several mechanical arms to adjust the positions of the identification mechanism and the cleaning mechanism within the coal bunker. The identification mechanism detects the position of the coal hanging on the wall in the coal bunker using infrared machine vision and detects the hardness of the coal hanging on the wall using a Raman spectroscopic probe. The ultrasonic frequency and jet pressure of the cleaning mechanism are adjusted according to the hardness of the coal hanging on the wall to complete the cleaning operation of the coal hanging on the wall. The method specifically includes the following steps: Step 1. Install a coal bunker wall cleaning robot system on top of the coal bunker wall. The mechanical rocker arm of the motion mechanism adjusts several mechanical rockers according to the structure of the coal bunker and begins to move. Driven by the mechanical rocker arm, the recognition mechanism at the end of the mechanical rocker arm starts to identify the coal hanging on the wall from top to bottom inside the coal bunker. Step 2. When the recognition mechanism's machine vision module detects coal clinging to the wall, the multimodal radar module uses lidar and microwave radar to perform a three-dimensional reconstruction of the clinging coal in the coal bunker. This 3D reconstruction information is fed back to the recognition mechanism's main control module. The Raman spectroscopy probe module detects the hardness of the clinging coal in real time and determines the hardness of the coal slag by comparing it with a locally deployed coal Raman spectrum library. The main control module then adjusts the ultrasonic frequency and jet pressure of the cleaning mechanism's ultrasonic cavitation jet module based on the hardness of the coal slag. Step 3. Based on the location, 3D reconstruction information, and hardness of the coal slag acquired in Step 2, the cleaning mechanism uses supercritical carbon dioxide as the working medium. The ultrasonic cavitation jet modules adjust their emission angles to focus on the lower edge of the target hanging coal, cleaning from bottom to top. This completes the cleaning operation for the hanging coal detected at the current location. Step 4. Repeat steps 1 to 3 until the recognition mechanism completes the recognition of the entire coal bin and the motion mechanism tightens all mechanical rocker arms.

[0010] Furthermore, during the identification process of step 1, when there is an obstacle between the coal bunker inner wall cleaning robot system and the hanging coal, the identification mechanism locates the hanging coal and the obstacle through the multimodal radar module, and calculates the optimal motion path based on the positioning information. The motion mechanism adjusts the mechanical rocker arm according to the optimal path to bypass the obstacle, so that the identification mechanism and the cleaning mechanism are realigned with the current detection position to start the cleaning operation.

[0011] Furthermore, in step 3, the ultrasonic cavitation jet module of the cleaning mechanism adopts a pulse sequence operating mode with a "clean-pause-detection" cycle. During the detection phase of each cycle, the hardness of the next layer of coal slag is analyzed by comparing the data collected by the Raman spectroscopy probe with the locally deployed Raman spectroscopy database, and the ultrasonic frequency and jet pressure are adjusted.

[0012] In summary, the invention has the following beneficial effects: The present invention realizes barrier-free identification and cleaning of wall-hanging coal in the coal bunker through the adjustment of multiple foldable and rotatable mechanical rocker arms. The identification mechanism detects wall-hanging coal in the coal bunker through infrared machine vision. The multimodal radar module uses laser radar and microwave radar to perform three-dimensional reconstruction of the wall-hanging coal, and accurately locates the spatial coordinates of the wall-hanging coal under different dust concentrations. The Raman spectrum probe module detects the hardness of the wall-hanging coal in real time. The main control module adjusts the ultrasonic power and jet pressure of the ultrasonic cavitation jet module of the cleaning mechanism according to the hardness of the coal slag to achieve optimal cleaning efficiency, while avoiding damage to the inner wall of the coal bunker caused by excessive cleaning. The present invention can significantly reduce the risk of dust explosion that may occur during the coal bunker cleaning process, and no large particle residue or coal slime mixture will be generated after cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1Schematic diagram of the structure of the coal bunker inner wall cleaning robot system based on ultrasonic wave of the present invention; Figure 2 It is a structural schematic diagram of the motion mechanism of the present invention; Figure 3 It is a structural schematic diagram of the mechanical rocker arm of the present invention; Figure 4 It is a schematic structural diagram of the combination of the identification mechanism and the cleaning mechanism of the present invention; Figure 5 It is a structural schematic diagram of the identification mechanism of the present invention; Figure 6 It is a structural schematic diagram of the cleaning mechanism of the present invention; Figure 7 It is a flow chart of the cleaning method of the present invention; Figure 8 It is a flow chart of the intelligent pulse cleaning method of the present invention.

