Multi-tank partition type dynamic cleaning system and adaptive control method thereof

Abstract

The application discloses a multi-water tank partition type dynamic cleaning system and a self-adaptive control method thereof, comprising at least two independent water storage tank chambers, each chamber being provided with a cleaning device comprising a liquid suction, a spraying and a dragging, a cross-chamber cooperative cleaning system being formed by connection of a transfer storage tank, a cleaning control system positioning a pollution mark point by using a water quality sensor, a visual camera and a pollution detection algorithm, a shortest cleaning path of the pollution point and a full-area coverage path being connected in series, and a dragging device being driven to realize accurate operation of the liquid suction / spraying device, a suction head of the liquid suction device being close to an inner wall to suck pollutants, the spraying device selecting circulating water or disinfectant for directional cleaning according to a pollution degree, and a water quality detection module automatically stopping operation and injecting water after cleaning reaches a standard, the device solving problems of water supply interruption, resource waste and rough cleaning in traditional single-water tank cleaning, realizing multi-chamber cooperative efficient cleaning, water resource recycling and intelligent control, and significantly improving cleaning efficiency and water quality safety guarantee.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of roof water tank cleaning, in particular to a multi-tank partition type dynamic cleaning system and an adaptive control method thereof. BACKGROUND

[0002] For the safety of drinking water, roof water tanks need to be cleaned regularly to remove sediments, algae, bacteria, microorganisms, and other pollutants such as insect eggs, to prevent water quality deterioration and avoid water-borne diseases. Currently, when cleaning the water tank regularly, the residents need to be notified in advance of the water stop time, cleaning arrangement, and reminded to store water. Then, the cleaning personnel wear professional work clothes and enter the water tank to perform disinfection and cleaning operations. The traditional cleaning method generally uses manual brushing or high-pressure water flushing, and the water tank is repeatedly and thoroughly flushed with clean water to remove dirt from the inner wall and corners of the water tank. The flushing water in the water tank is completely drained, and then disinfection is performed. After disinfection, the water is flushed and filled, and finally the water quality is detected.

[0003] The existing technology has the following main problems: first, the manual cleaning method has safety hazards, and the workers need to enter the closed water tank space for operation, which has risks such as oxygen deficiency and slipping; second, the cleaning effect depends entirely on the professional level of the workers, and the cleaning quality is uneven; third, manual cleaning requires a large number of personnel, usually 4-6 people to work together, including safety monitoring personnel, and the labor cost is high; finally, the existing cleaning method has low automation, and cannot realize the collaborative cleaning of multiple water tank rooms, especially in roof water tank systems with multiple independent water tank rooms, the traditional method needs to clean each water tank one by one, which is low in efficiency and difficult to ensure the consistency of cleaning each water tank. In addition, the existing technology lacks intelligent pollution monitoring and cleaning path planning capabilities, and cannot accurately locate the pollution area for targeted cleaning, resulting in waste of water resources and cleaning time. SUMMARY

[0004] The purpose of the present application is to provide a multi-tank partition type dynamic cleaning system and an adaptive control method thereof, which has the advantages of improving cleaning safety, automation level, and multi-tank collaborative cleaning efficiency.

[0005] In order to solve the above technical problems, the application is solved by the following technical scheme: a multi-water tank separation type dynamic cleaning system, comprising a roof water tank, the roof water tank is provided with at least two independent water storage tank chambers, and each water storage tank chamber is provided with a cleaning device; the cleaning device comprises a liquid suction device, a spraying device and a dragging device, the dragging device is used to drive the liquid suction device and the spraying device to move; the spraying device in any water storage tank chamber is connected with the liquid suction device of the adjacent water storage tank chamber; a cleaning control system is arranged, the cleaning control system comprises a pollution monitoring module and a dragging control module; the pollution monitoring module is used to monitor the pollution position in the water storage tank chamber and generate a pollution marking point; the dragging control module controls the dragging device to drive the liquid suction device and the spraying device to align with the pollution marking point; the roof water tank is further provided with a transfer storage tank, and the liquid suction device and the spraying device of all the water storage tank chambers are connected with the transfer storage tank; when any water storage tank chamber needs to be cleaned, the water storage tank chamber in a non-cleaning working state is used to suck water through the liquid suction device, and the water storage tank chamber in a cleaning working state is used to spray and clean through the spraying device; the water storage tank chamber in the non-cleaning working state is used to set the pollution marking point in the water storage tank chamber to be sucked through the liquid suction device, and the water storage tank chamber in the cleaning working state is used to set the pollution marking point in the water storage tank chamber to be sprayed and cleaned through the spraying device.

[0006] By adopting the above technical scheme, the water sucked by the liquid suction device from the water storage tank chamber in the non-cleaning working state is filtered through the filter screen, the filter screen can filter the pollutants such as sediments, algae, bacteria, microorganisms and insect eggs in the water, and the filtered water enters the water outlet area, which is used for the spraying device and is used for assisting the cleaning of the storage tank chamber in the non-cleaning working state;

[0007] The connection of the spraying device and the liquid suction device of other water storage tank chambers can be used to inject water into a certain water storage tank chamber, specifically, when a water storage tank chamber completes all cleaning, disinfection and secondary cleaning and the water quality inspection meets the standard, the water in other water storage tank chambers can be sucked into the water storage tank chamber which has completed the cleaning work through the connection of the spraying device and the liquid suction device of other water storage tank chambers, so as to transfer the water in other water storage tank chambers which have not been cleaned and disinfected, and facilitate the cleaning, disinfection and secondary cleaning of other water storage tank chambers;

[0008] By setting at least two independent water storage tank chambers and configuring a linkage cleaning device, a cross-chamber cooperative cleaning mechanism is constructed by using the transfer storage tank, and the functions of recycling sewage by the liquid suction device in the non-cleaning state water storage tank chamber and recycling cleaning liquid by the spraying device in the cleaning state water storage tank chamber are realized. The cooperation of the pollution monitoring module and the dragging control module enables the device to accurately locate the pollution mark point and drive the liquid suction / spraying device to work directionally, avoiding the problem of water supply interruption in the traditional single water tank cleaning, and significantly reducing the consumption of external water source through the cross-chamber recycling of water resources, thereby improving the continuity and water resource utilization efficiency of the cleaning operation.

[0009] The application further provides that the pollution monitoring module is provided with a water quality sensor arranged in the water storage tank chamber and a visual camera controlled by the dragging device to move, the pollution monitoring module is provided with a pollution detection algorithm, the water quality sensor is used to monitor the concentration of pollutants in the water storage tank chamber, the visual camera can capture the pollution condition of the inner wall of the water storage tank chamber, and the pollution detection algorithm module determines the pollution position and generates a pollution mark point according to the detection data of the water quality sensor and the visual camera.

[0010] By adopting the above technical scheme, the pollution monitoring module fuses the detection data of the water quality sensor and the visual camera, accurately locates the pollution position by the pollution detection algorithm, and generates a mark point, thereby changing the defect that the traditional device only relies on the water quality sensor to roughly judge the pollution degree. The visual camera moves with the dragging device to capture the inner wall pollution condition, combines with the water quality pollutant concentration data, realizes the visualization and quantitative analysis of the pollution area, provides a reliable basis for the accurate operation of the subsequent dragging control module, and improves the pertinence and intelligent level of the cleaning operation from the source.

[0011] The application further provides that the dragging device comprises a track arranged in the water storage tank chamber, a driving motor matched with the track, and a multi-angle adjusting mechanical arm controlled by the driving motor to move along the track, and the liquid suction device, the spraying device and the visual camera are all connected to the end of the multi-angle adjusting mechanical arm.

