Rust removal device

Abstract

The invention discloses a rust removal device. The rust removal device comprises a driving assembly, a spray head assembly, a camera assembly and a control device; the nozzle assembly is arranged on the driving assembly; the control device is used for controlling the nozzle assembly and the driving assembly, the driving assembly is used for enabling the nozzle assembly to reach a preset position, and the nozzle assembly is used for outputting a rust transforming agent when reaching the preset position; the camera shooting assembly is arranged on the driving assembly and moves along with the spray head assembly, the camera shooting assembly is used for shooting a corrosion area, and the control device is used for obtaining a corrosion area image captured by the camera shooting assembly. The driving assembly is arranged so that the spray head assembly can reach a high position, remote operation is achieved in cooperation with the camera shooting assembly and the control device, the spray head assembly can easily cover the high position and an area difficult to touch without climbing a ladder, meanwhile, the spray head assembly outputs an iron rust transforming agent, and the iron rust transforming agent has the grinding-free characteristic; and rust can be directly converted into paint, so that the working efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of substation operation and maintenance, and particularly relates to a rust removal device. BACKGROUND

[0002] In daily operation and maintenance of a substation, rusting has always been a focus and difficulty of maintenance work. Traditional manual polishing and painting methods are not only inefficient, but also have safety hazards due to high-altitude construction, especially for square corners that are difficult to reach, manual processing is even more helpless. SUMMARY

[0003] The present application provides a rust removal device to effectively solve the technical problems of difficulty in rust removal and low work efficiency in high-altitude and hard-to-reach areas in the related art.

[0004] The first aspect of the present application provides a rust removal device, comprising: a driving assembly, a spray head assembly, a camera assembly and a control device;

[0005] The spray head assembly is arranged on the driving assembly;

[0006] The control device is used to control the spray head assembly and the driving assembly respectively, the driving assembly is used to make the spray head assembly reach a preset position, and the spray head assembly is used to output a rust conversion agent when reaching the preset position;

[0007] The camera assembly is arranged on the driving assembly and moves with the spray head assembly, the camera assembly is used to shoot a rusted area, and the control device is used to obtain a rusted area image captured by the camera assembly.

[0008] Further, the control device is configured to generate a spraying control instruction according to the rusted area image captured by the camera assembly, and the spray head assembly is configured to respond to the spraying control instruction to perform a closed-loop spraying operation on the rusted area.

[0009] Further, the control device is configured to evaluate the rusting degree according to the rusted area image captured by the camera assembly, determine spraying parameters of the spray head assembly according to the rusting degree, and the spray head assembly performs a spraying operation on the rusted area based on the spraying parameters.

[0010] Further, the rusting degree is evaluated by a comprehensive rusting index R index .

[0011] ;

[0012] ;

[0013] Wherein, A rN represents the percentage of rusted area. rust N represents the number of pixels identified as rust. total This represents the total number of pixels in the image.

[0014] T r This represents the corrosion type level, with a set value greater than or equal to 1. The larger the value, the more severe the corrosion.

[0015] β1 and β2 are weighting coefficients, such that R index The range is normalized to [0,1], R index The higher the value, the more severe the corrosion.

[0016] Furthermore, the nozzle assembly has a movable output end, and the spraying parameters include spraying amount per unit area and moving speed;

[0017] ;

[0018] ;

[0019] Where Q is the amount of coating per unit area, Q min For the minimum coating amount, Q max The maximum coating amount is given; k is a non-linear adjustment factor.

[0020] V is the moving speed of the nozzle assembly. min For the minimum moving speed, V max This represents the maximum movement speed.

[0021] Furthermore, the method for performing closed-loop spraying operations includes: after the spray head assembly completes the spraying process, the control device evaluates the spraying effect based on the image of the rusted area captured again by the camera assembly, and corrects and updates the spraying parameters based on the spraying effect.

[0022] Furthermore, the coating effect is determined by calculating the rust conversion rate C. r Conduct an assessment;

[0023] ;

[0024] A r_后 A represents the percentage of rusted area after spraying. r_前 This represents the percentage of rusted area before spraying.

[0025] Furthermore, the rust removal device also includes a display for displaying images obtained by the camera assembly.

[0026] Furthermore, the drive assembly includes a telescopic rod having a fixed end and a movable end, the movable end being movable relative to the fixed end, the display and the control device being disposed on the fixed end, and the camera assembly and the nozzle assembly being disposed on the movable end.

