Self-adaptive settling pond cleaning device based on three-dimensional contour recognition and control method of self-adaptive settling pond cleaning device

Abstract

A sedimentation tank self-adaptive cleaning device based on three-dimensional contour recognition comprises a cleaning box used for cleaning the inner wall of a sedimentation tank, a plurality of rolling brushes and a plurality of air injection devices are arranged on the surface of the cleaning box, the cleaning box is connected to a mechanical arm, and the mechanical arm is arranged on a moving trolley. A laser scanner and a pressure sensor are matched with a double-track hydraulic sliding system to perform x-axis and y-axis movement of equipment, when the equipment moves to the wall of a sedimentation tank, an air injection device and a rolling brush are used for cleaning moss on the wall of the tank, the pressure sensor and the rolling brush perform combined cleaning, and the pressure sensor feeds back and adjusts x-axis movement through a pressure value F; and after cleaning, a dust collection device is used for recycling washed-off moss impurities.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent cleaning, in particular to a sedimentation tank self-adaptive cleaning device based on three-dimensional contour recognition and a control method thereof. BACKGROUND

[0002] In the long-term operation process of the water plant sedimentation tank, the pool wall is prone to grow biological membrane such as moss, which affects the water quality. The traditional cleaning method has low efficiency, poor safety, and the existing mechanical cleaning device cannot adapt to the uneven pool wall working condition and the cleaning effect is not ideal, which is easy to cause secondary pollution. The water plant currently uses artificial brush and high-pressure water gun to clean the pool wall. The working environment is near water and edge, which is easy to cause personnel and equipment damage, and has safety hazards. The operation process is not reasonable, standard and safe. Therefore, an efficient and intelligent cleaning device is needed. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a sedimentation tank self-adaptive cleaning device based on three-dimensional contour recognition and a control method thereof, to improve the cleaning efficiency and standardization of the sedimentation tank.

[0004] To solve the above technical problems, the technical solution adopted by the present application is: a sedimentation tank self-adaptive cleaning device based on three-dimensional contour recognition, comprising a cleaning box for cleaning the inner wall of the sedimentation tank, a plurality of roller brushes arranged on the surface of the cleaning box, and a plurality of air jet devices, the cleaning box is connected to a mechanical arm, and the mechanical arm is arranged on a mobile trolley.

[0005] Preferably, the surface of the cleaning box is also provided with a dust suction port, a dust suction device is arranged in the cleaning box, and an air outlet is arranged on the side of the cleaning box.

[0006] Preferably, the surface of the cleaning box is sequentially provided from top to bottom with a roller brush, a dust suction port, an air jet device and a dust suction port, and the plurality of air jet devices are arranged in a wave shape.

[0007] Preferably, the mechanical arm comprises a base, a first mechanical arm, a second mechanical arm and a third mechanical arm which are sequentially hinged, a rotating head is arranged at the front end of the third mechanical arm, and the rotating head is connected with the cleaning box.

[0008] Preferably, the surface and both sides of the cleaning box are provided with laser scanning probes, a pressure sensor is arranged in the middle of the roller brush, and an encoder is arranged in the middle of the cleaning box.

[0009] Preferably, the laser scanning probe, the pressure sensor, the encoder, the roller brush, the air jet device and the mechanical arm are electrically connected with the controller in the mobile trolley.

[0010] A control method of a sedimentation tank self-adaptive cleaning device based on three-dimensional contour recognition, comprising the following steps Step one, place the mobile trolley in the area to be cleaned, adjust the mechanical arm; Step two, system self-check, check if each device is normal, calibrate the sensor zero point; Step three, parameter setting, select the cleaning area, match the working environment to set the measurement parameters of the profile measurement system, set the cleaning pressure; Step four, three-dimensional scanning, move the mobile trolley at a speed of 0.1 m / s, the laser scanner plans the scanning path according to the cleaning area selected in step three, and stores the starting, process and end point coordinate parameters, at the same time the laser scanner collects point cloud data in real time and generates a three-dimensional model of the pool wall; Step five, path planning, generate the cleaning path based on B-spline algorithm, plan S-shaped trajectory and set the trajectory moving speed; Step six, start the roller brush and air jet device for cleaning, and start the dust collection device to recycle the washed impurities, the roller brush adjusts the distance between the roller brush and the cleaning surface in real time according to the value of the pressure sensor, and the cleaning device cleans according to the trajectory and motion speed planned in step five.

