Ice particle abrasive jet generation system

Abstract

The ice particle abrasive jet flow generation system of the present application comprises an ice particle preparation device, a high-pressure water jet device and an ice particle abrasive jet flow control device, the ice particle preparation device comprises an ice particle preparation cavity, a liquid nitrogen injector and a dye water injector, the ice particle abrasive jet flow control device comprises a dynamic monitoring cavity, a camera, a PTU controller and an interactive platform, the ice particle preparation device and the high-pressure water jet device respectively deliver ice particles and high-pressure jet water into the dynamic monitoring cavity, the ice particles and the high-pressure jet water can be mixed, forming ice particle abrasive jet water for deep sea mining, and the ice particles as abrasives can avoid causing pollution of seawater, in addition, after collecting image data through the camera, the optimized YoLo v11 algorithm is introduced for automatic target detection and capture of the ice particles in the abrasive jet flow in the dynamic monitoring cavity, and according to the development of the abrasive jet flow and the evolution process of the ice particles, the flow and pressure of the liquid nitrogen injector and the dye water injector are feedback adjusted to realize precise control of the ice particle abrasive jet flow.

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:

[0007] 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 connected with the interactive platform through the PTU controller. The interactive platform is equipped 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. According to the development of the abrasive jet and the evolution process of the ice particles, the flow and pressure of the liquid nitrogen injector and the dye water injector are adjusted.

[0008] Preferably, the processing steps of the optimized YoLo v11 algorithm are as follows:

[0009] The camera collects image data in the dynamic monitoring cavity, and the image data is transmitted to the interactive platform through the PTU controller.

[0010] 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.

[0011] Preferably, the attention mechanism is divided into channel attention and spatial attention.

[0012] The expression of the channel attention output channel is:

[0013]

[0014] The expression of the spatial attention output channel is:

[0015]

[0016] wherein and are the attention output channel and the spatial attention output channel respectively, F is the 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.

[0017] Preferably, the expression of the multi-scale feature aggregation is:

[0018]

[0019] wherein is the feature image, is the output channel, is the weight coefficient, is the sampling difference, is the ith feature image.

[0020] 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, so that the dyeing water is solidified to form ice particles, wherein the heat exchange formula is:

[0021]

[0022] wherein, is the heat flow, h is the convective heat transfer coefficient, and 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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 respectively connected to the interactive platform, the PIV system and the LIF system in data connection through the transmission interface.

[0028] Compared with the prior art, the ice particle abrasive jet control device has the following beneficial effects:

[0029] 1. The ice particle abrasive jet control device can efficiently produce ice particles with a particle size greater than 0.5 mm through convection heat exchange, and can produce ice particle abrasive jet 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, thereby realizing efficient and low-energy consumption mining of polymetallic nodules.

[0030] 2. The ice particle preparation device can recycle and utilize water, improving the environmental friendliness of the device, and the ice particle abrasive jet can be used to mine seabed minerals, and the ice particles are converted into water after impacting the seabed structure, without causing pollution to the seabed.

[0031] 3. In addition, the deep learning target capture method is used, 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 impact force of the ice particle abrasive jet can be precisely controlled. BRIEF DESCRIPTION OF DRAWINGS

[0032] 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.

[0033] Figure 1 It is a structural schematic diagram of an ice particle abrasive jet generation system of the present application;

[0034] Figure 2 It is a structural schematic diagram of an ice particle preparation device of an ice particle abrasive jet generation system of the present application;

[0035] Figure 3 It is a structural schematic diagram of an ice particle abrasive jet control device of an ice particle abrasive jet generation system of the present application;

[0036] Figure 4 It is a structural schematic diagram of a filter screen of an ice particle preparation device of an ice particle abrasive jet generation system of the present application;

[0037] Figure 5 It is a structural schematic diagram of a water inlet device of an ice particle preparation device of an ice particle abrasive jet generation system of the present application;

[0038] Figure 6 It is a dynamic target detection and capture flowchart of the YoLo v11 algorithm based on the attention mechanism optimization in the embodiments of the present application;

[0039] Figure 7 It is a mixed diffusion velocity nephogram in the embodiments of the present application;

[0040] Figure 8 It is a mixed heat exchange temperature nephogram in the embodiments of the present application;

[0041] 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

[0042] 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.