[0027] Furthermore, the nozzle assembly includes a nozzle component and a liquid storage component, the liquid storage component being used to store rust-converting agent, and the nozzle component being used to spray out the rust-converting agent from the liquid storage component.

[0028] As can be seen from the above technical solutions, the embodiments of this application have at least the following beneficial effects: by equipping the drive component, the nozzle component can reach a high position, and remote operation can be realized in conjunction with the camera component and control device. The nozzle component can easily cover high and hard-to-reach areas without climbing ladders. At the same time, the nozzle component outputs rust converter, which has the characteristic of no grinding and can directly convert rust into paint, thereby greatly improving work efficiency.

[0029] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of a structure provided for one embodiment of this application.

[0032] Figure label:

[0033] 100. Drive component; 110. Fixed end; 120. Moving end;

[0034] 200. Nozzle assembly; 210. Nozzle component; 220. Liquid reservoir component;

[0035] 300. Camera components;

[0036] 400. Control device;

[0037] 500. Monitor. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] See Figure 1 As shown, an embodiment of the first aspect of this application discloses a rust removal device, including a drive assembly 100, a nozzle assembly 200, a camera assembly 300, and a control device 400;

[0040] The nozzle assembly 200 is mounted on the drive assembly 100; the control device 400 is used to control the nozzle assembly 200 and the drive assembly 100 respectively, the drive assembly 100 is used to make the nozzle assembly 200 reach a preset position, and the nozzle assembly 200 is used to output rust converter when it reaches the preset position; the camera assembly 300 is mounted on the drive assembly 100 and moves with the nozzle assembly 200, the camera assembly 300 is used to photograph the rusted area, and the control device 400 is used to acquire the image of the rusted area captured by the camera assembly 300.

[0041] In the embodiments of this application, the nozzle assembly 200 is equipped with a drive component 100 to reach a high position, and remote operation is achieved in conjunction with the camera component 300 and the control device 400. The nozzle assembly 200 can easily cover high and hard-to-reach areas without climbing ladders. At the same time, the nozzle assembly 200 outputs a rust converter, which has the characteristic of no grinding and can directly convert rust into paint, thereby greatly improving work efficiency.

[0042] Understandably, the drive assembly 100 acts as a power source and carrier, driving the nozzle assembly 200 and camera assembly 300 to move, delivering the nozzle assembly 200 to a preset high or hard-to-reach position. The camera assembly 300 moves with the nozzle assembly 200, capturing images of the rusted area in real time and transmitting the images to the control device 400. Based on the images, the rust condition is determined, and the control device 400 or technicians remotely control the drive assembly 100 and / or nozzle assembly 200 to output a non-grinding rust converter to the target area, thus achieving rust removal.

[0043] It should be noted that the drive component 100 can directly deliver the nozzle component 200 to hard-to-reach areas such as high places and narrow spaces, ensuring operator safety and expanding the rust removal range to areas inaccessible by traditional methods, thus improving operational convenience. The camera component 300 transmits real-time images of the rusted area, allowing for adjustments to the nozzle component 200's position and preventing waste of conversion agent or incomplete rust removal caused by blind operation. The rust conversion agent output by the nozzle component 200 can directly convert rust into paint, eliminating the traditional rust removal grinding step, reducing work processes, significantly shortening the time for a single rust removal session, and improving overall work efficiency.

[0044] Specifically, rust conversion agent is a chemical agent that can transform rust on metal surfaces, such as those mainly composed of Fe2O3 and FeO(OH), into a stable and highly adhesive protective layer without the need for physical grinding / acid pickling. The core of the agent is to break down the loose structure of rust through chelation and redox reactions, transforming unstable iron oxides into a dense "conversion film". This solves the problems of low efficiency and damage to the substrate caused by traditional rust removal methods. It is widely used in metal corrosion protection scenarios such as substation maintenance, steel structures, automobile chassis, and ship parts.

[0045] In some embodiments, the drive component 100 can be designed specifically according to actual usage needs or application scenarios. For example, in more complex and general scenarios, the drive component 100 can be set as a mechanism that can be driven by multiple degrees of freedom, or in simpler scenarios, the drive component 100 can be set as a simple mechanical transmission mechanism such as a telescopic mechanism or a lifting mechanism to save costs. This will not be described in further detail. Those skilled in the art can set and select the drive component 100 according to actual needs.