[0014] In the figure, 1-coal bunker; 2-motion mechanism; 3-identification mechanism; 4-cleaning mechanism; 5-mechanical rocker arm; 6-pitch motion joint; 7-mechanical rocker arm body; 8-rotational motion joint; 9-drive shaft; 10-positioning module; 11-identification mechanism housing; 12-main control module; 13-multimodal radar; 14-dust concentration sensor; 15-transparent dustproof housing; 16-machine vision module; 17-Raman spectroscopy probe module; 18-universal wheel; 19-ultrasonic cavitation jet module. DETAILED DESCRIPTION

[0015] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0017] like Figures 1 to 8As shown, the present invention discloses a coal bunker inner wall cleaning robot system based on ultrasonic cavitation jet technology, comprising an identification mechanism for identifying wall-hanging coal in the coal bunker, a motion mechanism 2 for automatic inspection, and a cleaning mechanism 4 for cleaning wall-hanging coal in the coal bunker, wherein: the motion mechanism 2 is installed on the top of the coal bunker 1, and the top of the coal bunker 1 is conducive to the robot's three-dimensional reconstruction of the coal bunker inner wall, comprising a plurality of mechanical rocker arms 5, and the adjacent mechanical rocker arms 5 are hinged to realize the free folding or rotation of the mechanical rocker arms; the identification mechanism 3 and the cleaning mechanism 4 are both arranged at the end of the last section of the mechanical rocker arm 5 away from the installation position of the motion mechanism 2, and the identification mechanism 3 detects the wall-hanging coal in the coal bunker through infrared light machine vision; the cleaning mechanism 4 uses a plurality of ultrasonic cavitation jet modules 19 to complete the cleaning operation of the wall-hanging coal according to the position and hardness of the wall-hanging coal detected by the identification mechanism 3.

[0018] A positioning module 10 for obtaining the relative position information of this section of the mechanical rocker arm 5 is provided at one end of the mechanical rocker arm 5. The main control module 12 obtains the position information of each section of the mechanical rocker arm 5 through the positioning module 10 in each section of the mechanical rocker arm 5 to realize the drive and control of the motion mechanism 2. The mechanical rocker arm 5 has two degrees of freedom and can be folded to reduce the volume when on standby. The joint length is short and the number can be adjusted according to usage requirements, with high flexibility. In this embodiment, the main control module 12 is mainly composed of an STM32 single chip; the machine vision module 16 is an infrared lens with a maximum focal length of 30m; the semi-solid laser radar in the multimodal radar module has an operating wavelength of 900nm, and the operating frequency of the microwave radar is 5.8GHz; the Raman spectrum probe module 17 includes a laser light source and a lens.

[0019] The identification mechanism 3 includes a main control module 12, a machine vision module 16, a multimodal radar module, a dust concentration monitoring module, and a Raman spectrum probe module 17. The main control module can obtain the position information of each section of the robotic arm through the positioning module of each section of the robotic arm to avoid physical collision during movement. The multimodal radar module uses laser radar and microwave radar to detect the wall coal in the coal bunker and realize three-dimensional reconstruction of the coal bunker. In this embodiment, the laser radar three-dimensional reconstruction adopts the SLAM algorithm, and the microwave radar three-dimensional reconstruction adopts the range Doppler RDA algorithm, and the three-dimensional reconstruction information of the wall coal is fed back to the main control module 12; the Raman spectrum probe module 17 is used to detect the hardness of the wall coal in real time. The degree of hardness is determined by comparing it with the locally deployed coal Raman spectrum library, inverting the coal slag hardness, and automatically adjusting the ultrasonic frequency and jet pressure. The main control module 12 is provided with offline Raman spectrum library data. The data detected by the Raman spectrum probe module 17 is compared with the Raman spectrum library data to obtain the coal slag hardness. If the hardness increases, the ultrasonic frequency is reduced and the jet pressure is increased; if the hardness decreases, the ultrasonic frequency is increased and the jet pressure is reduced; the dust concentration monitoring module includes several dust concentration sensors for detecting the dust concentration in the coal bin, and the data received by the laser radar and microwave radar inside the multi-modal radar are comprehensively weighted according to the dust concentration.