[0012] By adopting the above technical scheme, the dragging device adopts the structure of the track matched with the driving motor and the multi-angle adjusting mechanical arm, so that the liquid suction device, the spraying device and the visual camera can move flexibly in the three-dimensional space and cover the inner wall, the top and the bottom of the water storage tank chamber. The multi-angle adjusting function of the mechanical arm ensures that the cleaning assembly can adapt to complex inner wall structures such as corners and curved surfaces, avoids the cleaning blind area problem of the traditional fixed track device, and at the same time provides a stable moving shooting platform for the visual camera, ensuring the comprehensiveness and accuracy of the pollution monitoring data.

[0013] The application is further provided with: the cleaning control system further comprises a switching control module, which is used to switch the liquid suction device of different water storage tank chambers to be connected with the transfer storage tank;

[0014] When the pollution mark point of the water storage tank chamber in a non-cleaning working state is completely sucked by the liquid suction device, the switching control module switches to another water storage tank chamber in a non-cleaning working state;

[0015] When the pollution mark point of all the water storage tank chambers in a non-cleaning working state is completely sucked by the liquid suction device, the switching control module selects the water storage tank chamber in a non-cleaning working state according to a preset order or residual water volume to supply water to the transfer storage tank.

[0016] By using the above technical solution, the switching control module is provided to realize the intelligent switching of the liquid suction device of different water storage tank chambers and the transfer storage tank. When the pollution mark point of a certain water storage tank chamber in a non-cleaning working state is completely sucked by the liquid suction device, the system automatically switches to another water storage tank chamber to continue the work, thereby ensuring the orderly connection of the multi-chamber cleaning task. After all the water storage tank chambers in a non-cleaning working state are preliminarily cleaned, the water storage tank chamber is selected according to a preset order or residual water volume to supply water to the transfer storage tank, thereby avoiding the problem of cleaning interruption caused by insufficient water in the transfer storage tank, further optimizing the process control of multi-chamber collaborative cleaning, and improving the stability and automation level of the overall operation of the system.

[0017] The application is further provided with: the transfer storage tank is provided with a filter screen, which divides the transfer storage tank into a water inlet area and a water outlet area, the liquid suction device of all the water storage tank chambers is connected with the water inlet area, and the spraying device of all the water storage tank chambers is connected with the water outlet area;

[0018] The transfer storage tank is further provided with a disinfection storage tank, and a reversing valve is arranged between the disinfection storage tank and the spraying device of all the water storage tank chambers, which is used to drive the spraying device to communicate with the disinfection storage tank or the transfer storage tank;

[0019] When the water storage tank chamber for cleaning work needs to be disinfected, the reversing valve is used to drive the spraying device to communicate with the disinfection storage tank, and the disinfectant stored in the disinfection storage tank is used to disinfect the water storage tank chamber through the spraying device;

[0020] When clean water flushing work is performed, the reversing valve is used to drive the spraying device to communicate with the water outlet area of the transfer storage tank, and the water in the water outlet area is used to flush the water storage tank chamber through the spraying device.

[0021] By adopting the technical scheme, the filter screen in the transfer storage box divides the filter screen into a water inlet area and a water outlet area, so that the sewage recovered by the liquid suction device first enters the water inlet area for preliminary filtration to remove large-particle pollutants, and then the relatively clean circulating water is provided to the spraying device through the water outlet area. This design effectively prevents the secondary spread of pollutants in the cross-chamber circulation, ensures the water quality safety of the spraying cleaning liquid, reduces the processing load of the subsequent disinfection module, and improves the reliability and cleaning efficiency of the entire cleaning system. The configuration of the disinfection storage box and the reversing valve realizes flexible switching of the disinfection function and the clean water flushing function in the cleaning operation: when deep cleaning is required, the reversing valve is used to connect the spraying device and the disinfection storage box, and the disinfection liquid is used for sterilization treatment of the water storage box chamber; when regular flushing is required, the reversing valve is switched to the water outlet area of the transfer storage box, and the circulating water is used for flushing. This design takes into account the cleaning needs of different pollution levels, ensures water quality safety, avoids overuse of disinfectant, and improves the adaptability and environmental performance of the device.

[0022] The liquid suction device includes a liquid suction pump and a liquid suction pipe, one end of the liquid suction pipe is provided with a liquid suction head, and the liquid suction head can be close to the inner wall of the water storage box chamber to suck pollutants.

[0023] By adopting the technical scheme, the liquid suction head of the liquid suction device can be close to the inner wall of the water storage box chamber to suck pollutants, and the directional spraying function of the spraying device is used to realize accurate treatment of the inner wall pollution mark points. The configuration of the liquid suction pump and the spraying pump provides stable fluid power, the connecting pipe is connected to the disinfection storage box or the transfer storage box through the reversing valve, so that the device can flexibly select the cleaning medium according to the pollution degree, ensure the effective removal of stubborn stains, and avoid the problems of water resource waste and cleaning blind area caused by traditional extensive cleaning.

[0024] The path planning unit can generate pollution mark coordinates according to the pollution monitoring module, generate a first cleaning path through an ant colony algorithm, and the first cleaning path is a shortest path in a straight line or a combination of curves to connect all the pollution mark points.

[0025] The path planning unit also pre-stores a second cleaning path based on a three-dimensional model of the water storage box chamber, and the second cleaning path is a grid-shaped or spiral-shaped full-area coverage path covering the inner wall, top and bottom of the water storage box chamber.

[0026] The dragging control module controls the spraying device to complete the spraying cleaning operation of the pollution mark points of the water storage tank chamber in the first cleaning path, and after all the pollution mark points of the water storage tank chamber in the cleaning working state are removed, the spraying device is switched to the second cleaning path to clean the water storage tank chamber.

[0027] By adopting the above technical scheme, the path planning unit in the dragging control module generates the first cleaning path of the shortest path of the series pollution mark points through the ant colony algorithm, ensures that the spraying device completes the cleaning of the key pollution area with the highest efficiency, and the second cleaning path of the pre-stored grid or spiral full-area coverage path ensures that the water storage tank chamber is flushed without dead angle after the key pollution is removed. This layered cleaning strategy reduces the invalid motion loss and takes into account the cleaning thoroughness, and compared with the traditional random path or fixed path cleaning, the operation efficiency and cleaning quality are significantly improved.

[0028] The application further provides that when the switching control module determines that the pollution mark points of a water storage tank chamber in a non-cleaning working state are removed by the liquid suction device, the dragging control module controls the liquid suction device to complete the liquid suction operation of the remaining pollution mark points along the first cleaning path, and after all the pollution mark points of the water storage tank chamber are removed, the liquid suction device is switched to the second cleaning path.

[0029] When all the pollution mark points of the water storage tank chambers in the non-cleaning working state are cleaned, the switching control module randomly selects or selects in a preset order any water storage tank chamber in the non-cleaning working state, and controls the liquid suction device of the water storage tank chamber to perform full-area water suction along the second cleaning path to supplement the water amount of the transfer storage tank.

[0030] By adopting the above technical scheme, for the liquid suction operation of the water storage tank chamber in the non-cleaning state, after removing the pollution mark points of the current water storage tank chamber, the system is automatically switched to the full-area coverage path to perform water suction, and the water amount of the transfer storage tank is supplemented. This design makes the liquid suction device further play the full-area cleaning function after completing the precise pollution suction, avoids the problem of incomplete local cleaning caused by single pollution point cleaning, and through the orderly water amount supplement mechanism, ensures that the transfer storage tank always maintains stable water amount supply in the multi-chamber circulating cleaning, and improves the overall coordination and resource utilization of the system.

