Ice particle abrasive jet generating system

Abstract

The ice particle abrasive jet generation system comprises an ice particle preparation device, a high-pressure water jet device and an ice particle abrasive jet control device, the ice particle preparation device comprises an ice particle preparation cavity, a liquid nitrogen ejector and a dyeing water ejector, and the ice particle abrasive jet control device comprises a dynamic monitoring cavity, a camera, a PTU controller and an interaction platform. The ice particle preparation device and the high-pressure water jet device convey ice particles and high-pressure jet water into the dynamic monitoring cavity respectively, the ice particles and the high-pressure jet water can be post-mixed to form ice particle abrasive jet water for deep-sea mining, the ice particles serve as abrasives to avoid seawater pollution, and in addition, after image data are collected through a camera, the image data can be stored in the dynamic monitoring cavity. An optimized YoLo v11 algorithm is introduced to dynamically monitor automatic target detection and capture of ice particles in abrasive jet in a cavity, flow and pressure of a liquid nitrogen ejector and a dyeing water ejector are fed back and adjusted according to development of the abrasive jet and the evolution process of the ice particles, and accurate control over the ice particle abrasive jet is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mining equipment, in particular to an ice particle abrasive jet flow generation system. BACKGROUND

[0002] In the process of deep-sea mining operation, polymetallic nodule collection, sediment disturbance and plume deposition, as well as plume waste discharge, not only cause damage to the seabed topography, but also have adverse effects on the entire marine water body and seabed biological habitat environment. As a core component, the mining mechanism directly contacts the seabed, determining the mineral collection efficiency and sediment disturbance degree. The commonly used mining mechanisms at present are mechanical, hydraulic and hydraulic-mechanical composite types. For example, a deep-sea mining head device is provided in the Chinese patent application file with the patent application number CN202411209690.1; a magnetic flocculation device for deep-sea mining tail water discharge plume treatment is provided in the Chinese patent application file with the patent application number CN202410996311.1. In the prior art, the deep-sea mining vehicle directly cuts and crushes the seabed stratum through the mechanical cutter or drill bit installed at the front end, which will cause rapid wear of the mechanical cutter. At the same time, the mining process will generate high heat, accelerating the wear of the mechanical cutter. Considering the deep-sea mining operation scene at the deep-sea seabed, the maintenance of the mining vehicle is difficult, which will seriously affect the mining efficiency, and even cause deformation or damage of the mechanical cutter, resulting in interruption of the mining operation.

[0003] Secondly, when the mechanical cutter of the deep-sea mining vehicle crushes the seabed stratum, a large amount of clay particles will be raised and diffused into the surrounding seawater, forming a so-called plume. The diffusion, suspension and backfall of the plume will seriously affect the visibility of the mining vehicle, causing movement obstruction, and will also interfere with deep-sea organisms and damage the seabed ecological environment. In addition, the water jet carried by the deep-sea mining vehicle in the prior art is a conventional high-pressure water jet. Due to the limitation of the deep-sea operation depth, a very large power consumption is required to overcome the effective damage of the deep-sea confining pressure to the seabed soil and rock stratum, resulting in very low mining efficiency of the polymetallic nodule by the mining vehicle under high energy consumption.

[0004] The abrasive jet often uses waste recycling as the abrasive, which can cause waste to flow into the seabed and cause marine pollution. To prevent marine pollution, some designs replace the conventional abrasive with ice abrasive. For example, the Chinese patent application No. CN112809556A provides a self-circulating ice particle abrasive jet breaking method and device, the Chinese patent No. CN201710519912.3 discloses a liquid nitrogen and ice particle abrasive jet method and its generating device, and other technologies, which all mention using ice particles as abrasives for abrasive jet mining. However, the above-mentioned technologies still have the following common problems: it is difficult to prepare ice particles, which can cause a large amount of resource loss during the preparation process; the particle size of the ice particles cannot be controlled, resulting in unstable ice particle abrasive jet impact force, unstable mining rock breaking efficiency, increased energy consumption, and complex ice particle group phase interaction mechanism in the submerged environment. The movement and speed distribution of ice particles in the seabed have not been accurately revealed, and the coupling effect of ice particles and sea currents needs to be explained, which can bring difficulties to the precise control of the seabed ice particle jet and cause a large amount of energy loss. SUMMARY

[0005] Therefore, the present application provides an ice particle abrasive jet generating system to solve the problems of low mining efficiency and insufficient environmental friendliness of the mining vehicle in the prior art.