[0011] Preferably, the step five is specifically as follows I. Path planning (1) Three-dimensional point cloud processing Obtain the three-dimensional point cloud data of the pool wall by laser scanner, denoted as Each point contains coordinate, data acquisition, calculate the parameters of each point using the chord length parameterization method : ; Where represents the straight line distance between adjacent points; (2) B-spline curve generation Solve the control points by least squares method: ; According to the control points, generate the p-order B-spline curve equation: ; Where the basis function is calculated by recursion: ; ; (3) S-shaped trajectory is superimposed on B-spline curve to superimpose lateral swing: ; Where: is the width of the pool wall, is the swing frequency (recommended 0.5-1.5 Hz),​ Let u be the unit normal vector of the curve at point u; II. Velocity Planning Methods (1) Maximum permissible speed at each point on the curvature adaptive velocity calculation path: curvature The calculation formula is as follows: ; (2) The S-shaped velocity curve uses a 7-segment velocity curve to achieve smooth acceleration and deceleration: acceleration phase ( ): ; Uniform acceleration segment ( ): ; deceleration phase ( ): Key parameter relationships: ; Where: v(t) is the real-time speed of the cleaning device, v0 is the initial speed of the cleaning device, vmax is the maximum permissible speed of the cleaning device, j is the jerk of the cleaning device, t is the cumulative time of the cleaning device, tj is the acceleration time of the cleaning device, ta is the uniform acceleration time of the cleaning device, td is the deceleration time of the cleaning device, T is the total motion time of the cleaning device, and a is the maximum acceleration of the cleaning device.

[0012] Preferably, the cleaning pressure is adjusted in real time according to Δh, with the brush pressure F adjusted accordingly. F = { Fbase - kp × Δh Δh > 0 (convexity) Fbase+kp×|Δh|Δh<0 (concave) Fbase = 50 N (baseline pressure), kp = 0.2 N / mm Where: F is the real-time brush pressure of the cleaning brush head, Fbase is the reference pressure of the cleaning brush head (50N recommended), kp is the pressure compensation coefficient of the cleaning brush head (0.2 N / mm recommended), and Δh is the real-time height deviation of the cleaning brush head (in mm).

[0013] Preferably, it also includes Step 7: Determine the cleaning effect. If the test results show that there is still moss on the surface of the pool or tank wall, the system will restart from Step 6 until the cleaning effect meets the set requirements. If the test results show that the surface of the pool / tank wall meets the cleaning requirements, proceed to Step 8. Step 8: Cleaning is complete; remove the cleaning device. Step nine, data upload, save cleaning parameters (pressure, speed, energy consumption), generate job report, upload to cloud database.

[0014] The application provides a sedimentation tank self-adaptive cleaning device based on three-dimensional contour recognition and a control method thereof, and has the following beneficial effects: 1. High efficiency and precision: based on three-dimensional laser scanning and adaptive PID control, multi-stage collaborative cleaning (air jet device + rolling brush + dust suction recovery) is realized, which can greatly improve the cleaning efficiency and will not cause secondary pollution; 2. Intelligent and reliable: B-spline path planning and fault prediction algorithm are combined, and the concave-convex surface of ±150mm can be adapted, and the concave-convex area can also be reliably used; 3. Economic and universal: modular design is compatible with municipal water and industrial scenes, the efficiency of manual cleaning is greatly improved, the investment return period is short, and the application of deep sea and pipeline is supported. BRIEF DESCRIPTION OF DRAWINGS

[0015] The application will be further described below in combination with the drawings and embodiments: Figure 1 It is a structural schematic diagram of the application; Figure 2 It is a structural schematic diagram of the cleaning box of the application; Figure 3 It is a method flowchart of the application. DETAILED DESCRIPTION

[0016] As shown in the drawings, Figures 1-2 A sedimentation tank self-adaptive cleaning device based on three-dimensional contour recognition, comprising a cleaning box 1 for cleaning the inner wall of the sedimentation tank, a plurality of rolling brushes 2 and a plurality of air jet devices 3 are arranged on the surface of the cleaning box 1, the cleaning box 1 is connected to a mechanical arm, and the mechanical arm is arranged on a moving trolley 5.

