A double helix adjustable angle chain rolling type river channel floating object cleaning device for cleaning a ship

Abstract

This invention relates to the field of marine engineering, specifically to a double-helix adjustable-angle chain roller-type river debris cleaning device for cleaning vessels. The device includes a memory and a processor. The processor processes instructions stored in the memory to achieve the following steps: acquiring basic state data of the floating debris to determine the cutterhead reference speed value, and then correcting the cutterhead reference speed value to obtain a corrected cutterhead speed value; determining the bulkiness coefficient of the floating debris based on the cohesion resistance characteristic value and the stacking density, and determining the final adjustment amount of the double-helix angle based on the bulkiness coefficient; adjusting the double-helix reference speed to obtain the double-helix target speed; and using the cutterhead corrected speed value, the final adjustment amount of the double-helix angle, and the double-helix target speed as control commands to drive and control the cutterhead and the V-shaped double-helix device, respectively. This invention effectively improves the adaptability and cleaning reliability of the cleaning device by adaptively determining the operating parameters of the floating debris cleaning device.

Description

Technical Field

[0001] This invention relates to the field of marine engineering, and more specifically to a double-helix adjustable-angle chain roller type river debris cleaning device for cleaning vessels. Background Technology

[0002] Floating debris in rivers encompasses various types, including domestic waste, aquatic plant remains, and light industrial waste. Its long-term accumulation poses a serious threat to river ecosystems and the safety of water conservancy projects, thus necessitating its removal. As the core equipment for river debris removal, the performance of the cleaning devices on the cleaning vessel directly determines the cleaning efficiency and effectiveness. Currently, mainstream cleaning vessel devices are widely used in daily cleaning operations in small and medium-sized rivers and reservoirs. However, with the acceleration of urbanization, floating debris in rivers exhibits new characteristics: greater diversity, significant differences in physical properties, and drastic fluctuations in flow. This presents unprecedented challenges to the adaptability and reliability of cleaning devices.

[0003] Existing cleanup vessels and cleaning devices generally suffer from the following prominent defects: Poor adaptability to operating conditions: The fixed structural parameters of the equipment lack the ability to dynamically respond to the characteristics of materials. For example, when handling highly entangled aquatic plants, fibers are prone to entanglement with rotating parts, causing equipment jamming and forcing work to be interrupted for manual cleaning. At the same time, the fixed conveying parameters cannot adapt to the differences in volume and flowability of different materials, from loose plastics to heavy wood waste, often leading to conveyor blockages or slippage.

[0004] Insufficient continuity and reliability of operations: When faced with hard foreign objects, traditional devices often lack effective buffering or protection mechanisms, which can easily cause impact damage to working parts or structural deformation, resulting in frequent equipment failures. This seriously restricts the continuous operation capability and overall efficiency of the cleanup vessel.

[0005] Therefore, there is an urgent need for a cleaning vessel that can intelligently sense material characteristics, dynamically adjust working parameters, and has high reliability to meet the increasingly severe demands of river management. Summary of the Invention

[0006] To address the technical problem of poor system robustness in existing river debris removal devices used by river cleaning vessels, the present invention aims to provide a double-helix adjustable-angle chain roller type river debris removal device for river cleaning vessels. The specific technical solution adopted is as follows: One embodiment of the present invention provides a double-helix adjustable-angle chain roller type river debris cleaning device for cleaning boats, including a memory and a processor, wherein the processor is used to process instructions stored in the memory to implement the following process: Acquire a set of basic state data of the floating objects during this operation using the cleaning device; the set of basic state data includes at least the stacking density, cumulative gathering work, and hardness characteristic value, wherein the cumulative gathering work is obtained by integrating the gathering resistance characteristic value. The cutter head reference speed value is determined based on the accumulated gathering work, and the cutter head reference speed value is corrected using the hardness characteristic value to obtain the cutter head corrected speed value for this operation; The bulkiness coefficient of the floating object is determined based on the cohesion resistance characteristic value and the stacking density, and the final adjustment amount of the double helix angle is determined based on the bulkiness coefficient. Obtain the reference speed of the double helix under no-load conditions; adjust the reference speed of the double helix according to the working condition adaptation coefficient corresponding to the basic state data group to obtain the target speed of the double helix; The cutter head and the V-shaped double helix device are driven and controlled by the corrected rotation speed value of the cutter head, the final adjustment amount of the double helix angle, and the target rotation speed of the double helix, respectively.