[0031] The application is further provided with: the cleaning control system further comprises a reinforcement learning module, the reinforcement learning module is configured with a pollution classification storage library, the reinforcement learning module is connected with a pollution monitoring module, receives data of pollution marking points and stores in the pollution classification storage library; the pollution monitoring module monitors the cleaning result of the pollution marking points by the liquid suction device and the spraying device, the reinforcement learning module marks the cleaning result of the pollution marking points as a cleanable type or a non-cleanable type, the pollution classification storage library classifies and stores the pollution marking points according to the cleanable type and the non-cleanable type, when subsequent cleaning operation is performed, the reinforcement learning module identifies the type of the subsequent pollution marking points according to the pollution classification storage library, and preferentially performs cleaning operation on the pollution marking points of the cleanable type.

[0032] By adopting the above technical scheme, the introduction of the reinforcement learning module can significantly improve the intelligent level and cleaning efficiency of the multi-water tank room roof tank cleaning device, the module classifies and stores the types of the pollution marking points by establishing a pollution classification storage library, realizes the preferential processing of the cleanable stains, makes the cleaning device complete more effective cleaning operation in the same time, at the same time, reduces the invalid processing of the non-cleanable stains, reduces the water consumption of the spraying device and the energy consumption of the liquid suction device, reduces the invalid action of the mechanical arm, prolongs the service life of the equipment, as the cleaning frequency increases, the stain identification accuracy of the system gradually improves, can automatically adapt to the changes of different water quality and different pollution types without manual recalibration. The reinforcement learning module can also optimize the cleaning strategy according to historical data, automatically adjust the cleaning parameters for specific types of cleanable stains, improve the single cleaning success rate, for the non-cleanable stains that repeatedly appear, the system will automatically mark and record the characteristics, when the frequency of the same type of stains is high, manual intervention is prompted to avoid invalid cleaning loop, in the multi-water tank room scene, the cleaning experience of one water tank room can be quickly migrated to other water tank rooms by the module, the time for the newly used water tank room to reach stable cleaning efficiency is shortened, through the continuous self-learning mechanism, the cleaning device can form a positive cycle of experience accumulation, strategy optimization and efficiency improvement, which is especially suitable for long-term running roof tank cleaning scene, while ensuring the cleaning quality, the operation cost is maximized.

[0033] The application is further provided with: the control method comprises:

[0034] The initialization step: the pollution monitoring module comprehensively monitors each water tank room, generates initial pollution marking points, and the reinforcement learning module records the image features of each pollution marking point and stores them;

[0035] The cleaning operation starting step: the cleaning control system allocates cleaning working state and non-cleaning working state according to the state of the water tank room;

[0036] The recognition classification step: the reinforcement learning module analyzes the current pollution mark point, compares with the data in the stain classification storage library, and quickly identifies the cleanable type and the non-cleanable type of the pollution mark point;

[0037] The path optimization planning step: the path planning unit of the dragging control module combines the classification result of the reinforcement learning module to preferentially plan a first cleaning path passing through the cleanable type pollution mark point;

[0038] The cleaning operation execution step: the water storage tank chamber in the cleaning working state preferentially sprays and cleans the cleanable type pollution mark point along the first cleaning path through the spraying device; the water storage tank chamber in the non-cleaning working state preferentially absorbs and cleans the cleanable type pollution mark point through the liquid suction device;

[0039] The full-area cleaning step: after all the cleanable type pollution mark points are cleaned, the dragging control module switches to a second cleaning path to perform full-area cleaning, and a special cleaning mode is adopted for the non-cleanable type pollution mark point, wherein the special cleaning mode includes pressurizing the spraying device or the liquid suction device;

[0040] The feedback learning step: after cleaning is completed, the pollution monitoring module detects the cleaning effect and feeds back to the reinforcement learning module, and the reinforcement learning module updates the stain type mark according to the detection result: the mark of successful cleaning is the cleanable type, and the mark of unsuccessful cleaning is the non-cleanable type;

[0041] The state circulation step: when a water storage tank chamber is cleaned, the switching control module switches the working state of the water storage tank chamber, and the recognition classification step, the path optimization planning step, the cleaning operation execution step, the full-area cleaning step and the feedback learning step are repeatedly performed in sequence until all the water storage tank chambers are cleaned up to standard.

[0042] The multi-water tank separated dynamic cleaning system and the self-adaptive control method thereof have the following technical effects: the multi-water tank separated dynamic cleaning system and the self-adaptive control method thereof provided by the application realize automatic cleaning by configuring multiple independent water storage tank chambers, cleaning devices and transfer storage tanks, combining pollution monitoring and dragging control systems, solve the problems of high safety hidden danger, low efficiency and difficulty in multi-water tank collaborative cleaning in manual cleaning, and have the advantages of improving cleaning safety, automation degree and multi-water tank collaborative cleaning efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a schematic view of the external structure of a roof water tank;

[0044] Figure 2 is a schematic view of the structure of a multi-water tank separated dynamic cleaning system;

[0045] Figure 3is a multi-water tank partition type reinforcement learning dynamic cleaning control method step schematic diagram.

[0046] The part names referred to by the respective reference numerals in the above drawings are as follows: 1, water storage tank chamber; 2, transfer storage tank. DETAILED DESCRIPTION

[0047] The application will be further described in detail below in combination with the drawings and examples.

[0048] Embodiment:

[0049] Roof water tank cleaning operation needs manual operation in a closed space, which has safety hazards such as hypoxia and slipping, and the cleaning quality depends on the technical level of personnel. Multiple water storage tank chambers need to be cleaned one by one, resulting in low efficiency, lack of intelligent pollution positioning and collaborative cleaning mechanism, and waste of water resources and time. Taking a high-rise building roof with three independent water storage tanks as an example, traditional cleaning needs to be processed one by one after water stop and emptying, and the cleaning period is as long as several hours, and the distribution of pollutants cannot be monitored in real time. How to realize collaborative cleaning of multiple water storage tank chambers becomes the key. First, the safety risk of manual operation needs to be solved, and an automatic cleaning device needs to be considered to replace personnel entering; second, the cleaning efficiency of multiple water tanks needs to be improved, and an auxiliary liquid suction function of non-cleaning state water tank needs to be designed; finally, the pollution area needs to be accurately positioned, and the pollution points are marked by the monitoring module and the cleaning device is controlled to process directionally. Based on this, the water storage tank chamber is divided into working and non-working states, the working state water tank executes spray cleaning, and the non-working state water tank synchronously sucks liquid, and the liquid circulation is realized through the transfer storage tank, forming a dynamic cleaning mechanism.

[0050] The present application proposes a multi-water tank partition type dynamic cleaning system. The roof water tank is configured with at least two independent water storage tank chambers. Each water storage tank chamber is provided with a cleaning device including a liquid suction device, a spray device, and a dragging device. The spray device and the liquid suction device of adjacent water storage tank chambers are connected. The cleaning control system includes a pollution monitoring module to generate pollution marking points, a dragging control module to drive the cleaning device to aim at the marking points, a transfer storage tank to connect the liquid suction and spray devices of all water storage tank chambers. The water storage tank chamber in the non-cleaning state processes the pollution marking points through the liquid suction device, and the water storage tank chamber in the cleaning state executes cleaning through the spray device. The water storage tank chamber refers to a tank structure with an independent water storage space, which can be specifically formed by stainless steel partitioning, used for storing domestic water and preventing cross contamination. The dragging device refers to a mechanism for driving the movement of the cleaning assembly, which can be specifically a mechanical arm with a track and a driving motor, realizing accurate positioning of the liquid suction head and the spray head in three-dimensional space. The pollution monitoring module refers to a device for detecting the distribution of pollutants, which can be specifically a combination of a water quality sensor array and a mobile vision camera, scanning the deposition of pollutants on the inner wall of the water tank in real time. The transfer storage tank refers to a liquid circulation transfer container, which can be specifically designed with a double-layer filter structure, realizing the recycling of filtered sewage for spray cleaning.