[0006] The technical scheme of the present application is as follows: An ice particle abrasive jet generating system, comprising an ice particle preparation device, a high-pressure water jet device, and an ice particle abrasive jet control device. The ice particle preparation device comprises an ice particle preparation cavity, a liquid nitrogen injector, and a dye water injector. The liquid nitrogen injector is arranged at the top of the ice particle preparation cavity, and the dye water injector is symmetrically arranged on the inner side wall of the ice particle preparation cavity. The ice particle abrasive jet control device comprises a dynamic monitoring cavity, a camera, a PTU controller, and an interactive platform. The ice particles prepared in the ice particle preparation cavity and the jet water of the high-pressure water jet device are transported to the dynamic monitoring cavity. The camera is arranged on one side of the dynamic monitoring cavity and is data-connected with the interactive platform through the PTU controller. The interactive platform is loaded with an optimized YoLo v11 algorithm based on deep learning, which is used for automatic target detection and capture of ice particles in the abrasive jet in the dynamic monitoring cavity, and feedback adjustment of the flow and pressure of the liquid nitrogen injector and the dye water injector according to the development of the abrasive jet and the evolution process of the ice particles.

[0007] Preferably, the processing steps of the optimized YoLo v11 algorithm are as follows: The camera collects image data in the dynamic monitoring cavity, and the image data is transmitted to the interactive platform through the PTU controller. The interactive platform performs coordinate normalization and binarization on the image data, and imports the processed feature image into a YoLo v11 multi-scale feature aggregation model, and introduces an attention mechanism to capture ice particle size, distribution and speed as key parameters, and then exports the key parameters in the form of digital quantization driving.

[0008] Preferably, the attention mechanism is divided into channel attention and spatial attention. The expression of the channel attention output channel is:

[0009] The expression of the spatial attention output channel is:

[0010] wherein and are the attention output channel and the spatial attention output channel respectively, F is the feature image, is the activation function, is the multi-layer perception, is the global average pooling, is the global maximum pooling, is the convolution kernel.

[0011] Preferably, the expression of the multi-scale feature aggregation is:

[0012] wherein is the feature image, is the output channel, is the weight coefficient, is the sampling difference, is the ith feature image.

[0013] Preferably, the elevation angle of the dyeing water sprayer is set to 45°, and the liquid nitrogen sprayed by the liquid nitrogen sprayer and the dyeing water sprayed by the dyeing water sprayer perform convective heat exchange to make the dyeing water solidify into ice particles, wherein the heat exchange formula is:

[0014] wherein, the heat flow is h, the convective heat transfer coefficient; A is the heat transfer area; and are the temperatures of the dyeing water and the liquid nitrogen respectively, is the solidification rate, is the latent heat of solidification.

[0015] Preferably, the ice particle preparation device further comprises a filter screen, an ice particle tank, a recovery tank, a return pipe, an air compressor, an ice particle pneumatic conveying pipe and an ice particle nozzle, the filter screen is arranged on the bottom surface of the ice particle preparation cavity and is arranged in a conical shape, a drainage plate is arranged on the top of the filter screen, and a plurality of honeycomb through holes are arranged on the side wall of the filter screen, the recovery tank is arranged at the bottom of the ice particle preparation cavity and is in communication with the inside of the filter screen, the ice particle tank is arranged at the bottom of the ice particle preparation cavity and is in communication with the inside of the ice particle preparation cavity, the ice particle tank is arranged at the periphery of the recovery tank, the return pipe is connected to the bottom of the recovery tank and the dye water injector, the air compressor is connected to the bottom of the ice particle tank, one end of the ice particle pneumatic conveying pipe is connected to the air compressor, and the other end of the ice particle pneumatic conveying pipe is connected to the ice particle nozzle, and the ice particle nozzle is used to deliver the ice particles into the dynamic monitoring cavity.