[0046] In some embodiments, the nozzle assembly 200 can be configured to continuously output in the same direction, and the spraying position can be changed by driving the drive assembly 100. In other embodiments, the nozzle assembly 200 itself has a multi-directional output function, thereby realizing the change or fine adjustment of the spraying position. Based on this, the output end of the nozzle assembly 200 can be configured as a movable nozzle or a rotatable nozzle, or a combination of both, etc., to meet the requirements of multi-directional output function. The specific structure of the nozzle assembly 200 will not be further described here. Those skilled in the art can set and select the nozzle assembly 200 according to actual needs.

[0047] In some embodiments, the camera assembly 300 is mounted on the drive assembly 100 and moves synchronously with the nozzle assembly 200 to image a high position. In other embodiments, in addition to the camera assembly 300 being mounted on the drive assembly 100, another drive component can be added to adjust the detection position of the camera assembly 300, thereby further enriching the imaging effect and the function of the rust removal device of this application embodiment.

[0048] In some embodiments, the control device 400 can achieve automated control based on the imaging matching algorithm of the camera component 300, enabling the rust removal device of this application embodiment to achieve the rust removal effect. In other embodiments, the control device 400 can also acquire and display information from the camera component 300, allowing technicians to directly operate the control device 400 based on images and other information to achieve control.

[0049] The following will combine Figure 1 The rust removal device disclosed in the embodiments of this application will be explained and described in detail.

[0050] In some embodiments of this application, the control device 400 is configured to generate a spraying control command based on an image of the rusted area captured by the camera assembly 300, and the spray head assembly 200 is configured to perform a closed-loop spraying operation on the rusted area in response to the spraying control command.

[0051] Understandably, in some embodiments, the camera component 300 captures images of the rusted area and transmits them to the control device 400. The control device 400 analyzes the images, such as identifying the rust range and degree, and generates matching spraying control commands, such as spraying path, dosage, and start / stop timing. After receiving the commands, the nozzle component 200 executes the spraying action. At the same time, the camera component 300 can provide real-time feedback on the spraying effect. The control device 400 adjusts the commands based on the feedback to form a closed-loop spraying process. Combined with the position adjustment of the drive component 100, the rust removal accuracy is improved, the rust removal quality is guaranteed, and the rust removal operation can be remotely closed-loop operated, adapting to complex scenarios.

[0052] For example, the control device 400 is configured to assess the degree of rust based on the image of the rusted area captured by the camera component 300, determine the spraying parameters of the nozzle assembly 200 based on the degree of rust, and perform spraying operations on the rusted area based on the spraying parameters.

[0053] Understandably, in some embodiments, the camera component 300 captures images of the rusted area and transmits them to the control device 400. The control device 400 uses image recognition algorithms to assess the degree of rust, such as identifying the rust area and rust layer thickness, and classifies it as light / moderate / severe. Then, based on the preset correspondence between the degree of rust and the spraying parameters, it determines the spraying dosage, speed, and number of coverages of the spray head component 200. Finally, it sends parameter instructions to the spray head component 200. The spray head component 200, in conjunction with the position adjustment of the drive component 100, sprays the rusted area according to the parameters, while the camera component 300 provides feedback on the adjusted parameters to adapt to different rust conditions.

[0054] In some embodiments, the degree of corrosion is determined by a comprehensive corrosion index R. index To conduct an assessment;

[0055] ;

[0056] ;

[0057] Among them, A r N represents the percentage of rusted area. rust N represents the number of pixels identified as rust. total This represents the total number of pixels in the image.

[0058] T r This represents the corrosion type level, with a set value greater than or equal to 1. The larger the value, the more severe the corrosion.

[0059] β1 and β2 are weighting coefficients, such that R index The range is normalized to [0,1], R index The higher the value, the more severe the corrosion.

[0060] In some embodiments, the nozzle assembly 200 has a movable output end, and the spraying parameters include spraying amount per unit area and moving speed;

[0061] ;

[0062] ;

[0063] Where Q is the amount of coating per unit area, Q min For the minimum coating amount, Q max The maximum coating amount is given; k is a non-linear adjustment factor.

[0064] V represents the moving speed of the nozzle assembly 200. min For the minimum moving speed, V max This represents the maximum movement speed.

[0065] For example, a method for performing a closed-loop spraying operation includes: after the spray head assembly 200 completes the spraying operation process, the control device 400 evaluates the spraying effect based on the image of the rusted area captured again by the camera assembly 300, and corrects and updates the spraying parameters based on the spraying effect.