[0020] Several ultrasonic cavitation jet modules 19 of the cleaning mechanism 4 are equidistantly distributed around the identification mechanism 3. The nozzle direction of the ultrasonic cavitation jet module 19 is inclined toward the axial direction of the identification mechanism 3. The inclination angle of each nozzle can be freely adjusted. The ultrasonic vibration frequency and jet pressure are adjusted by the main control module 12. The number of ultrasonic cavitation jet modules 19 is not less than two.

[0021] The present invention also discloses a method for cleaning the inner wall of a coal bunker based on ultrasonic cavitation jet technology. The motion mechanism adjusts the positions of an identification mechanism and a cleaning mechanism in the coal bunker through a number of mechanical arms. The identification mechanism detects the position of the wall-mounted coal in the coal bunker through infrared machine vision and detects the hardness of the wall-mounted coal through a Raman spectroscopic probe. The ultrasonic frequency and jet pressure of the cleaning mechanism are adjusted according to the hardness of the wall-mounted coal to complete the cleaning operation of the wall-mounted coal. The method specifically includes the following steps: Step 1. Install the coal bunker inner wall cleaning robot system on the top of the inner wall of the coal bunker 1. The mechanical rocker arm 5 of the motion mechanism 2 adjusts several mechanical rocker arms 5 according to the structure of the coal bunker 1 and starts to move. The identification mechanism 3 of the end mechanical rocker arm 5 starts to identify the wall-hanging coal from top to bottom inside the coal bunker 1 under the drive of the mechanical rocker arm 5. When there is an obstacle between the coal bunker inner wall cleaning robot system and the wall-hanging coal, the identification mechanism 3 locates the wall-hanging coal and the obstacle through the multimodal radar module, and calculates the optimal motion path based on the positioning information. The positioning adopts the ICP algorithm, and the path planning adopts the RRT* rapid exploration random tree star algorithm. The motion mechanism 2 adjusts the mechanical rocker arm 5 according to the optimal path to bypass the obstacle, so that the identification mechanism 3 and the cleaning mechanism 4 are realigned with the current detection position to start the cleaning operation.

[0022] Step 2. When the machine vision module 16 of the identification mechanism 3 detects the hanging coal, the multimodal radar module uses the laser radar and microwave radar to perform three-dimensional reconstruction of the hanging coal in the coal bin, and feeds the three-dimensional reconstruction information back to the main control module 12 of the identification mechanism 3. The Raman spectroscopy probe module 17 detects the hardness of the hanging coal in real time, and determines the coal slag hardness by comparing it with the locally deployed coal Raman spectrum library. The main control module 12 adjusts the ultrasonic frequency and jet pressure of the ultrasonic cavitation jet module 19 of the cleaning mechanism 4 according to the coal slag hardness.

[0023] Step 3. Since supercritical carbon dioxide has both liquid and gaseous properties, it can form a cavitation jet when sprayed. After the cleaning process is completed, it will dissipate in the gaseous state and will not form further adhesives with the coal ash. Therefore, the cleaning mechanism 4 uses supercritical carbon dioxide as the working material based on the position, three-dimensional reconstruction information and hardness of the coal ash obtained in step 2. The ultrasonic cavitation jet modules 19 adjust their respective emission angles so that the focus is on the lower edge of the target wall-hanging coal. Each ultrasonic cavitation jet module 19 can adjust its own emission angle through the universal wheel at the bottom. All ultrasonic cavitation jet modules 19 The emitted cavitation jet converges at a point in space, namely the focus, and cleans from bottom to top, allowing the cleaned coal ash residue to fall naturally without interfering with the subsequent cleaning process, completing the cleaning operation for the wall-hanging coal detected at the current position; the ultrasonic cavitation jet module 19 of the cleaning mechanism 4 adopts a pulse sequence working mode of "cleaning-pause-detection" cycle. During the detection stage of each cycle, the hardness of the coal ash layer of the next layer is analyzed by comparing the data collected by the Raman spectroscopy probe module 17 with the locally deployed Raman spectroscopy database, and the ultrasonic frequency and jet pressure are adjusted.