[0016] Preferably, the ice particle abrasive jet control device further comprises a premixing cavity, a diffusion cavity, a high-pressure jet external interface and an ice particle interface, the premixing cavity and the diffusion cavity are arranged on the top of the dynamic monitoring cavity from top to bottom, the high-pressure jet external interface is arranged on the top of the premixing cavity, and the ice particle interface is arranged on the side wall of the premixing cavity and is connected to the ice particle nozzle.

[0017] Preferably, the high-pressure water jet device comprises a water storage tank, a high-pressure hose, a high-pressure pump, a high-pressure nozzle, a pressure sensor, a water valve, a water inlet and an external water pipe, one end of the external water pipe extends into the water storage tank, one end of the high-pressure hose extends into the water storage tank, and the other end of the high-pressure hose is connected to the high-pressure pump, one end of the high-pressure nozzle is connected to the high-pressure pump, and the other end of the high-pressure nozzle is connected to the high-pressure jet external interface, the pressure sensor is arranged on the high-pressure nozzle, the water valve is arranged on the high-pressure hose, and the water inlet is arranged in the water storage tank and is connected to the end of the high-pressure hose.

[0018] Preferably, the ice particle abrasive jet control device further comprises a water outlet and an embedded flow baffle, the embedded flow baffle is arranged in the dynamic monitoring cavity and divides the dynamic monitoring cavity into an outer overflow cavity and an inner recovery cavity, and the water outlet is arranged on the side wall of the dynamic monitoring cavity and is connected to the outer overflow cavity.

[0019] Preferably, the ice particle abrasive jet control device further comprises a PIV system, a LIF system and a transmission interface, and the PTU controller is connected to the interactive platform, the PIV system and the LIF system in data connection through the transmission interface.

[0020] Compared with the prior art, the ice particle abrasive jet control device has the following beneficial effects: 1. The ice particles with a particle size greater than 0.5 mm can be efficiently generated through convection heat exchange, and the ice particle abrasive jet can be generated through post-mixing, and the excellent impact performance of the ice particle abrasive jet can effectively crush different soil in a high confining pressure seabed environment, so that the polymetallic nodule can be efficiently and low-energy-consumption mined.

[0021] 2. The ice particle preparation device can recycle and utilize water, improve the environmental friendliness of the device, and mine seabed minerals in the form of ice particle abrasive jet. The ice particles are converted into water after impacting the seabed structure, and do not pollute the seabed.

[0022] 3. In addition, the deep learning target capture method is adopted, the attention mechanism is introduced to improve the accuracy of the dynamic monitoring system, the mixing degree of the ice particle preparation and the post-mixed ice particle abrasive can be dynamically adjusted in real time, and the precision control of the ice particle abrasive jet impact force is realized. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only preferred embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 The structure diagram of an ice particle abrasive jet generation system according to the present application; Figure 2 The structure diagram of an ice particle abrasive jet generation system according to the present application; Figure 3 The structure diagram of an ice particle abrasive jet generation system according to the present application; Figure 4 The structure diagram of an ice particle abrasive jet generation system according to the present application; Figure 5 The structure diagram of an ice particle abrasive jet generation system according to the present application; Figure 6 The dynamic target detection and capture flowchart of the YoLo v11 algorithm based on the attention mechanism optimization in the embodiment of the present application; Figure 7 The mixed diffusion velocity nephogram in the embodiment of the present application; Figure 8 The mixed heat exchange temperature nephogram in the embodiment of the present application; In the figure, 1, liquid nitrogen ejector; 2, ice particle preparation cavity; 3, filter screen; 4, dye water ejector; 5, ice particle tank; 6, return pipe; 7, recovery tank; 8, air compressor; 9, ice particle pneumatic conveying pipe; 10, ice particle nozzle; 11, high-pressure nozzle; 12, pressure sensor; 13, high-pressure pump; 14, water valve; 15, high-pressure hose; 16, water inlet; 17, water storage tank; 18, external water pipe; 19, PIV system; 20, LIF system; 21, water outlet; 22, built-in baffle; 23, premixing cavity; 24, diffusion cavity; 25, dynamic monitoring cavity; 26, camera; 27, PTU controller; 28, interactive platform; 29, high-pressure jet external interface; 30, ice particle interface; 31, transmission interface; 32, drainage plate; 33, honeycomb transparent hole; 34, hose interface; 35, stand column. DETAILED DESCRIPTION

[0025] In order to better understand the technical content of the present application, a specific embodiment is provided below, and the present application is further described in conjunction with the accompanying drawings.