[0017] Preferably, the surface of the cleaning box 1 is also provided with a dust suction port 4, a dust suction device is arranged in the cleaning box 1, and an air exhaust port 6 is arranged on the side of the cleaning box 1.

[0018] Preferably, the surface of the cleaning box 1 is sequentially provided with the rolling brush 2, the dust suction port 4, the air jet device 3 and the dust suction port 4 from top to bottom, and the plurality of air jet devices 3 are arranged in a wave shape.

[0019] Preferably, the mechanical arm comprises a base 7, a first mechanical arm 8, a second mechanical arm 9 and a third mechanical arm 10 which are sequentially hinged, a rotating head 11 is arranged at the front end of the third mechanical arm 10, and the rotating head 11 is connected with the cleaning box 1.

[0020] The surface and both sides of the cleaning box 1 are provided with a laser scanning probe 12, a pressure sensor 13 is arranged in the middle of the rolling brush 2, and an encoder 14 is arranged in the middle of the cleaning box 1.

[0021] Preferably, the laser scanning probe 12, the pressure sensor 13, the encoder 14, the rolling brush 2, the air jet device 3 and the mechanical arm are electrically connected with the controller in the moving trolley 5.

[0022] As shown in the accompanying drawings, Figure 3 a control method of a sedimentation tank self-adaptive cleaning device based on three-dimensional contour recognition, comprising the following steps Step one, place the moving trolley in the area to be cleaned, and adjust the mechanical arm; Step two, system self-checking, check whether each device is normal, and calibrate the sensor zero point; Step three, parameter setting, select the cleaning area, match the working environment, set the measurement parameters of the contour measurement system, and set the cleaning pressure; Step four, three-dimensional scanning, the moving trolley moves at a speed of 0.1 m / s, the laser scanner plans the scanning path according to the cleaning area selected in step three, and stores the starting, process and end point coordinate parameters, at the same time, the laser scanner collects point cloud data in real time and generates a three-dimensional model of the pool wall; Step five, path planning, generate a cleaning path based on B-spline algorithm, plan an S-shaped trajectory and set the trajectory moving speed; Step six, start the rolling brush 2 and the air jet device 3 to clean, and start the dust collection device to recycle the washed impurities, the rolling brush 2 adjusts the distance between the rolling brush 2 and the cleaning surface in real time according to the value of the pressure sensor 13, and the cleaning device cleans according to the trajectory and motion speed planned in step five.

[0023] Preferably, step five is specifically as follows I. Path planning (1) Three-dimensional point cloud processing Through the laser scanner, three-dimensional point cloud data of the sedimentation tank wall is obtained, denoted as Each point contains coordinates, data acquisition is carried out, and the parameters of each point are calculated by using the chord length parameterization method : ; Wherein represents the straight line distance between adjacent points; (2) B-spline curve generation The calculated is solved by least square method : ; Generating p-order B-spline curve equation according to control points: ; Wherein the base function Through recursive calculation: ; ; (3) S-shaped trajectory superimposed on B-spline curve superimposed lateral swing: ; Wherein: The pool wall width, The swing frequency (recommended 0.5-1.5 Hz), The unit normal vector of the curve at u; II. Speed planning method (1) Curvature adaptive speed calculation of the maximum allowable speed of each point on the path: ; The curvature The calculation formula is: ; (2) S-shaped speed curve uses a 7-segment speed curve to achieve smooth acceleration and deceleration: Acceleration segment ( ): ; Uniform acceleration segment ( ): ; Deceleration segment ( ): ; Key parameter relationship: ; Wherein: v(t) is the real-time speed of the cleaning device, v0 is the initial speed of the cleaning device, vmax is the maximum allowable speed of the cleaning device, j is the jerk of the cleaning device, t is the time accumulation of the cleaning device, tj is the jerk time of the cleaning device, ta is the uniform acceleration time of the cleaning device, td is the deceleration time of the cleaning device, T is the total movement time of the cleaning device, and a is the maximum acceleration of the cleaning device.