[0024] Step 4. Repeat steps 1 to 3 until the recognition mechanism 3 completes the recognition of the entire coal bunker 1 and the motion mechanism 2 tightens all mechanical rocker arms 5. The coal bunker inner wall cleaning robot system of the present invention is directly installed in the coal bunker 1 and can complete long-term inspection tasks.

[0025] Figure 1 As shown in the figure, the coal bunker inner wall cleaning robot system includes a motion mechanism 2, an identification mechanism 3, and a cleaning mechanism 4. The identification mechanism 3 detects the signal of the coal hanging on the wall and transmits the detected signal to the main control module 12. After the main control module 12 calculates the motion path, it transmits the signal of the motion path to the motion mechanism.

[0026] The mechanical rocker arm 5 includes a pitch motion joint 6, a mechanical rocker arm body 7, a rotation motion joint 8, a transmission shaft 9, and a positioning module 10; the motion mechanism 2 moves with high freedom by adjusting the pitch motion joint 6 and the rotation motion joint 8 of each section of the mechanical rocker arm 5; the identification mechanism 3 is installed at the end of the last section of the mechanical rocker arm 5 away from the installation position of the motion mechanism, and is engaged with the cleaning mechanism 4. When assembled, Figure 5 As shown, the identification mechanism 3 includes an identification mechanism housing 11, a main control module 12, a multimodal radar 13, a dust concentration sensor 14, a transparent dustproof housing 15, a machine vision module 16, and a Raman spectroscopy probe module 17. The multimodal radar 13 includes a laser radar module operating at a wavelength of 900 nm and a microwave radar module operating at a frequency of 5.8 GHz. The laser radar has high detection resolution, while the microwave radar has strong penetration. The multimodal radar combines the characteristics of the laser radar and microwave radar, enabling the detection and three-dimensional reconstruction of coal stuck to the wall in the complex and dusty environment of the coal bunker. The dust concentration sensors 14 are model GP2Y1014AU and are arranged equidistantly at the front end of the identification mechanism housing 11.

[0027] The ultrasonic cavitation jet module 19 includes a supercritical carbon dioxide delivery pipe and a universal wheel 18. The output of multiple ultrasonic cavitation jet modules 19 converges at a single point under the motion of the universal wheel 18, enhancing cleaning efficiency. Supercritical carbon dioxide has both liquid and gaseous properties, forming a cavitation jet during injection. After the cleaning process, it dissipates as a gas, preventing it from forming further bonds with the fly ash.

[0028] When performing inspection tasks, the identification mechanism 3 uses the infrared light-based machine vision module 16 to continuously perform machine vision recognition on the inner wall of the coal bin under the movement of the mechanical rocker arm 5. When a suspected wall-mounted coal target is identified, the multimodal radar 13 is used to perform a three-dimensional scan of the inner wall of the coal bin to avoid the high power consumption problem caused by continuous three-dimensional scanning.

[0029] When the machine performs three-dimensional scanning, the dust concentration sensor 14 located at the front end of the identification mechanism 3 shell detects the dust in the coal bunker environment in real time. The threshold is set to 5 mg / m3 in the main control module, and a linear weighted algorithm is used to perform comprehensive weight processing on the collected data. When the dust concentration is lower than the threshold, the laser radar data inside the multimodal radar 13 is given a weight of up to 90%. When the dust concentration is higher than the threshold, the microwave radar data inside the multimodal radar 13 is given a weight of up to 90%. The threshold and weight are adjusted according to actual usage requirements.