[0026] Reference Figures 1 to 6 The ice particle abrasive jet generation system provided by the present application comprises an ice particle preparation device, a high-pressure water jet device, and an ice particle abrasive jet control device. The ice particle preparation device comprises an ice particle preparation cavity 2, a liquid nitrogen ejector 1, and a dye water ejector 4. The liquid nitrogen ejector 1 is arranged at the top of the ice particle preparation cavity 2, and the dye water ejector 4 is symmetrically arranged on the inner side wall of the ice particle preparation cavity 2. The ice particle abrasive jet control device comprises a dynamic monitoring cavity 25, a camera 26, a PTU controller 27, and an interactive platform 28. The ice particles prepared in the ice particle preparation cavity 2 and the jet water of the high-pressure water jet device are transported into the dynamic monitoring cavity 25. The camera 26 is arranged on one side of the dynamic monitoring cavity 25 and is data-connected with the interactive platform 28 through the PTU controller 27. The interactive platform 28 is internally loaded with an optimized YoLo v11 algorithm based on deep learning, which is used for automatic target detection and capture of ice particles in the abrasive jet in the dynamic monitoring cavity 25, and feedbacks and adjusts the flow and pressure of the liquid nitrogen ejector 1 and the dye water ejector 4 according to the development of the abrasive jet and the evolution process of the ice particles.

[0027] The ice particle abrasive jet generation system of the present application can be used to prepare ice particles, liquid nitrogen and dyeing water are sprayed into the ice particle preparation cavity 2 through the liquid nitrogen sprayer 1 and the dyeing water sprayer 4 respectively, the dyeing water can be rapidly frozen into ice particles after contacting with the liquid nitrogen, and then the ice particles can be transported into the dynamic monitoring cavity 25, at the same time, the high-pressure water jet device can transport high-pressure jet water into the dynamic monitoring cavity 25, the high-pressure jet water and the ice particles can be mixed in the dynamic monitoring cavity 25 to form ice particle abrasive jet, which has excellent impact performance and can effectively crush different soil in high confining pressure seabed environment, realizing efficient and low-energy consumption mining of polymetallic nodules, and since the abrasive is ice particles, it can be converted into water after impacting the seabed structure, without polluting the seabed.

[0028] Two cameras 26 are arranged on the side wall of the dynamic monitoring cavity 25, which can perform real-time dynamic monitoring on the dynamic monitoring cavity 25, the image data collected by the camera 26 can be transmitted to the interactive platform 28 after being enlarged, and the YoLo v11 algorithm based on deep learning and optimized is carried in the interactive platform 28, which can realize automatic target detection and capture of ice particles in the abrasive jet, and the flow and pressure of the liquid nitrogen sprayer 1 and the dyeing water sprayer 4 are adjusted according to the development of the abrasive jet and the evolution process of the ice particles, realizing feedback control of the ice particle abrasive jet, the accuracy of the dynamic monitoring system is improved by introducing the attention mechanism, the mixing degree of the ice particle preparation and the post-mixed ice particle abrasive can be adjusted in real time, and the impact force of the ice particle abrasive jet can be accurately controlled.

[0029] Preferably, the processing steps of the optimized YoLo v11 algorithm are as follows: The camera 26 collects image data in the dynamic monitoring cavity 25, and the image data is transmitted to the interactive platform 28 through the PTU controller 27; The interactive platform 28 performs coordinate normalization and binaryzation processing on the image data, and imports the processed feature image into the YoLo v11 multi-scale feature aggregation model, and introduces the attention mechanism to capture the ice particle size, distribution and speed as key parameters, and then exports the key parameters in the form of digital quantization driving.

