Hydraulic drive type anti-gravity directional cleaning device and control method thereof
The hydraulically driven anti-gravity directional cleaning device utilizes the reaction force of high-pressure water flow to achieve self-suspension and directional cleaning, solving the problem of insufficient water flow velocity and pressure at the tank wall in fixed tank cleaning machines. This results in efficient and stable cleaning effects, suitable for cleaning high-altitude and complex surfaces.
Patent Information
- Application Number
- CN202511526715.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-24
- Publication Date
- 2025-12-30
AI Technical Summary
In existing technologies, fixed tank cleaning machines experience reduced water flow velocity and pressure at the tank walls, resulting in insufficient cleaning ability. This necessitates additional increases in tank cleaning water temperature and time. Furthermore, high-pressure cleaners are labor-intensive to operate, have poor stability during high-altitude cleaning, and are costly. High-altitude/complex surface cleaning relies on drone hoisting, which is both costly and unstable.
Design a hydraulically driven anti-gravity directional cleaning device that uses the reaction force of high-pressure water flow to achieve self-suspension, and controls the device's attitude and cleaning direction through attitude measurement sensors and solenoid valves. Combined with a visual recognition module to identify stains, it uses residual water pressure for directional cleaning and supports remote control via mobile terminal.
The device achieves self-suspension and directional cleaning, reducing operational difficulty and improving cleaning efficiency. It is suitable for cleaning high-altitude and complex surfaces, reducing costs and improving stability.
Smart Images
Figure CN121224934A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of cleaning equipment, in particular to a water-driven anti-gravity directional cleaning device and a control method thereof. BACKGROUND
[0002] At present, the cleaning of the cabin is mainly carried out by a plurality of fixed cabin cleaning machines in the cabin. The fixed cabin cleaning machine is far away from the cabin wall, and the flow rate and pressure of the water flow at the cabin wall are reduced during cabin cleaning, so the decontamination ability is not strong. Therefore, the cabin cleaning water temperature and the cabin cleaning time need to be additionally increased to achieve the cleaning effect. The traditional high-pressure cleaning machine needs to be manually held, and the operation is laborious. In addition, the cleaning of high-altitude / complex surfaces still needs to rely on a scaffold or a drone for hoisting, and the cleaning cost is high and the stability is poor.
[0003] Therefore, the present application provides a water-driven anti-gravity directional cleaning device which is self-suspended by the reaction force generated by the downward injection of high-pressure water flow and performs directional cleaning through the remaining water pressure to solve the above problems. SUMMARY
[0004] The present application aims to solve the technical problems existing in the prior art. To this end, the present application provides a water-driven anti-gravity directional cleaning device which is self-suspended by the reaction force generated by the downward injection of high-pressure water flow and performs directional cleaning through the remaining water pressure.
[0005] The technical solution adopted by the present application to solve the technical problems is as follows: In a first aspect, a water-driven anti-gravity directional cleaning device is provided, comprising a shell, a water inlet connected to a high-pressure water source at the center of the bottom of the shell, a water distributor connected to the water inlet in the shell, a plurality of groups of high-speed water injection ports arranged in a ring array at the bottom of the shell and connected to the water distributor through a plurality of first pipes, a plurality of cleaning nozzles arranged in a ring array on the periphery of the shell and connected to the water distributor through a plurality of second pipes, a first electromagnetic valve arranged on each first pipe, a second electromagnetic valve arranged on each second pipe, and a control system. The control system comprises an attitude measurement sensor, a main controller and a power module arranged in the shell. The attitude measurement sensor is used to sense the attitude of the device. The main controller is electrically connected to each of the first electromagnetic valves, the second electromagnetic valves and the attitude measurement sensor. The power module provides operating energy for the device.
[0006] In some optional embodiments, the main controller is connected to each of the first electromagnetic valves and the second electromagnetic valves through PWM signal communication. The opening degree of each of the first electromagnetic valves and the second electromagnetic valves is controlled by using the PID closed-loop control principle.