[0024] Preferably, the cleaning pressure is adjusted in real time according to Δh Brush pressure F F = { Fbase-kp×ΔhΔh>0 (convex) Fbase+kp×∣Δh∣Δh<0 (concave)} Fbase=50N (reference pressure), kp=0.2 N / mm Wherein: F is the real-time brush pressure of the cleaning brush head, Fbase is the reference pressure of the cleaning brush head (recommended 50N), kp is the pressure compensation coefficient of the cleaning brush head (recommended 0.2 N / mm), and Δh is the real-time height deviation of the cleaning brush head (unit: mm).

[0025] Preferably, it also includes Step seven, determine the cleaning effect, if the detection result shows that there is still moss on the pool wall or tank wall surface, the system re-executes from step six until the cleaning effect meets the set requirements; if the detection result shows that the pool wall / tank wall surface meets the cleaning requirements, step eight is entered; Step eight, after the cleaning is completed, the cleaning device is removed; Step nine, data uploading, save the cleaning parameters (pressure, speed, energy consumption), generate a work report, and upload it to the cloud database.

[0026] The application uses a laser scanner and a pressure sensor to cooperate with a double-track hydraulic sliding system to move the equipment along the x and y axes, uses an air jet device and a rolling brush to clean the moss on the pool wall when moving to the pool wall, and combines the pressure sensor with the rolling brush to clean, the pressure sensor adjusts the x-axis movement through the pressure value F feedback, and after cleaning, a dust collection device is used to recycle the moss and impurities washed off.

[0027] The above-described embodiments are only preferred technical solutions of the application, and should not be regarded as limitations of the application, and the protection scope of the application should be based on the technical solutions recited in the claims, including equivalent replacement solutions of the technical features recited in the claims. That is, equivalent replacement improvements within this range are also within the protection scope of the application.

Claims

1. A sedimentation tank self-adaptive cleaning device based on three-dimensional profile recognition, characterized in that: The utility model relates to a cleaning box (1) for cleaning the inner wall of a sedimentation tank, a plurality of rolling brushes (2) and a plurality of air jet devices (3) arranged on the surface of the cleaning box (1), the cleaning box (1) being connected to a mechanical arm, and the mechanical arm being arranged on a moving trolley (5).

2. The self-adaptive cleaning device for sedimentation tank based on three-dimensional profile recognition according to claim 1, characterized in that: The surface of the cleaning box (1) is further provided with a dust suction port (4), a dust suction device is arranged in the cleaning box (1), and an air outlet (6) is arranged on the side of the cleaning box (1).

3. The self-adaptive cleaning device for sedimentation tank based on three-dimensional profile recognition according to claim 2, characterized in that: The surface of the cleaning box (1) is sequentially provided, from top to bottom, with the rolling brushes (2), the dust suction port (4), the air jet devices (3) and the dust suction port (4), and the plurality of air jet devices (3) are arranged in a wave shape.

4. The self-adaptive cleaning device for sedimentation tank based on three-dimensional profile recognition according to claim 3, characterized in that: The mechanical arm comprises a base (7), a first mechanical arm (8), a second mechanical arm (9) and a third mechanical arm (10) connected in sequence, a rotating head (11) is arranged at the front end of the third mechanical arm (10), and the rotating head (11) is connected to the cleaning box (1).

5. The self-adapting cleaning device for sedimentation tank based on three-dimensional profile recognition according to claim 4, characterized in that: The surface and both sides of the cleaning box (1) are provided with laser scanning probes (12), a pressure sensor (13) is arranged in the middle of the rolling brush (2), and an encoder (14) is arranged in the middle of the cleaning box (1).

6. The self-adapting cleaning device for sedimentation tank based on three-dimensional profile recognition according to claim 5, characterized in that: The laser scanning probes (12), the pressure sensor (13), the encoder (14), the rolling brushes (2), the air jet devices (3) and the mechanical arm are electrically connected to a controller in the moving trolley (5).