[0066] Understandably, in some embodiments, the nozzle assembly 200 first completes the operation according to the initial spraying parameters, and then the camera assembly 300 captures the image of the rusted area again and transmits it to the control device 400. The control device 400 compares the image after spraying with the ideal rust removal effect standard, evaluates whether there are problems such as missed spraying or incomplete conversion, and then, based on the evaluation results, if there is missed spraying, the spraying path is corrected; if the conversion is insufficient, the dosage is increased / the spraying time is extended, and the original spraying parameters are specifically corrected and updated. Subsequently, the next round of spraying can be started based on the corrected parameters, forming a closed-loop optimization process. By dynamically correcting the parameters, incomplete rust removal caused by the deviation of the initial parameters is avoided. By locating the problem and correcting the parameters through secondary evaluation, the final spraying effect is ensured to meet the standard. After multiple closed loops, the corrected parameters will be more suitable for this type of rust scenario, improving the work efficiency.

[0067] In some embodiments, the coating effect is determined by calculating the rust conversion rate C. r Conduct an assessment;

[0068] ;

[0069] A r_后 A represents the percentage of rusted area after spraying. r_前 This represents the percentage of rusted area before spraying.

[0070] In some embodiments, the rust removal device also includes a display 500 for displaying images captured by the camera assembly 300. It is understood that the camera assembly 300 captures images of the rusted area, transmitting them to the control device 400 for rust assessment and parameter calculation, and simultaneously outputting them to the display 500 for intuitive presentation. Operators do not need to approach high or narrow rusted areas; they can clearly see the images captured by the camera assembly 300 on the display 500 and monitor the rust location, condition, and spraying effect in real time for auxiliary judgment. If necessary, manual intervention can be performed to adjust the position of the drive assembly 100 or the spraying parameters. The control device 400 then instructs the nozzle assembly 200 to operate according to optimized parameters to achieve the rust removal operation.

[0071] In some embodiments, the drive assembly 100 includes a telescopic rod having a fixed end 110 and a movable end 120, the movable end 120 being movable relative to the fixed end 110. A display 500 and a control device 400 are mounted on the fixed end 110, while a camera assembly 300 and a nozzle assembly 200 are mounted on the movable end 120. It is understood that the telescopic rod, through the extension and retraction of the movable end 120 relative to the fixed end 110 (e.g., stretching or contracting), drives the camera assembly 300 and nozzle assembly 200 mounted on the movable end 120 to a high or hard-to-reach preset position. The fixed end 110 integrates the display 500 and the control device 400. The operator views the image transmitted from the camera assembly 300 on the display 500 at the fixed end 110, and then sends commands to the nozzle assembly 200 and the telescopic rod at the movable end 120 via the control device 400, such as adjusting the extension length or starting the spraying operation, to achieve rust removal.

[0072] For example, the nozzle assembly 200 includes a nozzle component 210 and a reservoir component 220. The reservoir component 220 stores a rust-converting agent, and the nozzle component 210 sprays the rust-converting agent from the reservoir component 220. It is understood that the reservoir component 220 pre-stores a no-grind rust-converting agent, providing a continuous material supply to the nozzle component 210. Under the command of the control device 400, the nozzle component 210 sprays the agent from the reservoir component 220. Both are integrated into the movable end 120 of the telescopic rod, moving synchronously with the movable end 120 to the rusted area, adapting to the rust removal needs of high and hard-to-reach areas.

[0073] In some embodiments, the nozzle component 210 is an electric nozzle, and the liquid storage component 220 is a replaceable or addable liquid storage tank.

[0074] The rust removal device of this application is described in detail below with a specific embodiment. It should be noted that the following embodiment is merely an exemplary description and should not be construed as limiting the embodiments of this application.

[0075] See Figure 1 As shown, the rust removal device of this embodiment includes a telescopic rod, a control device 400, a display 500, a camera assembly 300, a nozzle assembly 210, and a liquid storage tank as a liquid storage assembly 220.

[0076] In some embodiments, the telescopic rod can be a hydraulic telescopic rod, a pneumatic telescopic rod, or a mechanically structured telescopic rod.

[0077] The control device 400 and display 500 are integrated and located at the bottom of the telescopic pole. The camera assembly 300, nozzle assembly 210, and display 500 are all electrically connected to the control device 400. Furthermore, the camera assembly 300, liquid reservoir, and nozzle assembly 210 are integrated and fixedly mounted on the top of the telescopic pole. This allows the operator to directly hold the telescopic pole from the ground and control its extension and retraction, as well as the nozzle assembly 210 to spray liquid from the liquid reservoir, via the control device 400.