[0007] In some optional embodiments, the annular array of the shell has an even number of cleaning nozzles, and the number is not less than 4, and the second electromagnetic valves on the second pipes of the two symmetrically arranged cleaning nozzles are synchronously controlled by the main controller.
[0008] In some optional embodiments, a partition plate is arranged in the water distributor to divide the water distributor into a water spraying cavity connected with the high-speed water spraying port and a cleaning cavity connected with the cleaning nozzle, and the volume ratio of the water spraying cavity to the cleaning cavity is 3:7.
[0009] In some optional embodiments, the shell is a disc-shaped plastic shell, and the bottom of the shell is provided with a plurality of supporting legs.
[0010] In some optional embodiments, a visual recognition module is further included for recognizing the dirt degree of the cleaning position, the visual recognition module includes an industrial camera arranged on the shell and an image processing chip integrated in the main controller, and the image processing chip is embedded with a dirt area recognition algorithm based on a CNN convolutional neural network.
[0011] In some optional embodiments, a wireless communication module is further arranged in the shell for communication connection with a mobile terminal, and the device can be remotely controlled through the mobile terminal, and the wireless communication module includes any one of a Bluetooth module, a WiFi module and a 4G / 5G module.
[0012] In a second aspect, a control method of the water-driven anti-gravity directional cleaning device is provided, and the control method specifically includes the following steps. The device is placed at a position to be cleaned, and a high-pressure water source is connected; The device is started, the first electromagnetic valves are opened by the main controller, the lift is generated by the high-speed water flow downward spraying, and the lift size is adjusted by adjusting the opening degree of the first electromagnetic valves; The posture deviation of the device is detected by the posture measurement sensor, and the opening degree of each first electromagnetic valve is dynamically adjusted to realize the balance and directional movement of the device; The industrial camera is used to scan the surface to be cleaned to identify the stain coordinates; The device is controlled to move to the coordinates, the second electromagnetic valves corresponding to the cleaning ports facing or away from the cleaning surface are opened, directional spraying is performed by using the remaining water pressure, and the stains on the cleaning surface are cleaned; The user can remotely control and adjust the device through the mobile terminal.
[0013] Compared with the prior art, the device has the following beneficial effects: The application utilizes multiple high-speed water injection ports at the bottom of the shell to spray high-pressure water, and the lifting and directional movement of the device are realized through the opening control of the first electromagnetic valve, and the remaining water pressure is output through the cleaning nozzle for cleaning the target surface, the device can be remotely controlled by a mobile terminal, has the advantages of simple operation and convenient cleaning, and meets the cleaning of high-altitude / complex surfaces. BRIEF DESCRIPTION OF DRAWINGS
[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings. Figure 1 is a sectional view of the water-driven anti-gravity directional cleaning device provided by the present application; In the drawings, the component list represented by each number is as follows: 1 - shell, 1.1 - water inlet, 1.2 - high-speed water injection port, 1.3 - cleaning nozzle, 1.4 - supporting leg, 2 - water distributor, 3 - first pipeline, 4 - second pipeline, 5 - first electromagnetic valve, 6 - second electromagnetic valve, 7 - attitude measurement sensor, 8 - main controller, 9 - power module, 10 - industrial camera, 11 - wireless communication module. DETAILED DESCRIPTION
[0015] It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.
[0016] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort belong to the scope of protection of the present application.