7. The control method of the sedimentation basin self-adaptive cleaning device based on three-dimensional profile recognition according to claim 6, characterized in that: The utility model relates to a cleaning box (1) for cleaning the inner wall of a sedimentation tank, a plurality of rolling brushes (2) and a plurality of air jet devices (3) arranged on the surface of the cleaning box (1), the cleaning box (1) being connected to a mechanical arm, and the mechanical arm being arranged on a moving trolley (5). The surface of the cleaning box (1) is further provided with a dust suction port (4), a dust suction device is arranged in the cleaning box (1), and an air outlet (6) is arranged on the side of the cleaning box (1). The surface of the cleaning box (1) is sequentially provided, from top to bottom, with the rolling brushes (2), the dust suction port (4), the air jet devices (3) and the dust suction port (4), and the plurality of air jet devices (3) are arranged in a wave shape. The mechanical arm comprises a base (7), a first mechanical arm (8), a second mechanical arm (9) and a third mechanical arm (10) connected in sequence, a rotating head (11) is arranged at the front end of the third mechanical arm (10), and the rotating head (11) is connected to the cleaning box (1). The surface and both sides of the cleaning box (1) are provided with laser scanning probes (12), a pressure sensor (13) is arranged in the middle of the rolling brush (2), and an encoder (14) is arranged in the middle of the cleaning box (1). The laser scanning probes (12), the pressure sensor (13), the encoder (14), the rolling brushes (2), the air jet devices (3) and the mechanical arm are electrically connected to a controller in the moving trolley (5). The utility model relates to a cleaning box (1) for cleaning the inner wall of a sedimentation tank, a plurality of rolling brushes (2) and a plurality of air jet devices (3) arranged on the surface of the cleaning box (1), the cleaning box (1) being connected to a mechanical arm, and the mechanical arm being arranged on a moving trolley (5).