[0030] The number of cameras 26 is two, which can perform real-time monitoring on the dynamic monitoring cavity 25, and the collected image data is transmitted to the interactive platform 28 through the PTU controller 27, the interactive platform 28 first performs preprocessing on the image data, including coordinate normalization and binaryzation, to ensure the uniformity of the image data, and the feature image can be obtained after preprocessing, the feature image is imported into the YoLo v11 multi-scale feature aggregation model to train the weight, and the target detection accuracy is improved by introducing the attention mechanism, the captured ice particle size, distribution and speed are taken as key parameters, and then exported in the form of data quantization driving.

[0031] Preferably, the attention mechanism is divided into channel attention and spatial attention: The expression of the channel attention output channel is:

[0032] The expression of the spatial attention output channel is:

[0033] Wherein and are the attention output channel and the spatial attention output channel respectively, F is a feature image, is an activation function, is a multi-layer perceptron, is a global average pooling, is a global maximum pooling, is a convolution kernel.

[0034] Preferably, the expression of the multi-scale feature aggregation is:

[0035] Wherein is a feature image, is an output channel, is a weight coefficient, is a sampling difference value, is the i-th feature image.

[0036] Preferably, the elevation angle of the dyeing water sprayer 4 is set to 45°, and the dyeing water sprayed by the dyeing water sprayer 4 and the liquid nitrogen sprayed by the liquid nitrogen sprayer 1 are in convection heat exchange, so that the dyeing water is frozen to form ice particles, wherein the heat exchange formula is:

[0037] Wherein, is the heat flow, h is the convection heat exchange coefficient, and A is the heat exchange area; and are the temperatures of the dyeing water and the liquid nitrogen respectively, is the freezing rate, is the latent heat of freezing.

[0038] The elevation angle of the dyeing water sprayer 4 is 45°, and in this setting, the liquid nitrogen and the dyeing water are fully mixed at 400mm of the ice particle preparation cavity 2, heat exchange is achieved through convection heat exchange, and the dyeing water is quickly frozen to form ice particles due to the loss of heat.

[0039] Preferably, the ice particle preparation device further comprises a filter screen 3, an ice particle tank 5, a recovery tank 7, a backflow pipe 6, an air compressor 8, an ice particle pneumatic conveying pipe 9 and an ice particle nozzle 10, the filter screen 3 is arranged on the bottom surface of the ice particle preparation cavity 2 and is conical, the top of the filter screen 3 is provided with a flow guide plate 32, the side wall of the filter screen 3 is provided with a plurality of honeycomb through holes 33, the recovery tank 7 is arranged at the bottom of the ice particle preparation cavity 2 and is in communication with the inside of the filter screen 3, the ice particle tank 5 is arranged at the bottom of the ice particle preparation cavity 2 and is in communication with the inside of the ice particle preparation cavity 2, the ice particle tank 5 is arranged outside the recovery tank 7, the backflow pipe 6 is connected to the bottom of the recovery tank 7 and the dyeing water injector 4, the air compressor 8 is connected to the bottom of the ice particle tank 5, one end of the ice particle pneumatic conveying pipe 9 is connected to the air compressor 8, and the other end is connected to the ice particle nozzle 10, and the ice particle nozzle 10 is used to deliver ice particles into the dynamic monitoring cavity 25.

[0040] The liquid nitrogen and the dyeing water exchange heat in the ice particle preparation cavity 2 and generate ice particles, and due to the uneven mixing degree, ice particles of different sizes are generated, so the filter screen 3 is arranged for screening, when the ice particles fall on the filter screen 3, the flow guide plate 32 of the filter screen 3 is used for flow guiding, the large-size ice particles flow downward along the flow guide plate 32 and the outer wall of the filter screen 3 and enter the ice particle tank 5, and the small-size ice particles pass through the honeycomb through holes 33 to complete the filtering, the honeycomb shape has higher filtering capacity and is used to screen out ice particles with a particle size less than 0.5 mm, so that the ice particles with too small particle size are prevented from melting during the conveying process, the ice particles that meet the requirements cannot pass through the filter screen 3 and enter the ice particle tank 5, and the ice particles that do not meet the requirements fall into the recovery tank 7, the particle size is accurately controlled by screening the ice particles, the ice particle maintenance time is increased, and the effective breaking capacity of the ice particle abrasive jet is improved, the ice particles in the recovery tank 7 melt into water and can be delivered to the dyeing water injector 4 through the backflow pipe 6 to realize the recycling of the dyeing water, and the ice particles meeting the size can be delivered into the dynamic monitoring cavity 25 through the ice particle pneumatic conveying pipe 9 and the ice particle nozzle 10 after being extracted from the ice particle tank 5 by the air compressor 8, so as to be mixed with the high-pressure jet water.