[0007] Furthermore, the acquisition of the basic state data set of floating objects by the cleaning device during this operation includes: The actual mass and stacking volume of the floating objects on the shovel during this operation are collected, and the ratio of the actual mass to the stacking volume is taken as the stacking density. The operating torque at each moment during the garbage grabbing time of this operation is collected, and the difference between the operating torque and the no-load reference torque is used as the aggregation resistance characteristic value. The vibration frequency of the cutter head is collected, and the difference between the cutter head vibration frequency and the no-load vibration frequency is used as the hardness characteristic value.

[0008] Further, determining the cutter head reference rotational speed value based on the accumulated gathering work includes: The proportional coefficient was calibrated through experiments, and the reference rotational speed of the cutter head was derived based on the accumulated gathering work.

[0009] Further, the step of correcting the cutter head reference speed value using the hardness characteristic value to obtain the corrected cutter head speed value for this operation includes: The hardness characteristic value is normalized to obtain the speed correction coefficient, and the speed adjustment amount is determined based on the speed correction coefficient and the cutter head reference speed value. The cutter head reference speed value is adjusted according to the speed adjustment amount to obtain the cutter head corrected speed value for this operation.

[0010] Further, determining the bulkiness coefficient of the floating object based on the cohesion resistance characteristic value and the stacking density includes: The aggregation resistance characteristic values ​​at each moment during the garbage grabbing time are fused to obtain the aggregation resistance fused value; The first fluff factor is obtained by normalizing the cohesion resistance fusion value, and the second fluff factor is obtained by normalizing the stacking density. The fluffiness coefficient of the floating object is determined by combining the first fluffiness factor and the second fluffiness factor; the fluffiness coefficient is positively correlated with the first fluffiness factor and negatively correlated with the second fluffiness factor.

[0011] Further, determining the final adjustment amount of the double helix angle based on the loft coefficient includes: The actual cutting amount is determined based on the hardness characteristic value and the agglomeration volume per unit time; the actual cutting amount is negatively correlated with the hardness characteristic value and positively correlated with the agglomeration volume. The effective conveying area of ​​the double helix is ​​determined based on the fluffiness coefficient, the actual cutting amount, and the real-time rotational speed of the double helix shaft; the effective conveying area of ​​the double helix is ​​positively correlated with the fluffiness coefficient and the actual cutting amount, and negatively correlated with the real-time rotational speed of the double helix shaft. The final adjustment amount of the included angle of the double helix is ​​determined based on the effective conveying area of ​​the double helix.

[0012] Further, determining the final adjustment amount of the double-helix angle based on the effective conveying area of ​​the double helix includes: The target angle of the double helix is ​​determined based on the effective conveying area of ​​the double helix, the center distance between the double helix shafts, and the effective height of the helix blades. The base adjustment amount is determined based on the difference between the target angle of the double helix and the current angle of the double helix; Based on the difference between the working torque values ​​of the double helix shaft at two adjacent moments, it is determined whether to introduce a correction coefficient for the included angle of the basic adjustment amount, and then the final adjustment amount of the included angle of the double helix is ​​determined based on the determination result.

[0013] Further, determining the final adjustment amount of the double helix angle based on the judgment result includes: If the load increment is greater than the preset change threshold, the base adjustment amount is corrected using the included angle correction coefficient to obtain the final adjustment amount; the load increment is the difference between the working torque values ​​at two adjacent moments, and the included angle correction coefficient is determined by the load increment and the rated load of the screw drive motor; If the load increment is not greater than the preset change threshold, then the basic adjustment amount is used as the final adjustment amount.

[0014] Further, adjusting the double-helix reference speed according to the working condition adaptation coefficient corresponding to the basic state data group to obtain the double-helix target speed includes: The angle of the double helix target is normalized to obtain a normalized angle value, and the speed adjustment coefficient is determined by combining it with the working condition adaptation coefficient. The working condition adaptation coefficient is set according to the working condition state corresponding to the basic state data group. The speed adjustment coefficient is negatively correlated with the normalized angle value and positively correlated with the working condition adaptation coefficient. The target speed of the double helix is ​​obtained by weighting the reference speed of the double helix using the speed adjustment coefficient.