[0078] In actual operation, the rust converter is first loaded into the storage tank. Then, holding the telescopic rod, the image of the camera component 300 is observed through the display 500. The control device 400 is then operated to gradually move the nozzle component 210 to the desired position. Finally, the nozzle component 210 is started to spray.

[0079] In addition, to achieve fully automated rust removal, the control unit incorporates a visual rust recognition module and an adaptive spraying control algorithm, forming an intelligent system that realizes perception, decision-making, execution, and evaluation. The system captures rust images in real time through the camera component 300. After analysis by the control unit, it automatically determines the optimal spraying parameters and drives the spray head component 210 to execute. The effect can be evaluated again after spraying, forming a continuously optimized operation loop.

[0080] For example, the model algorithm specifically includes:

[0081] Corrosion degree quantification algorithm:

[0082] The degree of corrosion, R, is assessed comprehensively based on two dimensions: the percentage of corrosion area, A. r Corrosion type grade T r .

[0083] 1. Percentage Calculation:

[0084]

[0085] N rust The number of pixels identified as rusted;

[0086] N total Total number of pixels in the image;

[0087] 2. Corrosion type and grade assessment:

[0088] Based on image texture and color depth features, corrosion is classified into three levels:

[0089] T r =1 is set as mild: surface rust, light color, no peeling or flaking;

[0090] T r=2 is set to medium: the rust layer is relatively thick, and local oxide scale peeling is visible;

[0091] T r =3 is set to severe: serious corrosion, large-area peeling or pitting;

[0092] 3. Comprehensive Corrosion Index R index :

[0093]

[0094] β1 and β2 are weighting coefficients, with values ​​of β1=0.7 and β2=0.3.

[0095] R index The range is normalized to [0,1], and the larger the value, the more severe the corrosion.

[0096] Automatic spraying control algorithm:

[0097] The control system is based on R index It calculates and outputs two core spraying parameters in real time: spraying amount per unit area and nozzle movement speed.

[0098] 1. Coating amount per unit area Q

[0099]

[0100] Q min Minimum spraying amount, such as 0.05 ml / cm² 2 (For very minor rust)

[0101] Q max Maximum spray volume, such as 0.25 ml / cm³ 2 (For severe corrosion)

[0102] k: Nonlinear adjustment factor, k=1.5.

[0103] 2. Nozzle moving speed V (cm / s)

[0104]

[0105] Minimum moving speed, such as 2cm / s;

[0106] Maximum moving speed, such as 10 cm / s;

[0107] The more severe the corrosion, the slower the movement, ensuring adequate coverage.

[0108] Effectiveness evaluation:

[0109] After spraying, the system takes images again and calculates the rust conversion rate C.r The purpose is to evaluate the effect of this spraying and provide a basis for parameter correction in subsequent areas or the next operation.

[0110]

[0111] These represent the percentage of rusted area before and after spraying, respectively.

[0112] If C r <Preset value, the preset value can be set to 90%, then the system will proportionally increase the spraying amount coefficient k or the baseline spraying amount Q for the next area or the next operation. min .

[0113] In some specific scenario implementations, the treatment involves large-area uniform corrosion of the steel structure of the substation and localized heavy corrosion at bolt connections. The specific parameters are as follows.

[0114] Large-area uniform corrosion treatment for substation steel structure:

[0115] The outdoor steel frame columns of the substation show large areas of uniform moderate corrosion.

[0116] Image analysis results: A r =40%, T r =2 Moderate. R index The output value is 0.58.

[0117] The coating amount per unit area was further obtained as Q = 0.138 ml / cm². 2 The nozzle moving speed V = 5.36 cm / s.

[0118] The control device 400 automatically performs spraying according to the above parameters, and re-measures are performed after spraying. r_后 =5%, C r =87.5%, lower than the preset value of 90%, the system fine-tunes the parameters. When working in adjacent areas subsequently, the system will... min From 0.05 ml / cm 2 Fine-tune to 0.055 ml / cm 2 Compensation will be provided.

[0119] Treatment of localized severe corrosion at bolt connections:

[0120] The equipment connecting bolts and the surrounding small area are severely corroded and peeling.