[0041] Preferably, the ice particle abrasive jet control device further comprises a premixing cavity 23, a diffusion cavity 24, a high-pressure jet external interface 29 and an ice particle interface 30, the premixing cavity 23 and the diffusion cavity 24 are arranged on the top of the dynamic monitoring cavity 25 from top to bottom, the high-pressure jet external interface 29 is arranged on the top of the premixing cavity 23, and the ice particle interface 30 is arranged on the side wall of the premixing cavity 23 and is connected to the ice particle nozzle 10.

[0042] The ice particles and the high-pressure jet water can be delivered into the premixing cavity 23 from the high-pressure jet external interface 29 and the ice particle interface 30 respectively for premixing, the ice particles are mixed and flow downstream by being entrained by the high-pressure water jet, the premixing cavity 23 is connected to the diffusion cavity 24, and the diffusion cavity 24 is arranged in a gradually expanding angle to realize the pre-diffusion of the abrasive jet.

[0043] Preferably, the high-pressure water jet device comprises a water storage tank 17, a high-pressure hose 15, a high-pressure pump 13, a high-pressure nozzle 11, a pressure sensor 12, a water valve 14, a water inlet 16 and an external water pipe 18, one end of the external water pipe 18 extends into the water storage tank 17, one end of the high-pressure hose 15 extends into the water storage tank 17, and the other end is connected to the high-pressure pump 13, one end of the high-pressure nozzle 11 is connected to the high-pressure pump 13, and the other end is connected to the high-pressure jet external interface 29, the pressure sensor 12 is arranged on the high-pressure nozzle 11, the water valve 14 is arranged on the high-pressure hose 15, and the water inlet 16 is located in the water storage tank 17 and connected to the end of the high-pressure hose 15.

[0044] The external water pipe 18 can transport external water into the water storage tank 17 for storage, after starting the high-pressure pump 13 and the water valve 14, the water in the water storage tank 17 can enter the high-pressure hose 15 through the water inlet 16, under the action of the high-pressure pump 13, the water flow is pressurized into high-pressure water and pumped into the high-pressure nozzle 11, the high-pressure water jet with strong impact force is generated by the special structure of the high-pressure nozzle 11 and sprayed into the premixing chamber 23, and the front end of the high-pressure nozzle 11 is provided with the pressure sensor 12 for real-time dynamic monitoring of the water jet pressure.

[0045] The water inlet 16 is provided with a hose interface 34 at the top for connecting the high-pressure hose 15, and the outermost circular array of 20 vertical columns 35 can realize the supporting effect of the water inlet 16 and the protection of the internal structure, and two layers of filter screens are further arranged in the water inlet 16, which can realize the filtration of the water inlet of the water storage tank 17, avoid the particles from entering to cause the blockage of the high-pressure hose 15 and affect the work of the high-pressure pump 13.

[0046] Preferably, the ice particle abrasive jet control device further comprises a water outlet 21 and an internal baffle 22, the internal baffle 22 is arranged in the dynamic monitoring chamber 25 and divides the dynamic monitoring chamber 25 into an outer overflow chamber and an inner recovery chamber, and the water outlet 21 is arranged on the side wall of the dynamic monitoring chamber 25 and connected with the outer overflow chamber.