[0051] When the system is started, the pollution monitoring module scans the inner wall of each water storage tank chamber, detects the turbidity abnormal area through the water quality sensor, the visual camera shoots the pollution image and generates coordinate markers, after the pollution marker point coordinates are received by the dragging control module, the mechanical arm carrying the liquid suction head or the spray head moves to the target position, when the first water storage tank chamber enters the cleaning state, the spray device extracts filtered water from the transfer storage tank for high-pressure flushing, at the same time, the second water storage tank chamber is in a non-cleaning state, the liquid suction device extracts liquid from the transfer storage tank to form negative pressure to adsorb the pollutants in the tank chamber, during the cleaning process, the filter screen of the transfer storage tank isolates the suctioned pollutants in the water inlet area, and the filtered clean water is stored in the water outlet area for recycling by the spray device.

[0052] The traditional method needs to empty a single water tank for manual cleaning, and the present scheme realizes parallel operation of multiple water tanks through state switching, and the spray of the cleaning state water tank is synchronized with the liquid suction of the non-cleaning state water tank, which shortens the overall cleaning cycle by more than 50%, and the existing technology relies on manual experience to judge the pollution area, and the present scheme accurately marks the pollution points through sensors and visual systems, so that the cleaning device effectively covers more than 90% of the pollution area, reducing the invalid cleaning area.

[0053] The present application realizes collaborative cleaning operation of multiple water storage tank chambers, eliminates the safety risk of manual entry into a closed space, improves cleaning accuracy through pollution marker point positioning, realizes water resource recycling through the transfer storage tank, reduces water consumption by 40% while ensuring cleaning quality, and improves the overall working efficiency of the system by 60%.

[0054] The cleaning control system further includes a reinforcement learning module, the reinforcement learning module is configured with a pollution classification storage library, the reinforcement learning module is connected with the pollution monitoring module, receives data of the pollution marker points and stores them in the pollution classification storage library; the pollution monitoring module monitors the cleaning results of the pollution marker points by the liquid suction device and the spray device, the reinforcement learning module marks the cleaning results of the pollution marker points as washable type or non-washable type, the pollution classification storage library classifies and stores the pollution marker points according to the washable type and the non-washable type, when subsequent cleaning operation is performed, the reinforcement learning module identifies the type of subsequent pollution marker points according to the pollution classification storage library, and performs preferential cleaning operation on the pollution marker points of the washable type.

[0055] The reinforcement learning module refers to an intelligent control unit that dynamically optimizes the cleaning strategy through a machine learning algorithm. Specifically, it can be implemented using an algorithm model based on a deep neural network or Q-learning, which is used to adjust the classification rules and priorities according to historical cleaning data. The pollution classification repository refers to a database used to store the characteristics and classification results of pollution markers. Specifically, it can be implemented using a relational database or a time series database. By structuring the pollution type, location, and cleaning result data, it provides a basis for subsequent cleaning decisions. The cleanable type and the non-cleanable type refer to the binary classification of pollution markers based on actual cleaning effects. Specifically, it can be divided by setting a cleaning effect threshold, for example, defining the residual amount of pollutants after cleaning below the threshold as the cleanable type, and above the threshold as the non-cleanable type.

[0056] After detecting the pollution marker, the pollution monitoring module transmits the pollution location and image features to the reinforcement learning module. The reinforcement learning module compares historical data in the pollution classification repository to determine whether the current pollution marker belongs to the cleanable type or the non-cleanable type. For pollution markers of the cleanable type, the system prioritizes the cleaning of the liquid suction device or the spraying device. For pollution markers of the non-cleanable type, they are temporarily marked as pending. After each cleaning operation is completed, the pollution monitoring module re-detects the residual situation of the pollution marker, and the reinforcement learning module updates the classification label in the pollution classification repository based on the detection results. Through continuous iterative learning, the system gradually optimizes the accuracy of pollution classification, thereby improving the efficiency and success rate of subsequent cleaning operations.

[0057] Traditional cleaning systems lack intelligent classification capabilities for pollution types and cannot dynamically adjust cleaning strategies based on historical cleaning effects, resulting in repeated cleaning of ineffective areas or missing stubborn pollutants. This solution can automatically identify pollution types that can be efficiently removed and prioritize processing, while accumulating feature data for non-cleanable types to provide decision support for subsequent special cleaning methods.

[0058] This application can effectively distinguish the cleaning difficulty of different pollution types, prioritize processing of cleanable type pollution markers, and avoid ineffective cleaning operations on stubborn pollutants, thereby reducing water waste and equipment wear and tear. At the same time, by continuously learning and updating classification rules, the system can gradually improve the identification accuracy and cleaning efficiency of various pollutants, achieving a dynamically optimized intelligent cleaning process.

[0059] The cleaning control system further comprises a switching control module, which is used to switch the liquid suction device of different water storage tank chambers to be connected with the transfer storage tank; when the pollution mark point of a water storage tank chamber in a non-cleaning working state is completely sucked by the liquid suction device, the switching control module switches to another water storage tank chamber in a non-cleaning working state; when all the pollution mark points of the water storage tank chambers in the non-cleaning working state are sucked by the liquid suction device, the switching control module selects the water storage tank chamber in the non-cleaning working state according to a preset order or a residual water amount order to supply clean water to the transfer storage tank.

[0060] The switching control module is a switching device for switching the connection of pipelines through electromagnetic valves or electric three-way valves, which can be controlled by a PLC controller and an electromagnetic valve to dynamically adjust the connection relationship between the liquid suction device and different water storage tank chambers. The water storage tank chamber is an independent cavity formed by a partition in a roof tank, which can be formed by a stainless steel or food-grade plastic partition structure to realize independent water storage and synchronous cleaning of multiple water tanks. The liquid suction device is a negative pressure extraction equipment composed of a pump body, a pipeline and a liquid suction head, which can be realized by a self-priming centrifugal pump and a hose structure to transfer the contaminated liquid in the water storage tank chamber to the transfer storage tank. The transfer storage tank is a container for temporarily storing cleaning liquid, which can be a sealed tank with a double-layer filter structure to realize the recycling and dynamic allocation of cleaning liquid.

[0061] When the liquid suction operation of the pollution mark point of a water storage tank chamber in a non-cleaning working state is completed, the switching control module closes the liquid suction pipeline electromagnetic valve of the current water storage tank chamber and opens the liquid suction pipeline electromagnetic valve of the next target water storage tank chamber to realize the cross-tank operation switching of the liquid suction device. When all the water storage tank chambers in the non-cleaning working state complete the cleaning of the pollution mark point, the switching control module selects the water tank with a water amount higher than a preset threshold as the liquid source according to the residual water amount data of the water storage tank chambers, controls the liquid suction pipeline of the corresponding water storage tank chamber to be connected with the transfer storage tank to form a communication loop, and uses the liquid suction device to supplement clean water to the transfer storage tank.

[0062] The traditional multi-tank cleaning needs to be emptied one by one and the water supply is interrupted. However, the present scheme realizes continuous supply of clean water source by the dynamic switching mechanism of the non-cleaning water tank, and the cleaning operation and water supply operation can be run in parallel. The cleaning liquid supply in the prior art depends on the connection of external water source, while the present scheme realizes self-supply by using the internal water source of the water storage tank chamber, avoiding the stagnation of cleaning operation caused by the interruption of external water source.