[0121] Image analysis results: A r =15%, T r =3 Moderate. R index The output value is 0.705.

[0122] The spraying amount per unit area was further obtained as Q = 0.1686 ml / cm². 2 The nozzle moving speed V = 4.36 cm / s.

[0123] The control device 400 automatically performs spraying according to the above parameters, and re-measures are performed after spraying. r_后 =1%, C r =93.3%, higher than the preset value of 90%, achieving the target. This parameter combination (low speed, high spray volume) is recorded as an optimized template for "treating localized severe corrosion" and uploaded to the cloud.

[0124] It is understood that the rust removal device of this application embodiment is used in the maintenance of infrastructure such as substations to solve the common and difficult-to-treat rust problem. Remote operation not only significantly improves processing efficiency but also substantially reduces labor costs and safety risks. Its advantages are particularly evident in high-altitude, narrow, or inaccessible areas. Furthermore, with the continuous development of intelligent and automated technologies, this device is expected to be integrated with other intelligent devices to form a more efficient operation and maintenance system, providing strong support for the long-term safe operation of industrial facilities.

[0125] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0126] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more. It should be noted that the term "and / or" used herein is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Similarly, at least one of A or B can also represent: A alone, A and B simultaneously, or B alone.

[0127] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0128] In the foregoing description of this specification, references to terms such as "one embodiment," "another embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A rust removal device characterized by, The device comprises a driving assembly, a nozzle assembly, a camera assembly and a control device. The nozzle assembly is arranged on the driving assembly. The control device is configured to control the nozzle assembly and the driving assembly respectively, the driving assembly is configured to drive the nozzle assembly to reach a preset position, and the nozzle assembly is configured to output a rust conversion agent when reaching the preset position. The camera assembly is arranged on the driving assembly and moves with the nozzle assembly, and the camera assembly is configured to capture a rust area. The control device is configured to generate a spraying control instruction according to the rust area image captured by the camera assembly, and the nozzle assembly is configured to perform a closed-loop spraying operation on the rust area according to the spraying control instruction.

2. The rust removal device according to claim 1, characterized by: The control device is configured to evaluate the rust degree according to the rust area image captured by the camera assembly, determine spraying parameters of the nozzle assembly according to the rust degree, and perform a spraying operation on the rust area by the nozzle assembly based on the spraying parameters.

3. The rust removal device according to claim 2, characterized by: The nozzle assembly has a movable output end, and the spraying parameters include a spraying amount per unit area and a moving speed.

4. The rust removal device according to claim 3, characterized by: The degree of rusting is determined by the comprehensive rust index R index The assessment is made; ； ； Wherein, A r is the rust area ratio, N rust is the number of pixels identified as rust, N total is the total number of pixels in the image; T r For rust type rating, the value is greater than or equal to 1, and the larger the value, the more serious the rust. β1, β2 are weight coefficients, such that R index is normalized to [0, 1], R index The greater the value, the more severe the corrosion.

5. The rust removal device according to claim 4, characterized by: The method for performing a closed-loop spraying operation comprises the following steps: after the nozzle assembly completes a spraying operation process, the control device evaluates a spraying effect according to a rust area image captured by the camera assembly again, and corrects and updates the spraying parameters according to the spraying effect. ； ； wherein Q is the unit area spraying amount, Q min is the minimum spraying amount, Q max is the maximum spraying amount; k is a non-linear adjustment factor; V is the nozzle assembly movement speed, V min is the minimum movement speed, V max is the maximum movement speed.

6. A rust removal device according to claim 4 or 5, characterised in that: The rust removal device further comprises a display configured to display the image obtained by the camera assembly.

7. The rust removal device according to claim 6, characterized by: The spray effect is calculated by the corrosion conversion rate C r Evaluation is performed; ； A r_后 A is the ratio of the rusted area after spraying r_前 A is the ratio of the rusted area before spraying.

8. The rust removal device of claim 1, wherein: The driving assembly comprises a telescopic rod having a fixed end and a movable end, the movable end is movable relative to the fixed end, the display and the control device are arranged on the fixed end, and the camera assembly and the nozzle assembly are arranged on the movable end.

9. The rust removal device according to claim 8, characterized by: The nozzle assembly comprises a nozzle component and a liquid storage component, the liquid storage component is configured to store the rust conversion agent, and the nozzle component is configured to spray the rust conversion agent in the liquid storage component out.

10. The rust removal device of claim 1, wherein: ​

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