[0047] The dynamic monitoring layer adopts a double-layer design and is separated by the internal baffle 22, when the water level is higher than the internal baffle 22, the water flow will flow from the inner recovery chamber to the outer overflow chamber, which can effectively prevent the water flow in the dynamic monitoring chamber 25 from causing interference to the observation of the ice particle abrasive jet, and the water outlet 21 is arranged at the bottom of the dynamic monitoring chamber 25 to discharge the water in the overflow chamber.

[0048] Preferably, the ice particle abrasive jet control device further comprises a PIV system 19, a LIF system 20 and a transmission interface 31, and the PTU controller 27 is data-connected with the interactive platform 28, the PIV system 19 and the LIF system 20 through the transmission interface 31.

[0049] Two cameras 26 correspond to PIV system 19 and LIF system 20 respectively, through which real-time dynamic monitoring can be carried out respectively, the ice particle movement characteristics can be visualized and enlarged, and observation is facilitated, and transmission interface 31 is used to transmit the data output by PTU controller 27 to interactive platform 28 and PIV system 19 and LIF system 20.

[0050] With reference to the embodiment of Figures 7-8 The convection heat transfer characteristics in ice particle preparation cavity 2 are simulated and verified in the embodiment, wherein the taper angle of liquid nitrogen injector 1 is set to 20°, which is beneficial to the development and flow of the liquid inside the nozzle, dyeing water injector 4 is symmetrically arranged, and the elevation angle is set to 45°, and liquid nitrogen injector 1 is arranged at the top of ice particle preparation cavity 2. As can be seen from the figure, in the process of injection, the liquid nitrogen and the dyeing water are sprayed out after being accelerated by the special structure of the injector, and in the process of injection, the speed gradually decreases, and the liquid nitrogen and the dyeing water develop gradually atomization and diffusion, which is reflected in that the diameter of the speed cloud picture gradually increases and the speed color gradually becomes lighter. The atomized liquid nitrogen and dyeing water collide at 400 mm, and after the collision, they are quickly mixed and heat exchanged. After the convection heat transfer, the temperature of the liquid nitrogen is 186 K, and the temperature of the dyeing water is 250 K. The temperature of the dyeing water is lower than 273.15 K, the dyeing water is solidified, ice particles are formed, and the ice particles fall downward, are screened by filter screen 3, and then enter ice particle tank 5 for standby. The simulation verifies that the 20° taper angle is beneficial to the development and flow of the liquid inside the nozzle, and the 45° elevation angle can effectively realize the atomization of the dyeing water and the sufficient mixing and heat exchange with the liquid nitrogen.

[0051] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An ice particle abrasive jet generating system characterized by, The ice particle preparation device, the high-pressure water jet device, and the ice particle abrasive jet control device, the ice particle preparation device includes an ice particle preparation cavity, a liquid nitrogen injector, and a dyed water injector, the liquid nitrogen injector is arranged at the top of the ice particle preparation cavity, and the dyed water injector is symmetrically arranged on the inner side wall of the ice particle preparation cavity; the ice particle abrasive jet control device includes a dynamic monitoring cavity, a camera, a PTU controller, and an interactive platform, the ice particles prepared in the ice particle preparation cavity and the jet water of the high-pressure water jet device are transported into the dynamic monitoring cavity, the camera is arranged on one side of the dynamic monitoring cavity and is connected with the interactive platform through the PTU controller, the interactive platform is provided with an optimized YoLo v11 algorithm based on deep learning, which is used for automatic target detection and capture of the ice particles in the abrasive jet in the dynamic monitoring cavity, and the flow and pressure of the liquid nitrogen injector and the dyed water injector are feedback adjusted according to the development of the abrasive jet and the evolution process of the ice particles.

2. An ice particle abrasive jet generating system according to claim 1, wherein The processing steps of the optimized YoLo v11 algorithm are as follows: The camera collects image data in the dynamic monitoring cavity, and the image data is transmitted to the interactive platform through the PTU controller; The interactive platform performs coordinate normalization and binary processing on the image data, and imports the processed feature image into a YoLo v11 multi-scale feature aggregation model, and introduces an attention mechanism to capture the ice particle size, distribution, and speed as key parameters, and then exports the key parameters in the form of digital quantization driving.