[0063] The application realizes seamless connection of multiple water tank cleaning operations. During the cleaning process of a single water storage tank chamber, the remaining water storage tank chambers can still maintain normal water supply function. The cleaning liquid supply process is completed through internal water source circulation, reducing dependence on external water sources, ensuring continuous operation of the cleaning system, and improving the efficiency of pollution treatment through dynamic switching mechanism of the liquid suction device. The idle equipment after the completion of single water tank liquid suction operation is avoided, and efficient use of cleaning resources is realized.

[0064] The transfer storage tank is provided with a filter screen, which divides the transfer storage tank into a water inlet area and a water outlet area. The liquid suction devices of all water storage tank chambers are connected to the water inlet area, and the spraying devices of all water storage tank chambers are connected to the water outlet area. The transfer storage tank is also provided with a disinfection storage tank. The disinfection storage tank and the spraying devices of all water storage tank chambers are provided with a reversing valve. The reversing valve is used to drive the spraying devices to communicate with the disinfection storage tank or the transfer storage tank. When disinfection operation of the water storage tank chamber for cleaning operation is needed, the spraying device is driven to communicate with the disinfection storage tank through the reversing valve. The disinfectant stored in the disinfection storage tank performs disinfection operation on the water storage tank chamber through the spraying device. When cleaning operation is performed, the spraying device is driven to communicate with the water outlet area of the transfer storage tank through the reversing valve. The water in the water outlet area is used to flush the water storage tank chamber through the spraying device.

[0065] The filter screen is a physical barrier device with a microporous structure, which can be realized by using a stainless steel woven screen or a high molecular material filter membrane. Its function is to isolate the water inlet area containing pollutants from the purified water outlet area, realize solid-liquid separation, and the disinfection storage tank is a sealed container independent of the transfer storage tank, which can be a corrosion-resistant polyethylene container. It is used to store sodium hypochlorite solution or hydrogen peroxide disinfectant. Its function is to provide a disinfectant source for the spraying device. The reversing valve is a fluid control component with multi-channel switching function, which can be an electromagnetic three-way valve or a pneumatic butterfly valve. Its function is to change the liquid source path of the spraying device to realize rapid switching between disinfection mode and flushing mode.

[0066] During the cleaning operation, the non-working state water storage tank chamber uses the liquid suction device to suck the sewage containing sediments to the water inlet area of the transfer storage tank. After the filter screen intercepts large particle pollutants, the purified water enters the water outlet area for temporary storage. When the working state water storage tank chamber needs to be sprayed, the reversing valve connects the spraying device and the water outlet area to flush with filtered water. When disinfection is needed, the reversing valve switches to the disinfection storage tank to make the spraying head spray disinfectant to cover the inner wall of the tank. For example, in the scenario of algae pollution, the spraying device first sprays disinfectant along the preset path to kill microorganisms, and then switches to the water outlet area for secondary flushing to avoid residual disinfectant.

[0067] The traditional cleaning method needs to directly discharge sewage and re-inject clean water. The present application realizes the recycling of water resources, and the filtered clean water can be repeatedly used for flushing operation. The water consumption for single cleaning is reduced by more than 60%. The seamless switching of disinfection operation and flushing operation enables the cleaning and disinfection integration to be completed, avoiding the secondary pollution risk caused by the traditional step-by-step operation, and the cleaning efficiency is improved by about 35%.

[0068] The liquid suction device includes a liquid suction pump and a liquid suction pipe. One end of the liquid suction pipe is provided with a liquid suction head capable of being close to the inner wall of the water storage tank chamber to suck pollutants. The spraying device includes a spraying pump, a spraying head, and a connecting pipe. The connecting pipe of the spraying device is connected to the disinfection storage tank or the transfer storage tank through a reversing valve to clean the pollution mark points on the inner wall of the water storage tank chamber.

[0069] The liquid suction pump is a liquid transmission device that generates negative pressure through mechanical power. Specifically, a centrifugal pump or a diaphragm pump can be used to achieve this. Its function is to suck the pollutants attached to the inner wall of the water storage tank chamber into the liquid suction pipe through negative pressure. The liquid suction head is a contact type suction component with a flat or curved structure. Specifically, an adjustable angle silica gel suction nozzle can be used to achieve this. Its function is to improve the efficiency of pollutant suction by being close to the surface of the inner wall of the water storage tank chamber. The spraying pump is a liquid delivery device that generates positive pressure through mechanical power. Specifically, a high-pressure plunger pump can be used to achieve this. Its function is to provide enough flushing pressure for the spraying head. The spraying head is a liquid injection component with a multi-hole or rotating structure. Specifically, a fan-shaped nozzle or a rotating spray head can be used to achieve this. Its function is to cover the pollution mark points through multi-angle water flow injection. The reversing valve is a switching device that controls the flow direction of the liquid. Specifically, an electromagnetic valve or a pneumatic valve can be used to achieve this. Its function is to switch the connecting pipe of the spraying device to the disinfection storage tank or the transfer storage tank according to the cleaning requirements.

[0070] The liquid suction device is driven by the negative pressure generated by the liquid suction pump. The liquid suction head moves close to the inner wall of the water storage tank chamber to suck the pollutants attached to the wall into the transfer storage tank through the liquid suction pipe. The spraying device is driven by the pressure provided by the spraying pump to direct the flushing of the pollution mark points. When disinfection operation is needed, the reversing valve switches the connecting pipe of the spraying device to the disinfection storage tank, so that the disinfectant is sprayed to the inner wall of the water storage tank chamber through the spraying head. When clean water flushing is needed, the reversing valve is switched to the water outlet area of the transfer storage tank, and the filtered clean water is used for flushing. The liquid suction head and the spraying head move along the inner wall of the water storage tank chamber through the towing device to achieve the point removal of pollutants.

[0071] The traditional manual cleaning relies on a handheld tool for single-point cleaning, cannot realize the cooperation of liquid suction and spraying, and lacks special equipment for switching control of disinfectant and clean water. The scheme can automatically switch the disinfection mode according to the cleaning stage while maintaining continuous operation, avoiding the operation of frequent replacement of cleaning tools by manual operation.

[0072] The application realizes the automatic switching of directional removal of pollutants on the indoor wall of the water storage tank and disinfection operation, solves the problems of single tool and complicated disinfection process in the traditional cleaning method, improves the systematicness and continuity of the cleaning operation, and reduces the risk of secondary pollution caused by human operation errors.

[0073] The dragging control module includes a path planning unit, which can generate pollution marker coordinates according to the pollution monitoring module, generate a first cleaning path through an ant colony algorithm, and the first cleaning path is the shortest path of a straight line or a combination of curves to connect all pollution marker points. The path planning unit also pre-stores a second cleaning path based on the three-dimensional model of the water storage tank room, and the second cleaning path is a grid-shaped or spiral-shaped full-area coverage path covering the inner wall, top and bottom of the water storage tank room. The dragging control module controls the spraying device to complete the spraying and cleaning operation of the pollution marker points on the cleaning working state water storage tank along the first cleaning path, and after all the pollution marker points on the cleaning working state water storage tank are removed, the spraying device is switched to the second cleaning path to clean the water storage tank.

[0074] The ant colony algorithm refers to an optimization algorithm that simulates the foraging behavior of an ant colony. Specifically, a computer program can be used to simulate the process of ants finding the shortest path between pollution marker points, dynamically adjusting path selection through pheromone accumulation and volatilization mechanisms, and finally generating an optimal path that connects all pollution marker points. This algorithm can effectively reduce the moving time of the cleaning device and improve the positioning efficiency of the pollution points. The first cleaning path refers to a targeted cleaning route generated for the pollution marker points. Specifically, it can use a straight line or a combination of curves to connect all pollution marker points, cover all cleaning areas through the shortest path, avoid repeated movement and invalid cleaning actions. The second cleaning path refers to a full-coverage cleaning route preset based on the three-dimensional structure of the water storage tank room. Specifically, it can use a grid-shaped or spiral-shaped path to cover the inner wall, top and bottom of the water storage tank room, ensuring that the entire area is thoroughly cleaned after the pollution points are cleaned, eliminating the risk of potential pollution that is not monitored.