[0043] 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 to 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.

[0044] 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.

[0045] Two cameras 26 are arranged on the side wall of the dynamic monitoring cavity 25, which can realize real-time dynamic monitoring of 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.

[0046] Preferably, the processing steps of the optimized YoLo v11 algorithm are as follows:

[0047] 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;

[0048] 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.

[0049] The number of cameras 26 is two, which can monitor the dynamic monitoring cavity 25 in real time, and transmit the collected image data to the interactive platform 28 through the PTU controller 27. The interactive platform 28 first pre-processes the image data, including coordinate normalization and binarization, to ensure the uniformity of the image data. After pre-processing, the feature image can be obtained, which is imported into the YoLo v11 multi-scale feature aggregation model to train the weight, and the attention mechanism is introduced to improve the target detection accuracy. The captured ice particle size, distribution and speed are taken as key parameters, and are exported in the form of data quantization driving.

[0050] Preferably, the attention mechanism is divided into channel attention and spatial attention.

[0051] The expression of the channel attention output channel is:

[0052]

[0053] The expression of the spatial attention output channel is:

[0054]

[0055] 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.

[0056] Preferably, the expression of the multi-scale feature aggregation is:

[0057]

[0058] wherein is the feature image, is the output channel, is the weight coefficient, is the sampling difference, is the ith feature image.

[0059] Preferably, the elevation angle of the dyeing water sprayer 4 is set to 45°, and the liquid nitrogen sprayed by the liquid nitrogen sprayer 1 and the dyeing water sprayed by the dyeing water sprayer 4 perform convection heat exchange, so that the dyeing water is solidified to form ice particles. The heat exchange formula is:

[0060]

[0061] wherein, Heat flow, h is the coefficient of convective heat transfer; A is the heat transfer area; and T1 and T2 are the temperatures of the dyeing water and liquid nitrogen respectively, V is the solidification rate, L is the latent heat of solidification.

[0062] The elevation angle of the dyeing water injector 4 is 45°, in this setting, the liquid nitrogen and the dyeing water are fully mixed at 400mm of the ice particle preparation cavity 2, the heat exchange is realized through convective heat transfer, the dyeing water is quickly solidified to form ice particles due to the loss of heat.

[0063] 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 arranged in a conical shape, the top of the filter screen 3 is provided with a drainage plate 32, the side wall is provided with a plurality of honeycomb transparent 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, the ice particle nozzle 10 is used to deliver the ice particles into the dynamic monitoring cavity 25.

[0064] The liquid nitrogen and the dyeing water are convectively heat-exchanged in the ice particle preparation cavity 2 to generate ice particles, and due to the uneven mixing degree, ice particles of different particle sizes are generated, so the filter screen 3 is arranged for screening, when the ice particles fall onto the filter screen 3, they are drained through the drainage plate 32 of the filter screen 3, the large-sized ice particles will flow downward along the drainage plate 32 and the outer wall of the filter screen 3 and enter the ice particle tank 5, and the small-sized ice particles will pass through the honeycomb transparent holes 33 to complete the filtering, the honeycomb shape adopted has higher filtering capacity and is used to screen out ice particles with a particle size less than 0.5mm to avoid 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 will fall into the recovery tank 7, the accurate control of the particle size is realized by screening the ice particles, the maintenance time of the ice particles is increased and the effective breaking capacity of the ice particle abrasive jet is improved, the ice particles in the recovery tank 7 are melted 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 that meet the size can be extracted from the ice particle tank 5 through the air compressor 8 and then delivered into the dynamic monitoring cavity 25 through the ice particle pneumatic conveying pipe 9 and the ice particle nozzle 10 to be mixed with the high-pressure jet water.

[0065] Preferably, the ice particle abrasive jet control device further comprises a premixing chamber 23, a diffusion chamber 24, a high pressure jet external interface 29 and an ice particle interface 30, the premixing chamber 23 and the diffusion chamber 24 are arranged on top of the dynamic monitoring chamber 25 from top to bottom, the high pressure jet external interface 29 is arranged on top of the premixing chamber 23, and the ice particle interface 30 is arranged on the side wall of the premixing chamber 23 and connected with the ice particle nozzle 10.