[0017] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application; In addition, the description related to the terms "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the same, or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. The terms "mounting", "connecting", "connecting" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0018] In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application. Embodiments
[0019] As shown in the accompanying Figure 1 The present embodiment provides a water-driven anti-gravity directional cleaning device, which comprises a shell 1, a water inlet 1.1 arranged at the center of the bottom of the shell and connected with a high-pressure water source, a water distributor 2 arranged in the shell 1 and connected with the water inlet 1.1, a plurality of groups of high-speed water spray nozzles 1.2 arranged in an annular array at the bottom of the shell 1 and connected with the water distributor 2 through a plurality of first pipes 3, a plurality of cleaning spray heads 1.3 arranged in an annular array on the periphery of the shell 1 and connected with the water distributor 2 through a plurality of second pipes 4, a first electromagnetic valve 5 arranged on each first pipe 3, a second electromagnetic valve 6 arranged on each second pipe 4, and a control system, wherein: The control system comprises an attitude measurement sensor 7, a main controller 8 and a power module 9 arranged in the shell 1, the attitude measurement sensor 7 is used to sense the attitude of the device, the main controller 8 is electrically connected with each of the first electromagnetic valve 5 and the second electromagnetic valve 6 and the attitude measurement sensor 7, and the power module 9 provides operating energy for the device.
[0020] The housing 1 is a disc-shaped plastic shell with multiple support feet 1.4 at the bottom for ground support. An even number of cleaning nozzles 1.3 are arranged in a circular array on the housing 1, with a minimum of four, preferably four to eight. The second solenoid valves 6 on the second pipes 4 of two symmetrically arranged cleaning nozzles 1.3 are synchronously controlled by the main controller 8. That is, during cleaning, the flow rate of the cleaning nozzles facing the cleaning surface and those facing away from the cleaning surface needs to be adjusted simultaneously via the second solenoid valves to ensure that the device does not move away from the cleaning surface during the cleaning process. The cleaning nozzles can be rotating nozzles, producing fan-shaped or columnar water flow. Three to five sets of high-speed water nozzles 1.2 are vertically or obliquely arranged at the bottom of the housing 1.
[0021] The water distributor 2 is equipped with a partition plate (not shown in the figure) that divides the water distributor into a spray chamber connected to the high-speed spray nozzle 1.2 and a cleaning chamber connected to the cleaning nozzle 1.3. The volume ratio of the spray chamber to the cleaning chamber is 3:7. This design allows most of the water to be used for cleaning operations, and a small portion of the water to be used to control the lifting or deflection of the device.
[0022] The main controller 8 is connected to each of the first solenoid valves 5 and the second solenoid valves 6 via PWM signal communication. It uses PID closed-loop control principle to control the opening degree of each of the first solenoid valves 5 and the second solenoid valves 6, with a control frequency ≥100Hz and a response time <10ms.
[0023] Furthermore, a visual recognition module is designed to identify the degree of dirtiness in the cleaned area. This module includes an industrial camera 10 mounted on the housing 1 and an image processing chip (not shown) integrated on the main controller 8. The image processing chip incorporates a dirt area recognition algorithm based on a CNN convolutional neural network, achieving a positioning accuracy of ±2mm. Furthermore, a wireless communication module 11 is also designed for communication connection with a mobile terminal, enabling remote control via the mobile terminal. The wireless communication module 11 includes any one of a Bluetooth module, a WiFi module, or a 4G / 5G module.
[0024] The control method for the hydraulically driven anti-gravity directional cleaning device is as follows: Place the equipment in the area to be cleaned and connect it to a high-pressure water source; The device is started by the main controller opening each of the first solenoid valves. The high-speed water jet generates lift, and the lift is adjusted by adjusting the opening of the first solenoid valve (the pressure of the high-pressure water source is sufficient to raise the device to a height of about 8m when the first solenoid valve is fully open, so as to meet the cleaning height of the inner wall of the ship's cabin). The attitude deviation of the device is detected by the attitude measurement sensor, and the opening degree of each first solenoid valve is dynamically adjusted to achieve the balance and directional movement of the device. Use an industrial camera to scan the surface to be cleaned and identify the coordinates of the stains; The control device moves to this coordinate and controls the second solenoid valve corresponding to the cleaning port facing or away from the cleaning surface to open, using the remaining water pressure to perform directional spraying to clean the surface stains. Users can remotely control and adjust the device via a mobile terminal. Control methods include selecting the cleaning mode and emergency braking. The cleaning modes include automatic and manual control.