[0075] In the water storage tank chamber in the cleaning state, the path planning unit first calculates the shortest path connecting all the marked points according to the pollution marked point coordinates provided by the pollution monitoring module, and then controls the spraying device to spray and clean each pollution marked point along the path until all the marked points are cleaned. Subsequently, the system automatically switches to the second cleaning path stored in advance, and controls the spraying device to clean the inner wall, top and bottom of the water storage tank chamber according to the grid-shaped or spiral-shaped trajectory, so as to ensure that there is no dead angle cleaning. In this process, the water storage tank chamber in the non-cleaning state is cleaned by the liquid suction device, and the multiple water tanks are cooperated.

[0076] The traditional manual cleaning or single automatic cleaning system usually adopts fixed route or random path for operation, which cannot dynamically optimize the path according to the pollution point distribution, resulting in low cleaning efficiency and missing risk. The present application dynamically generates the shortest pollution point cleaning path by using the ant colony algorithm, and combines the pre-stored full coverage path, which not only realizes the accurate and rapid treatment of the pollution area, but also ensures the thoroughness of the overall cleaning, and significantly improves the cleaning efficiency and quality.

[0077] The present application solves the problems of resource waste and incomplete cleaning caused by the unintelligent cleaning path planning in the prior art, and realizes the dual goals of accurate positioning and cleaning of pollution points and efficient cleaning of the overall area by combining dynamic path optimization and full coverage path, while reducing the energy consumption and operation time of the equipment movement.

[0078] When the switching control module determines that the pollution marked points of a water storage tank chamber in the non-cleaning state have been cleaned by the liquid suction device, the dragging control module controls the liquid suction device to complete the liquid suction operation of the remaining pollution marked points along the first cleaning path. After all the pollution marked points of the water storage tank chamber are cleaned, the switching control module randomly selects or selects any water storage tank chamber in the non-cleaning state according to a preset order, and controls the liquid suction device of the water storage tank chamber to perform full-area water suction along the second cleaning path to supplement the water quantity of the transfer storage tank.

[0079] The first cleaning path refers to the shortest path of straight lines or curve combinations generated based on the pollution marked point coordinates, which can be generated by using the ant colony algorithm, and is used for quickly positioning and cleaning the pollution points. The second cleaning path refers to the grid-shaped or spiral-shaped full-area coverage path covering the inner wall, top and bottom of the water storage tank chamber, which can be pre-generated based on the three-dimensional model of the water storage tank chamber, and is used to ensure that there is no dead angle cleaning. The full-area water suction refers to the full-coverage water suction operation of the liquid suction device along the second cleaning path to the inner wall of the water storage tank chamber, which can be achieved by moving the liquid suction head along the predetermined trajectory through the multi-angle adjustment of the mechanical arm, and is used to supplement the water quantity of the transfer storage tank.

[0080] When the pollution marker point of a certain water storage tank chamber is preliminarily cleaned by the liquid suction device, the system automatically switches to the second cleaning path for deep cleaning, at this time the liquid suction head moves along the grid-shaped track to cover the inner wall of the water storage tank chamber to ensure that the residual pollutants are completely removed, and when all the non-working state water storage tank chambers complete the pollution point cleaning, the system automatically selects any water storage tank chamber to perform the full-area water suction operation, for example, the water storage tank chamber with more remaining water is preferentially selected, and the liquid suction device is used to transfer water to the transfer storage tank to realize the recycling of water resources.

[0081] The traditional cleaning system can only perform single-path fixed-point cleaning or simple circulating flushing, and cannot dynamically adjust the cleaning path according to the distribution of pollution points, and lacks a water replenishment mechanism after cleaning. The present application realizes the automatic connection of pollution point cleaning and full-area cleaning, automatically switches to the full cleaning stage after completing the target area cleaning, effectively prevents the residual pollutants, and replenishes the water through intelligent selection of the water storage tank chamber to ensure that the transfer storage tank has continuous water supply capacity, solving the problem of operation interruption caused by insufficient water in the traditional cleaning process.

[0082] The present application realizes the automatic connection of pollution point cleaning and full-area cleaning, automatically switches to the full cleaning stage after completing the target area cleaning, effectively prevents the residual pollutants, and replenishes the water through intelligent selection of the water storage tank chamber to ensure that the transfer storage tank has continuous water supply capacity, solving the problem of operation interruption caused by insufficient water in the traditional cleaning process.

[0083] The pollution monitoring module is configured with a water quality sensor arranged in the water storage tank chamber and a visual camera controlled by the dragging device to move. The pollution monitoring module is configured with a pollution detection algorithm. The water quality sensor is used to monitor the concentration of pollutants in the water storage tank chamber. The visual camera can capture the pollution condition of the inner wall of the water storage tank chamber. The pollution detection algorithm module determines the pollution position and performs pollution marker point according to the detection data of the water quality sensor and the visual camera.

[0084] The water quality sensor refers to a device for detecting the concentration of pollutants in the liquid in the water storage tank chamber, which can be realized by using an electric conductivity sensor, a turbidity sensor or a dissolved oxygen sensor. The pollution area is identified by monitoring the change of water quality parameters in real time. The visual camera refers to a movable image acquisition device, which can be realized by using a high-resolution camera combined with a fill light. The visual camera is driven by the dragging device to move along the inner wall of the water storage tank chamber and capture the surface pollution image. The pollution detection algorithm refers to a processing module that fuses sensor data and image data. Machine learning models or image recognition algorithms can be used to locate the pollution area. The coordinate information of the pollution marker point is generated by analyzing the abnormal water quality data and visual image features.

[0085] The water quality sensor collects the pollutant concentration data in the water storage tank in real time, and triggers the visual camera to start when the concentration exceeds the preset threshold. The dragging device drives the visual camera to move along the indoor wall of the water storage tank, and multi-angle shooting is performed on the suspected pollution area. The pollution detection algorithm jointly analyzes the sensor data and image data, for example, by comparing the normal water quality parameter range to determine the pollution type, and at the same time, the image recognition technology is used to identify the morphological characteristics of the attachments or sediments on the inner wall. When the algorithm determines that there is pollution, a pollution marker point containing coordinate information is generated, and the information is transmitted to the dragging control module to guide the liquid suction device or the spraying device to perform accurate cleaning.

[0086] The traditional manual cleaning relies on experience to judge the pollution position, and there is a detection blind area and the pollution degree cannot be quantified. However, the present scheme can realize automatic identification and accurate positioning of the pollution area through the cooperative monitoring of the water quality sensor and the visual camera, multi-dimensional analysis of the pollution data by the algorithm, and the avoidance of subjective errors in manual detection. In addition, the visual camera driven by the dragging device can cover the entire area of the water storage tank chamber, solving the problem that manual inspection cannot reach the corners.

[0087] The present application effectively improves the accuracy and efficiency of pollution detection, reduces repeated cleaning caused by missed detection, and provides reliable data support for subsequent cleaning path planning, ensuring that the cleaning device can perform directional work on the pollution marker point, reducing water resource waste and shortening the cleaning cycle.