[0066] The ice particles and the high pressure jet water can be respectively delivered into the premixing chamber 23 from the high pressure jet external interface 29 and the ice particle interface 30 for premixing, the ice particles are mixed and flow downstream by the high pressure water jet, and the premixing chamber 23 is connected with the diffusion chamber 24, which is arranged with a gradually expanding angle to realize the pre-diffusion of the abrasive jet.

[0067] 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 device 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 with the high pressure pump 13, one end of the high pressure nozzle 11 is connected with the high pressure pump 13, and the other end is connected with 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 device 16 is located in the water storage tank 17 and connected with the end of the high pressure hose 15.

[0068] The external water pipe 18 can deliver 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 device 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 pressure sensor 12 is arranged at the front end of the high pressure nozzle 11 for real-time dynamic monitoring of the water jet pressure.

[0069] The water inlet device 16 is arranged 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 support of the water inlet device 16 and the protection of the internal structure, and two layers of filter screens are arranged in the water inlet device 16 to realize the filtration of the water entering the water storage tank 17, so as to avoid the particles entering to cause the blockage of the high pressure hose 15 and affect the work of the high pressure pump 13.

[0070] 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 cavity 25 and divides the dynamic monitoring cavity 25 into an outer overflow cavity and an inner recovery cavity, and the water outlet 21 is arranged on the side wall of the dynamic monitoring cavity 25 and connected with the outer overflow cavity.

[0071] 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 cavity to the outer overflow cavity, which can effectively prevent the water flow in the dynamic monitoring cavity 25 from interfering with the observation of the ice particle abrasive jet. The bottom of the dynamic monitoring cavity 25 is provided with a water outlet 21, which can discharge the water in the overflow cavity.

[0072] 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 connected with the interactive platform 28, the PIV system 19 and the LIF system 20 through the transmission interface 31.

[0073] The two cameras 26 correspond to the PIV system 19 and the LIF system 20 respectively, and the PIV system 19 and the LIF system 20 can be used for real-time dynamic monitoring respectively, so as to visualize and magnify the ice particle movement characteristics and facilitate observation. The transmission interface 31 is used for transmitting the data output by the PTU controller 27 to the interactive platform 28, the PIV system 19 and the LIF system 20.

[0074] With reference to the embodiment of Figures 7-8 , the convection heat transfer characteristics in the ice particle preparation cavity 2 are simulated and verified. The taper angle of the liquid nitrogen injector 1 is set to 20°, which is beneficial to the development and flow of the liquid inside the nozzle. The dyeing water injector 4 is symmetrically arranged, and the elevation angle is set to 45°. The liquid nitrogen injector 1 is arranged at the top of the ice particle preparation cavity 2. As can be seen from the figure, during the spraying process, the liquid nitrogen and the dyeing water are sprayed out after being accelerated by the special structure of the injector. During the spraying process, the speed gradually decreases, and the liquid nitrogen and the dyeing water develop and gradually atomize and diffuse. This is reflected in the fact that the diameter of the speed cloud map gradually increases and the speed color gradually becomes lighter. The atomized liquid nitrogen and the dyeing water collide at 400 mm. After the collision, they are quickly mixed and heat exchanged. After the convection heat exchange, the temperature of the liquid nitrogen is 186K, and the temperature of the dyeing water is 250K. The temperature of the dyeing water is lower than 273.15K, and the dyeing water freezes to form ice particles, which fall downward and are filtered by the filter screen 3 and then enter the ice particle tank 5 for standby use. The simulation verifies that the 20° taper angle can be 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.