3. An ice particle abrasive jet generating system according to claim 2, wherein The attention mechanism includes channel attention and spatial attention: The expression of the channel attention output channel is: The expression of the spatial attention output channel is: wherein and are an attention output channel and a spatial attention output channel, respectively, F is a feature map, is an activation function, is a multi-layer perceptron, is a global average pooling, is a global max pooling, is a convolution kernel.

4. An ice particle abrasive jet generating system according to claim 2, wherein The expression of the multi-scale feature aggregation is: wherein is a feature image, is an output channel, is a weight coefficient, is a sampling difference value, is the i-th feature image.

5. An ice particle abrasive jet generating system according to claim 1, wherein The elevation angle of the dyed water injector is 45°, the liquid nitrogen sprayed by the liquid nitrogen injector and the dyed water sprayed by the dyed water injector perform convection heat exchange, so that the dyed water is frozen to form ice particles, and the heat exchange formula is: wherein, Heat flow, h is the convective heat transfer coefficient; A is the heat transfer area; and Tcand Tnare the temperatures of the dyeing water and liquid nitrogen, respectively, is the freezing rate, is the latent heat of freezing.

6. An ice particle abrasive jet generating system according to claim 1, wherein The ice particle preparation device further includes a filter screen, an ice particle tank, a recovery tank, a reflux pipe, an air compressor, an ice particle pneumatic conveying pipe, and an ice particle nozzle, the filter screen is arranged on the bottom surface of the ice particle preparation cavity and is conical, the top of the filter screen is provided with a drainage plate, the side wall of the filter screen is provided with a plurality of honeycomb through holes, the recovery tank is arranged at the bottom of the ice particle preparation cavity and is in communication with the inside of the filter screen, the ice particle tank is arranged at the bottom of the ice particle preparation cavity and is in communication with the inside of the ice particle preparation cavity, the ice particle tank is arranged outside the recovery tank, the reflux pipe is connected to the bottom of the recovery tank and the dyed water injector, the air compressor is connected to the bottom of the ice particle tank, one end of the ice particle pneumatic conveying pipe is connected to the air compressor, and the other end is connected to the ice particle nozzle, and the ice particle nozzle is used to transport the ice particles into the dynamic monitoring cavity.

7. An ice particle abrasive jet generating system according to claim 6, wherein The ice particle abrasive jet control device further includes a premixing cavity, a diffusion cavity, a high-pressure jet external interface, and an ice particle interface, the premixing cavity and the diffusion cavity are arranged from top to bottom at the top of the dynamic monitoring cavity, the high-pressure jet external interface is arranged at the top of the premixing cavity, and the ice particle interface is arranged on the side wall of the premixing cavity and is connected with the ice particle nozzle.

8. An ice particle abrasive jet generating system according to claim 7, wherein The high-pressure water jet device comprises a water storage tank, a high-pressure hose, a high-pressure pump, a high-pressure nozzle, a pressure sensor, a water valve, a water inlet and an external water pipe, one end of the external water pipe extends into the water storage tank, one end of the high-pressure hose extends into the water storage tank, the other end of the high-pressure hose is connected with the high-pressure pump, one end of the high-pressure nozzle is connected with the high-pressure pump, the other end of the high-pressure nozzle is connected with a high-pressure jet external interface, the pressure sensor is arranged on the high-pressure nozzle, the water valve is arranged on the high-pressure hose, the water inlet is located in the water storage tank and is connected with the end of the high-pressure hose.

9. An ice particle abrasive jet generating system according to claim 1, wherein The ice particle abrasive jet control device further comprises a water outlet and an internal baffle, the internal baffle is arranged in the dynamic monitoring cavity and divides the dynamic monitoring cavity into an outer overflow cavity and an inner recovery cavity, and the water outlet is arranged on the side wall of the dynamic monitoring cavity and is connected with the outer overflow cavity.

10. An ice particle abrasive jet generating system according to claim 1, wherein The ice particle abrasive jet control device further comprises a PIV system, a LIF system and a transmission interface, and the PTU controller is connected with the interactive platform, the PIV system and the LIF system through the transmission interface.

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