[0030] After the machine vision module 16 detects a suspected target of coal hanging on the wall, the recognition mechanism 3 uses the multimodal radar 13 to perform a three-dimensional scan to confirm the detection result. After confirming the detection of coal hanging on the wall, the recognition mechanism 3 obtains the coordinate information of the coal hanging on the wall through the multimodal radar 13 and transmits it to the main control module 12. After receiving the coordinate information of the coal hanging on the wall, the main control module 12 calculates the motion path based on the coordinate information of the coal hanging on the wall, reversely deduces the spatial position and angle that each mechanical rocker arm needs to reach, and directs each section of the mechanical rocker arm 5 of the motion mechanism 2 to begin movement. After each section of the mechanical rocker arm 5 reaches the predetermined position, the motion mechanism 2 aligns the cleaning mechanism 4 with the lower edge of the coal hanging on the wall. Each ultrasonic cavitation jet module 20 adjusts its emission angle to focus on the lower edge of the coal hanging on the wall, and the cleaning operation is carried out from bottom to top.

[0031] When the main control module 12 calculates the motion path, the RRT* fast exploration random tree star method is adopted, and the minimum number of mechanical rocker arms 5 is used for work. The redundant mechanical rocker arms 5 that are not called remain in a folded state, avoiding unnecessary movements and shortening the response time.

[0032] During cleaning operations, cleaning mechanism 4 employs an intelligent pulse cleaning method, generating short nanosecond pulses. This pulse sequence follows a "clean-pause-test" cycle. At the end of each cycle, the detection phase analyzes the hardness of the next layer of coal slag by comparing data collected by the Raman spectroscopy probe module 17 with the Raman spectroscopy database deployed within the main control module 12. If the coal slag hardness increases, the ultrasonic frequency is reduced and the jet pressure is increased; if the coal slag hardness decreases, the ultrasonic frequency is increased and the jet pressure is reduced. This automatically adjusts the ultrasonic frequency and jet pressure of the ultrasonic cavitation jet module 20 to achieve optimal cleaning efficiency and avoid damage to the coal bunker's inner wall due to excessive cleaning.

[0033] When there is an obstruction between the cleaning mechanism 3 and the hanging coal, the main control module 12 will calculate the optimal obstacle avoidance processing path, so that several sections of the mechanical rocker arms 5 can work together to establish the optimal obstacle avoidance curve path to ensure the feasibility of the cleaning task.

[0034] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A coal bunker inner wall cleaning robot system based on ultrasonic cavitation jet technology, characterized in that: The invention comprises an identification mechanism for identifying the coal hanging on the wall in the coal bunker, a motion mechanism for automatic inspection and a cleaning mechanism for cleaning the coal hanging on the wall in the coal bunker, wherein: The motion mechanism is installed on the top of the coal bunker and includes a plurality of mechanical rocker arms, and adjacent mechanical rocker arms are hinged to enable the mechanical rocker arms to be freely folded or rotated; The identification mechanism and the cleaning mechanism are both arranged at the end of the last section of the mechanical rocker arm away from the installation position of the motion mechanism. The identification mechanism detects the hanging coal in the coal bin through infrared light machine vision; the cleaning mechanism uses several ultrasonic cavitation jet modules to complete the cleaning operation of the hanging coal according to the position and hardness of the hanging coal detected by the identification mechanism.

2. The coal bunker inner wall cleaning robot system based on ultrasonic cavitation jet technology according to claim 1 is characterized in that: One end of the mechanical rocker arm is provided with a positioning module for obtaining the relative position information of this section of the mechanical rocker arm. The main control module obtains the position information of each section of the mechanical rocker arm through the positioning module in each section of the mechanical rocker arm to realize the drive and control of the motion mechanism.

3. The coal bunker inner wall cleaning robot system based on ultrasonic cavitation jet technology according to claim 1 is characterized in that: The identification mechanism includes a main control module, a machine vision module, a multimodal radar module, a dust concentration monitoring module, and a Raman spectrum probe module. The multimodal radar module uses a laser radar and a microwave radar to detect the wall coal in the coal bunker, realizes the three-dimensional reconstruction of the coal bunker, and feeds back the three-dimensional reconstruction information of the wall coal to the main control module; the Raman spectrum probe module is used to detect the hardness of the wall coal in real time, inverts the coal slag hardness by comparing it with the locally deployed coal Raman spectrum library, and automatically adjusts the ultrasonic frequency and jet pressure; the dust concentration monitoring module includes several dust concentration sensors for detecting the dust concentration in the coal bunker, and performs comprehensive weight calculation on the data received by the laser radar and microwave radar inside the multimodal radar according to the dust concentration.