[0075] The above merely provides the preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An ice particle abrasive jet generating system, characterized in that, The system includes an ice particle preparation device, a high-pressure water jet device, and an ice particle abrasive jet control device. The ice particle preparation device includes an ice particle preparation chamber, a liquid nitrogen injector, and a dyeing water injector. The liquid nitrogen injector is located at the top of the ice particle preparation chamber, and the dyeing water injectors are symmetrically arranged on the inner sidewalls of the ice particle preparation chamber. The ice particle abrasive jet control device includes a dynamic monitoring chamber, a camera, a PTU controller, and an interactive platform. The ice particles prepared in the ice particle preparation chamber and the jet water from the high-pressure water jet device are transported to the dynamic monitoring chamber. The camera is located on one side of the dynamic monitoring chamber and is connected to the interactive platform via the PTU controller. The interactive platform is equipped with an optimized YoLo v11 algorithm based on deep learning for automatic target detection and capture of ice particles in the abrasive jet within the dynamic monitoring chamber. Based on the development of the abrasive jet and the evolution of the ice particles, the platform provides feedback to adjust the flow rate and pressure of the liquid nitrogen injector and the dyeing water injector. The processing steps of the optimized YoLo v11 algorithm are as follows: The camera collects image data from the dynamic monitoring cavity, and the image data is transmitted to the interactive platform via the PTU controller. The interactive platform performs coordinate normalization and binarization on the image data, imports the processed feature image into the YoLo v11 multi-scale feature aggregation model, and introduces an attention mechanism to capture ice particle size, distribution, and velocity as key parameters. The key parameters are then exported in a digital quantization-driven form. The attention mechanism is divided into channel attention and spatial attention: The expression for the channel attention output channel is: The expression for the spatial attention output channel is: in and These represent the attention output channel and the spatial attention output channel, respectively, and F is the feature image. For activation function, It is a multilayer perceptron. For global average pooling, For global max pooling, for Convolution kernel.

2. The ice particle abrasive jet generating system according to claim 1, characterized in that, The expression for the multi-scale feature aggregation is: in For feature images, For output channels, These are the weighting coefficients. The sampling difference, Let be the i-th feature image.

3. The ice particle abrasive jet generating system according to claim 1, characterized in that, The elevation angle of the dyeing water ejector is set to 45°. The liquid nitrogen ejected by the liquid nitrogen ejector and the dyeing water ejected by the dyeing water ejector undergo convective heat exchange, causing the dyeing water to solidify into ice particles. The heat exchange formula is as follows: in, Heat flow rate, h is the convective heat transfer coefficient; A is the heat transfer area; and These are the temperatures of the dyeing water and liquid nitrogen, respectively. For solidification rate, It is the latent heat of solidification.

4. The ice particle abrasive jet generating system according to claim 1, characterized in that, The ice particle preparation device further includes 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 set on the bottom surface of the ice particle preparation chamber and is conical in shape. A guide plate is set on the top of the filter screen, and several honeycomb perforations are set on its side wall. The recovery tank is set at the bottom of the ice particle preparation chamber and communicates with the inside of the filter screen. The ice particle tank is set at the bottom of the ice particle preparation chamber and communicates with the inside of the ice particle preparation chamber. The ice particle tank is set around the recovery tank. The return pipe connects the bottom of the recovery tank and the dyeing water jet. 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. The ice particle nozzle is used to transport ice particles to the dynamic monitoring chamber.

5. The ice particle abrasive jet generating system according to claim 4, characterized in that, The ice abrasive jet control device further includes a premixing chamber, a diffusion chamber, a high-pressure jet external interface, and an ice particle interface. The premixing chamber and the diffusion chamber are arranged from top to bottom at the top of the dynamic monitoring chamber. The high-pressure jet external interface is arranged at the top of the premixing chamber. The ice particle interface is arranged on the side wall of the premixing chamber and connected to the ice particle nozzle.

6. The ice particle abrasive jet generating system according to claim 5, characterized in that, The high-pressure water jet device includes 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 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 is connected to the high-pressure jet external interface. The pressure sensor is installed on the high-pressure nozzle, the water valve is installed on the high-pressure hose, and the water inlet is located in the water storage tank and connected to the end of the high-pressure hose.

7. The ice particle abrasive jet generating system according to claim 1, characterized in that, The ice abrasive jet control device also includes a water outlet and a built-in baffle. The built-in baffle is set inside the dynamic monitoring chamber and divides the dynamic monitoring chamber into an outer overflow chamber and an inner recovery chamber. The water outlet is set on the side wall of the dynamic monitoring chamber and is connected to the outer overflow chamber.

8. The ice particle abrasive jet generating system according to claim 1, characterized in that, The ice abrasive jet control device also includes a PIV system, a LIF system, and a transmission interface. The PTU controller is connected to the interactive platform, the PIV system, and the LIF system via the transmission interface.

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