[0088] The dragging device includes a track arranged in the water storage tank chamber, a driving motor cooperating with the track, and a multi-angle adjusting mechanical arm controlled by the driving motor to move along the track. The liquid suction device, the spraying device, and the visual camera are all connected to the end of the multi-angle adjusting mechanical arm. The track refers to a linear or ring-shaped guide structure arranged in the water storage tank chamber, which can be implemented by using an embedded slide rail made of stainless steel or corrosion-resistant alloy to provide a moving path for the driving motor. The driving motor refers to a power equipment cooperating with the track, which can be implemented by using a servo motor or a stepping motor cooperating with a gear transmission mechanism to control the movement of the mechanical arm along the track. The multi-angle adjusting mechanical arm refers to an adjustable device with a multi-joint structure, which can be implemented by using a three-axis or five-axis mechanical arm combined with a hydraulic drive system to adjust the spatial position and attitude of the end effector. The liquid suction device, the spraying device, and the visual camera are connected through the fixed interface installed at the end of the mechanical arm, forming an integrated operation unit.

[0089] The track is arranged along the top or side of the inner wall of the water storage tank, the driving motor is engaged with the track through a gear to realize directional movement, the base of the multi-angle adjusting mechanical arm is fixed on the bearing platform of the driving motor, the working angle of the end effector is adjusted through joint rotation and telescopic action, the visual camera captures the pollution image of the inner wall of the water storage tank in real time, the liquid suction head of the liquid suction device and the spray head of the spray device are accurately aligned with the pollution mark point under the driving of the mechanical arm, for example, when detecting the side wall pollution, the mechanical arm can be bent downward by 30 degrees to make the liquid suction head adhere to the wall surface; when finding the top stain, the mechanical arm can be stretched upward by 60 degrees to make the spray head vertically flush, the track can be arranged as a closed ring structure around the inner wall of the water storage tank, the driving motor is provided with an absolute value encoder to realize position closed loop control, the end effector mounting seat of the multi-angle adjusting mechanical arm is designed as a quick release structure, which is convenient for replacing the liquid suction head, the spray head or the visual camera module, a waterproof sealing ring is arranged at the joint of the mechanical arm to ensure stable operation in a humid environment.

[0090] The traditional manual cleaning relies on the staff to hold tools to enter the water tank for operation, and there are problems of limited operation angle and low equipment switching efficiency, the scheme realizes omnibearing coverage of the cleaning device through the cooperative control of the track and the mechanical arm, avoids the risk of personnel entering the closed space, and the integrated end effector combination can synchronously complete pollution detection, liquid suction and high-pressure flushing, and the operation continuity is improved compared with the traditional step-by-step operation.

[0091] The application effectively solves the problems of insufficient space coverage and low equipment cooperation efficiency of manual cleaning, the multi-degree-of-freedom motion characteristics of the mechanical arm enable the cleaning device to reach the top, side wall and corner area of the water tank, the linkage of the visual camera and the effector ensures accurate positioning and cleaning of the pollution mark point, the directional movement function of the track system cooperates with the flexible adjustment of the mechanical arm to form a three-dimensional space full-coverage cleaning operation mode, and the integrity and reliability of automatic cleaning are significantly improved.

[0092] The multi-tank partition type dynamic cleaning system further comprises a water quality detection module, which is used for detecting the water quality in the water storage tank after cleaning, and stopping the cleaning operation and filling water in the water storage tank when the water quality meets the standard. The water quality detection module refers to a device for monitoring the cleanliness of water in the water storage tank in real time, which can be realized by combining a dissolved oxygen sensor, a turbidity sensor and an electric conductivity sensor. Whether the water quality meets the preset standard is determined through multi-parameter joint analysis, wherein the standard determination refers to the process of comparing the data collected by the sensor with the preset threshold, and dynamic threshold adjustment can be realized by an embedded processor or a cloud computing platform to adapt to the water quality requirements of different water storage tanks. The water filling operation refers to the step of automatically restoring the water supply function of the water storage tank after the water quality meets the standard. The communication state between the external water source and the water storage tank can be controlled by an electromagnetic valve to realize the water filling process without manual operation.

[0093] After the cleaning operation is completed, the water quality detection module starts multi-dimensional detection of the residual water in the water storage tank chamber, for example, the turbidity sensor monitors the concentration of suspended particulate matter, the conductivity sensor detects the ion content, and the dissolved oxygen sensor evaluates the redox state of the water body. When all detection parameters are below the preset threshold, it is determined that the cleaning is up to standard, the system automatically closes the spraying device and triggers the water injection solenoid valve to inject clean water into the water storage tank chamber through the preset pipeline. If the detection data does not meet the standard, the local cleaning process is restarted until the water quality requirements are met.

[0094] The traditional manual cleaning is only judged by visual inspection or sampling inspection, which has strong subjectivity and detection lag. The present scheme integrates multiple types of sensors to build a closed-loop detection system, which can obtain water quality data in real time during the cleaning process, avoid the safety risks of manual detection, accurately control the termination time of the cleaning operation, and prevent water resource waste caused by excessive cleaning. The present application realizes the quantifiable evaluation and automatic control of the cleaning effect, effectively solves the problem that the water quality determination in the traditional method depends on manual experience, and ensures that each water storage tank chamber can meet the unified water quality standard after completing the cleaning through the real-time data feedback mechanism. The automatic water injection process reduces the manual intervention link and improves the overall system operation efficiency.

[0095] The adaptive control method for multi-water tank separation type reinforcement learning dynamic cleaning includes:

[0096] Initialization step: the pollution monitoring module comprehensively monitors each water storage tank chamber to generate initial pollution marker points, and the reinforcement learning module records the image features of each pollution marker point and stores them;

[0097] Cleaning operation starting step: the cleaning control system distributes cleaning working states and non-cleaning working states according to the state of the water storage tank chamber;

[0098] Recognition and classification step: the reinforcement learning module analyzes the current pollution marker points and compares them with the data in the stain classification storage library to quickly identify pollution marker points of cleanable types and non-cleanable types;

[0099] Path optimization planning step: the path planning unit of the dragging control module combines the classification results of the reinforcement learning module to preferentially plan a first cleaning path passing through the pollution marker points of the cleanable type;

[0100] Cleaning operation execution step: the water storage tank chamber in the cleaning working state preferentially sprays and cleans the pollution marker points of the cleanable type along the first cleaning path through the spraying device; the water storage tank chamber in the non-cleaning working state preferentially absorbs and cleans the pollution marker points of the cleanable type through the liquid suction device;

[0101] The whole area cleaning step: after all the cleanable type of pollution mark points are cleaned, the dragging control module switches to the second cleaning path to clean the whole area, and at the same time, a special cleaning method is used for the uncleanable type of pollution mark points, the special cleaning method includes using a pressurized way for the spraying device or the liquid suction device and using a reciprocating friction way for the cleaning cloth installed on the dragging device;

[0102] The feedback learning step: after the cleaning is completed, the pollution monitoring module detects the cleaning effect and feeds back to the reinforcement learning module, and the reinforcement learning module updates the stain type mark according to the detection result: the mark of successful cleaning is the cleanable type, and the mark of unsuccessful cleaning is the uncleanable type;

[0103] The state cycle step: after the cleaning of a water tank chamber is completed, the switching control module switches the working state of the water tank chamber, and the identification and classification step, the path optimization planning step, the cleaning operation execution step, the whole area cleaning step and the feedback learning step are repeated in turn until the cleaning of all the water tank chambers reaches the standard.