4. The coal bunker inner wall cleaning robot system based on ultrasonic cavitation jet technology according to claim 1 is characterized in that: The ultrasonic cavitation jet modules of the cleaning mechanism are equidistantly distributed around the identification mechanism, the nozzle direction of the ultrasonic cavitation jet module is inclined toward the axial direction of the identification mechanism, the ultrasonic vibration frequency and jet pressure are adjusted by the main control module, and the number of ultrasonic cavitation jet modules is not less than two.

5. A method for cleaning the inner wall of a coal bunker based on ultrasonic cavitation jet technology, characterized in that: The motion mechanism uses several robotic arms to adjust the positions of the identification mechanism and the cleaning mechanism in the coal bunker. The identification mechanism detects the position of the coal hanging on the wall in the coal bunker through infrared machine vision and detects the hardness of the coal hanging on the wall through a Raman spectrometer probe. The ultrasonic frequency and jet pressure of the cleaning mechanism are adjusted according to the hardness of the coal hanging on the wall to complete the cleaning operation of the coal hanging on the wall. The specific steps include: Step 1. Install a coal bunker wall cleaning robot system on top of the coal bunker wall. The mechanical rocker arm of the motion mechanism adjusts several mechanical rockers according to the structure of the coal bunker and begins to move. Driven by the mechanical rocker arm, the recognition mechanism at the end of the mechanical rocker arm starts to identify the coal hanging on the wall from top to bottom inside the coal bunker. Step 2. When the recognition mechanism's machine vision module detects coal clinging to the wall, the multimodal radar module uses lidar and microwave radar to perform a three-dimensional reconstruction of the clinging coal in the coal bunker. This 3D reconstruction information is fed back to the recognition mechanism's main control module. The Raman spectroscopy probe module detects the hardness of the clinging coal in real time and determines the hardness of the coal slag by comparing it with a locally deployed coal Raman spectrum library. The main control module then adjusts the ultrasonic frequency and jet pressure of the cleaning mechanism's ultrasonic cavitation jet module based on the hardness of the coal slag. Step 3. Based on the location, 3D reconstruction information, and hardness of the coal slag acquired in Step 2, the cleaning mechanism uses supercritical carbon dioxide as the working medium. The ultrasonic cavitation jet modules adjust their emission angles to focus on the lower edge of the target hanging coal, cleaning from bottom to top. This completes the cleaning operation for the hanging coal detected at the current location. Step 4. Repeat steps 1 to 3 until the recognition mechanism completes the recognition of the entire coal bin and the motion mechanism tightens all mechanical rocker arms.

6. The method for cleaning the inner wall of a coal bunker based on ultrasonic cavitation jet technology according to claim 5, characterized in that: During the identification process of step 1, when there is an obstacle between the coal bunker inner wall cleaning robot system and the hanging coal, the identification mechanism locates the hanging coal and the obstacle through the multimodal radar module, and calculates the optimal motion path based on the positioning information. The motion mechanism adjusts the mechanical rocker arm according to the optimal path to bypass the obstacle, so that the identification mechanism and the cleaning mechanism are realigned with the current detection position to start the cleaning operation.

7. The method for cleaning the inner wall of a coal bunker based on ultrasonic cavitation jet technology according to claim 5, characterized in that: In step 3, the ultrasonic cavitation jet module of the cleaning mechanism adopts a pulse sequence operating mode of a "clean-pause-detection" cycle. During the detection phase of each cycle, the hardness of the next layer of coal slag is analyzed by comparing the data collected by the Raman spectroscopy probe with the locally deployed Raman spectroscopy database, and the ultrasonic frequency and jet pressure are adjusted.

Images