[0025] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.
Claims
1. A hydraulically driven anti-gravity directional cleaning device, characterized by: The device comprises a shell, a water inlet arranged at the center of the bottom of the shell and connected with a high-pressure water source, a water distributor arranged in the shell and connected with the water inlet, a plurality of groups of high-speed water jet nozzles arranged in an annular array at the bottom of the shell and connected with the water distributor through a plurality of first pipes, a plurality of cleaning nozzles arranged in an annular array at the periphery of the shell and connected with the water distributor through a plurality of second pipes, a first electromagnetic valve arranged on each first pipe, a second electromagnetic valve arranged on each second pipe, and a control system; the control system comprises an attitude measurement sensor arranged in the shell, a main controller, and a power module, the attitude measurement sensor is used to sense the attitude of the device, the main controller is electrically connected with each of the first electromagnetic valves, the second electromagnetic valves, and the attitude measurement sensor, and the power module provides operating energy for the device.
2. The hydraulically powered, gravity-defying, directional cleaning apparatus of claim 1, wherein: The main controller is connected with each of the first electromagnetic valves and the second electromagnetic valves through PWM signal communication, and the opening degree of each of the first electromagnetic valves and the second electromagnetic valves is controlled by using a PID closed-loop control principle.
3. The hydraulically powered, gravity-defying, directional cleaning apparatus of claim 1, wherein: The shell is provided with an even number of cleaning nozzles arranged in an annular array, and the number is not less than 4, and the second electromagnetic valves of two symmetrically arranged cleaning nozzles on the second pipes are synchronously controlled by the main controller.
4. The hydraulically powered, gravity-defying, directional cleaning apparatus of claim 1, wherein: A partition plate is arranged in the water distributor, so that the water distributor is divided into a water jet cavity connected with the high-speed water jet nozzles and a cleaning cavity connected with the cleaning nozzles, and the volume ratio of the water jet cavity to the cleaning cavity is 3:
7.
5. The hydraulically powered, gravity-defying, directional cleaning apparatus of claim 1, wherein: The shell is a disc-shaped plastic shell, and a plurality of supporting legs are arranged at the bottom of the shell.
6. The water-powered, anti-gravitational, directional cleaning apparatus of any one of claims 1 to 5, wherein: A visual recognition module is further arranged, which is used to identify the dirt degree of a cleaning surface, the visual recognition module comprises an industrial camera arranged on the shell and an image processing chip integrated in the main controller, and the image processing chip is embedded with a dirt area recognition algorithm based on a CNN convolutional neural network.
7. The hydraulically powered, gravity-defying, directional cleaning apparatus of claim 6, wherein: A wireless communication module is further arranged in the shell, which is used to be connected with a mobile terminal in communication, so that the device can be remotely controlled through the mobile terminal, and the wireless communication module comprises any one of a Bluetooth module, a WiFi module, and a 4G / 5G module.
8. A control method of a water force driven anti-gravity directional cleaning device, characterized in that: The control method of the water-driven anti-gravity directional cleaning device is as follows: Place the device at a position to be cleaned, and connect a high-pressure water source; Start the device, open each first electromagnetic valve by the main controller, generate lift by using high-speed water jet, and adjust the lift by adjusting the opening degree of the first electromagnetic valve; Detect the attitude deviation of the device by the attitude measurement sensor, and dynamically adjust the opening degree of each first electromagnetic valve to realize the balance and directional movement of the device; Scan the surface to be cleaned by the industrial camera, and identify the stain coordinates; Control the device to move to the coordinates, open the second electromagnetic valve corresponding to the cleaning port facing or away from the cleaning surface, and perform directional jetting by using the remaining water pressure to clean the stain on the surface; The user can remotely control and adjust the device through the mobile terminal.