Claims

1. A multi-tank compartmentalized dynamic cleaning system, characterized in that: The system includes a rooftop water tank, which is equipped with at least two independent water storage chambers. Each water storage chamber is equipped with a cleaning device. The cleaning device includes a liquid suction device, a spraying device, and a towing device. The towing device is used to drive the liquid suction device and the spraying device to move. The spraying device in any water storage chamber is connected to the liquid suction device in the adjacent water storage chamber. A cleaning control system is provided, which includes a pollution monitoring module and a towing control module. The pollution monitoring module is used to monitor pollution points inside the water storage tank and generate pollution markers. The towing control module controls the towing device to drive the liquid suction device and the spraying device to aim at the contaminated marker point; The rooftop water tank is also equipped with a transfer storage tank, and all the liquid suction devices and spraying devices of the water storage tanks are connected to the transfer storage tank. When any of the water storage tanks needs to be cleaned, the water storage tank in the non-cleaning state is cleaned by the liquid suction device, and the water storage tank in the cleaning state is cleaned by the spray device. The water storage tank in the non-cleaning state is cleaned by the liquid suction device to remove the contamination markers, and the water storage tank in the cleaning state is cleaned by the spray device to remove the contamination markers.

2. The multiple tank compartment dynamic cleaning system of claim 1, wherein: The pollution monitoring module is equipped with a water quality sensor installed inside the water storage tank and a vision camera controlled by a towing device. The pollution monitoring module is also equipped with a pollution detection algorithm. The water quality sensor is used to monitor the concentration of pollutants inside the water storage tank. The vision camera can capture images of the pollution on the inner wall of the water storage tank. The pollution detection algorithm determines the pollution location and marks the pollution based on the detection data from the water quality sensor and the vision camera.

3. The multi-tank compartmentalized dynamic cleaning system of claim 2, wherein: The towing device includes a track installed in the water storage tank, a drive motor that cooperates with the track, and a multi-angle adjustable robotic arm controlled by the drive motor to move along the track. The liquid suction device, spraying device, and vision camera are all connected to the end of the multi-angle adjustable robotic arm.

4. The multiple-tank compartmentalized dynamic cleaning system of claim 1, wherein: The cleaning control system also includes a switching control module, which is used to switch the connection between the liquid suction device of different water storage tanks and the transfer storage tank. Once the contamination markers in a water storage tank that is not in a cleaning working state are cleaned by the liquid suction device, the switching control module switches to another water storage tank that is not in a cleaning working state. After all the contamination markers in the water storage tanks that are not in cleaning operation state have been absorbed by the liquid suction device, the switching control module selects the water storage tanks that are not in cleaning operation state according to a preset order or the remaining water volume to replenish the intermediate storage tank.

5. The multi-tank partitioned dynamic cleaning system according to claim 4, characterized in that: The transit storage box is equipped with a filter screen, which divides the transit storage box into an inlet area and an outlet area. The liquid suction device of all the water storage tanks is connected to the inlet area, and the spray device of all the water storage tanks is connected to the outlet area. The transit storage box is also equipped with a disinfection storage box. The disinfection storage box and all the spray devices in the water storage tanks are equipped with reversing valves. The reversing valves are used to drive the spray devices to connect with the disinfection storage box or the transit storage box. When it is necessary to disinfect the water storage tank for cleaning, the reversing valve drives the spray device to connect with the disinfection storage tank, and the disinfectant stored in the disinfection storage tank disinfects the water storage tank through the spray device. When performing a clean water rinsing operation, the reversing valve drives the spray device to connect with the water outlet area of ​​the transfer storage tank, and the water in the water outlet area rinses the water storage tank through the spray device.

6. The multi-tank partitioned dynamic cleaning system according to claim 5, characterized in that: The liquid suction device includes a liquid suction pump and a liquid suction tube. One end of the liquid suction tube is provided with a liquid suction head, which can be close to the inner wall of the water storage tank to suck up pollutants. The spray device includes a spray pump, a spray head, and a connecting pipe. The connecting pipe of the spray device is connected to a disinfection storage tank or a transfer storage tank through a reversing valve to clean the contamination markings on the inner wall of the water storage tank.

7. The multi-tank partitioned dynamic cleaning system according to claim 4, characterized in that: The dragging control module includes a path planning unit. The path planning unit can generate pollution marker coordinates based on the pollution monitoring module and generate a first cleaning path through an ant colony algorithm. The first cleaning path is the shortest path of a combination of straight lines or curves to connect all pollution marker points. The path planning unit also pre-stores a second cleaning path based on the three-dimensional model of the water storage tank. The second cleaning path is a grid-like or spiral-like full-area coverage path that covers the inner wall, top and bottom of the water storage tank. The towing control module controls the spraying device to spray and clean the contaminated markers in the water storage tank along the first cleaning path. After all the contaminated markers in the water storage tank are removed, the spraying device is then controlled to switch to the second cleaning path to perform full-coverage cleaning of the water storage tank.

8. The multi-tank partitioned dynamic cleaning system according to claim 7, characterized in that: When the switching control module determines that the contamination markers in a water tank in a non-cleaning working state have been removed by the liquid suction device, the dragging control module controls the liquid suction device to complete the liquid suction operation of the remaining contamination markers along the first cleaning path. After all the contamination markers in the water tank are removed, the liquid suction device is then controlled to switch to the second cleaning path. After all the contamination markers in the non-cleaning water storage tanks have been cleaned, the switching control module randomly selects or selects any non-cleaning water storage tank in a preset order, and controls the liquid suction device of that water storage tank to perform full-area water suction along the second cleaning path to replenish the water volume of the transfer storage tank.

9. The multi-tank partitioned dynamic cleaning system according to claim 1, characterized in that: The cleaning control system also includes a reinforcement learning module, which is equipped with a pollution classification repository. The reinforcement learning module is connected to the pollution monitoring module, receives data from pollution markers, and stores it in the pollution classification repository. The pollution monitoring module monitors the cleaning results of the pollution markers based on the liquid suction device and the spraying device. The reinforcement learning module labels the pollution markers as washable or non-washable based on the cleaning results. The pollution classification repository stores the pollution markers according to washable and non-washable types. When subsequent cleaning operations are performed, the reinforcement learning module identifies the type of subsequent pollution markers based on the stain classification repository and prioritizes cleaning the washable pollution markers.

10. An adaptive control method for multi-tank partitioned reinforcement learning dynamic cleaning, providing a multi-tank partitioned dynamic cleaning system as described in any one of claims 1-9, characterized in that, The control method includes: Initialization steps: The pollution monitoring module conducts comprehensive monitoring of each water storage tank, generates initial pollution markers, and the reinforcement learning module records and stores the image features of each pollution marker. Cleaning operation start-up steps: The cleaning control system allocates cleaning and non-cleaning working states according to the status of the water storage tank. Identification and classification steps: The reinforcement learning module analyzes the current pollution markers and compares them with the data in the stain classification repository to quickly identify cleanable and non-cleanable pollution markers; Path optimization planning steps: The path planning unit of the drag control module combines the classification results of the reinforcement learning module to prioritize the planning of the first cleaning path that passes through the cleanable type of contamination markers; Cleaning operation steps: When the water tank is in the cleaning working state, the cleaning-type contamination markers are preferentially sprayed and cleaned along the first cleaning path by the spray device; when the water tank is not in the cleaning working state, the cleaning-type contamination markers are preferentially suctioned and cleaned by the liquid suction device. Full-area cleaning steps: After all cleanable types of contamination markers have been cleaned, the drag control module switches to the second cleaning path to perform full-area coverage cleaning. At the same time, special cleaning methods are used for non-cleanable contamination markers, including pressurizing the spray device or liquid suction device. Feedback learning steps: After cleaning is completed, the pollution monitoring module detects the cleaning effect and provides feedback to the reinforcement learning module. The reinforcement learning module updates the stain type label based on the detection results: successfully cleaned stains are labeled as cleanable, and unsuccessfully cleaned stains are labeled as non-cleanable. State loop steps: After a water storage tank is cleaned, the control module switches the working state of the water storage tank, and repeats the identification and classification steps, path optimization and planning steps, cleaning operation execution steps, full area cleaning steps, and feedback learning steps in sequence until all water storage tanks are cleaned to the standard.

Images