8. The control method of the sedimentation basin self-adaptive cleaning device based on three-dimensional profile recognition according to claim 7, characterized in that: The surface of the cleaning box (1) is further provided with a dust suction port (4), a dust suction device is arranged in the cleaning box (1), and an air outlet (6) is arranged on the side of the cleaning box (1). The surface of the cleaning box (1) is sequentially provided, from top to bottom, with the rolling brushes (2), the dust suction port (4), the air jet devices (3) and the dust suction port (4), and the plurality of air jet devices (3) are arranged in a wave shape. The mechanical arm comprises a base (7), a first mechanical arm (8), a second mechanical arm (9) and a third mechanical arm (10) connected in sequence, a rotating head (11) is arranged at the front end of the third mechanical arm (10), and the rotating head (11) is connected to the cleaning box (1). The three-dimensional point cloud data of the sedimentation tank wall is acquired by a laser scanner, denoted as Each point contains coordinates, data acquisition is performed, and the parameter of each point is calculated by using a chord length parameterization method : ； wherein represents the straight-line distance between adjacent points; The surface and both sides of the cleaning box (1) are provided with laser scanning probes (12), a pressure sensor (13) is arranged in the middle of the rolling brush (2), and an encoder (14) is arranged in the middle of the cleaning box (1). The calculated Solving for control points by least squares : ; generating a p-order B-spline curve equation according to the control points; ; where the basis functions By recursive computation: ； ； The laser scanning probes (12), the pressure sensor (13), the encoder (14), the rolling brushes (2), the air jet devices (3) and the mechanical arm are electrically connected to a controller in the moving trolley (5). ； where: is the pool wall width, is the oscillation frequency (recommended 0.5-1.5 Hz), is the unit normal vector of the curve at u; The utility model relates to a cleaning box (1) for cleaning the inner wall of a sedimentation tank, a plurality of rolling brushes (2) and a plurality of air jet devices (3) arranged on the surface of the cleaning box (1), the cleaning box (1) being connected to a mechanical arm, and the mechanical arm being arranged on a moving trolley (5). The surface of the cleaning box (1) is further provided with a dust suction port (4), a dust suction device is arranged in the cleaning box (1), and an air outlet (6) is arranged on the side of the cleaning box (1). ; curvature of the formula: ； The surface of the cleaning box (1) is sequentially provided, from top to bottom, with the rolling brushes (2), the dust suction port (4), the air jet devices (3) and the dust suction port (4), and the plurality of air jet devices (3) are arranged in a wave shape. The mechanical arm comprises a base (7), a first mechanical arm (8), a second mechanical arm (9) and a third mechanical arm (10) connected in sequence, a rotating head (11) is arranged at the front end of the third mechanical arm (10), and the rotating head (11) is connected to the cleaning box (1). The surface and both sides of the cleaning box (1) are provided with laser scanning probes (12), a pressure sensor (13) is arranged in the middle of the rolling brush (2), and an encoder (14) is arranged in the middle of the cleaning box (1). The laser scanning probes (12), the pressure sensor (13), the encoder (14), the rolling brushes (2), the air jet devices (3) and the mechanical arm are electrically connected to a controller in the moving trolley (5). The utility model relates to a cleaning box (1) for cleaning the inner wall of a sedimentation tank, a plurality of rolling brushes (2) and a plurality of air jet devices (3) arranged on the surface of the cleaning box (1), the cleaning box (1) being connected to a mechanical arm, and the mechanical arm being arranged on a moving trolley (5). The surface of the cleaning box (1) is further provided with a dust suction port (4), a dust suction device is arranged in the cleaning box (1), and an air outlet (6) is arranged on the side of the cleaning box (1). The surface of the cleaning box (1) is sequentially provided, from top to bottom, with the rolling brushes (2), the dust suction port (4), the air jet devices (3) and the dust suction port (4), and the plurality of air jet devices (3) are arranged in a wave shape. The mechanical arm comprises a base (7), a first mechanical arm (8), a second mechanical arm (9) and a third mechanical arm (10) connected in sequence, a rotating head (11) is arranged at the front end of the third mechanical arm (10), and the rotating head (11) is connected to the cleaning box (1). The surface and both sides of the cleaning box (1) are provided with laser scanning probes (12), a pressure sensor (13) is arranged in the middle of the rolling brush (2), and an encoder (14) is arranged in the middle of the cleaning box (1). The laser scanning probes (12), the pressure sensor (13), the encoder (14), the rolling brushes (2), the air jet devices (3) and the mechanical arm are electrically connected to a controller in the moving trolley (5). The utility model relates to a cleaning box (1) for cleaning the inner wall of a sedimentation tank, a plurality of rolling brushes (2) and a plurality of air jet devices (3) arranged on the surface of the cleaning box (1), the cleaning box (1) being connected to a mechanical arm, and the mechanical arm being arranged on a moving trolley (5). The surface of the cleaning box (1) is further provided with a dust suction port (4), a dust suction device is arranged in the cleaning box (1), and an air outlet (6) is arranged on the side of the cleaning box (1). The surface of the cleaning box (1) is sequentially provided, from top to bottom, with the rolling brushes (2), the dust suction port (4), the air jet devices (3) and the dust suction port (4), and the plurality of air jet devices (3) are acceleration section : ； Uniformly accelerated segment ( ):​ ； deceleration segment (D) ): ; Key parameter relationships: ； Wherein: v(t) is the real-time speed of the cleaning device, v0 is the initial speed of the cleaning device, vmax is the maximum allowable speed of the cleaning device, j is the jerk of the cleaning device, t is the time accumulation of the cleaning device, tj is the jerk time of the cleaning device, ta is the uniform acceleration time of the cleaning device, td is the deceleration time of the cleaning device, T is the total movement time of the cleaning device, and a is the maximum acceleration of the cleaning device.

9. The control method of the sedimentation basin self-adaptive cleaning device based on three-dimensional profile recognition according to claim 7, characterized in that: The cleaning pressure is adjusted in real time according to Δh F = { Fbase-kp×ΔhΔh > 0 (convex) Fbase+kp×|Δh|Δh < 0 (concave)} Fbase=50N (reference pressure), kp=0.2 N / mm Wherein: F is the real-time brush pressure of the cleaning brush head, Fbase is the reference pressure of the cleaning brush head, kp is the pressure compensation coefficient of the cleaning brush head, and Δh is the real-time height deviation of the cleaning brush head.

10. The control method of the sedimentation basin self-adaptive cleaning device based on three-dimensional profile recognition according to claim 7, characterized in that: Further comprising Step seven, determine the cleaning effect, if the detection result shows that there is still moss on the surface of the pool wall or the tank wall, the system re-executes from step six until the cleaning effect meets the set requirements; if the detection result shows that the surface of the pool wall / tank wall meets the cleaning requirements, proceed to step eight; Step eight, cleaning is completed, and the cleaning device is removed; Step nine, data upload, save the cleaning parameters, generate a work report, and upload to the cloud database.

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