[0015] A floating debris removal device for river channels, using a double-helix adjustable-angle chain roller, includes a collection mechanism, a pretreatment unit, and a conveying unit arranged sequentially along the debris conveying direction. The collection mechanism includes a shovel and two symmetrically arranged rotating gathering mechanisms for guiding the floating debris to the pretreatment unit. The pretreatment unit includes a cutter head and a V-shaped double-helix device disposed behind the cutter head, wherein the included angle of the shaft of the V-shaped double-helix device is adjustable. The conveying unit is a chain roller conveying mechanism for outputting the floating debris processed by the pretreatment unit. The V-shaped double helix device and the cutter head constitute an anti-entanglement cooperative mechanism. The anti-entanglement system of the anti-entanglement cooperative mechanism is used to acquire the basic state data set of floating objects during the current operation of the cleaning device. The basic state data set includes at least the stacking density, cumulative gathering work and hardness characteristic value. The cumulative gathering work is obtained by integrating the gathering resistance characteristic value. The cutter head reference speed value is determined based on the accumulated gathering work, and the cutter head reference speed value is corrected using the hardness characteristic value to obtain the cutter head corrected speed value for this operation; The bulkiness coefficient of the floating object is determined based on the cohesion resistance characteristic value and the stacking density, and the final adjustment amount of the double helix angle is determined based on the bulkiness coefficient; the reference rotation speed of the double helix under no-load conditions is obtained; The double-helix reference speed is adjusted according to the working condition adaptation coefficient corresponding to the basic state data group to obtain the double-helix target speed. The cutter head and the V-shaped double helix device are driven and controlled by the corrected rotation speed value of the cutter head, the final adjustment amount of the double helix angle, and the target rotation speed of the double helix, respectively.

[0016] The present invention has the following beneficial effects: In this invention, a basic state data set including stacking density, cumulative gathering work, and hardness characteristic values ​​is acquired, enabling real-time and quantitative perception of the physical properties of floating objects. Multi-dimensional data fusion provides a reliable data foundation for subsequent intelligent decision-making. The cutter head rotation speed is determined and corrected based on the cumulative gathering work, achieving adaptive matching between the cutter head rotation speed and material entanglement and hardness. Determining the corrected cutter head rotation speed significantly reduces the probability of entanglement, jamming, and impact damage, while ensuring crushing efficiency under different working conditions. The bulkiness coefficient is determined based on the gathering resistance and density, and the double-helix angle is adjusted, achieving dynamic adaptation between the geometry of the conveying channel and the bulkiness characteristics of the material. Determining the final adjustment amount of the double-helix angle significantly improves conveying smoothness, adaptively avoiding blockages and slippage. The double-helix reference rotation speed is adjusted based on the working condition adaptation coefficient, achieving adaptive matching between the conveying speed and overall working conditions. Determining the target double-helix rotation speed helps the conveying unit always operate near the optimal load point, optimizing energy efficiency while ensuring continuity. By using the cutter head's corrected rotation speed, the double helix's included angle, and the target rotation speed of the double helix as commands for coordinated control, this invention achieves intelligent collaborative operation of the core execution components (cutter head and double helix). This invention forms a closed loop from perception to decision-making to execution, elevating local adaptability to system-level robustness, fundamentally ensuring the continuous, stable, and efficient operation of the entire machine under complex working conditions. In summary, this invention, through adaptive determination of the floating debris cleaning device's operating parameters, can effectively improve the device's adaptability to operating conditions and its cleaning reliability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of a double-helix adjustable-angle chain roller river debris cleaning device for a cleaning vessel, as an embodiment of the present invention. Figure 2 This is a schematic diagram of the cutter head structure in an embodiment of the present invention; Figure 3 This is a front view of the overall device in an embodiment of the present invention; Figure 4 This is a top view of the entire device in an embodiment of the present invention; Figure 5 This is an execution flowchart of an anti-winding system for driving an anti-winding cooperative mechanism according to an embodiment of the present invention; Figure 1 , Figure 2 , Figure 3 and Figure 4 The reference numerals in the attached diagram are as follows: 1 is the shovel plate; 2 is the rotating and gathering mechanism; 3 is the cutter head; 4 is the chain; 5 is the V-shaped double helix device; and 6 is the roller. Detailed Implementation

[0019] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the specific implementation methods, structures, features, and effects of the technical solution proposed according to the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0021] Example 1 of a double-helix adjustable-angle chain roller river debris removal device for cleaning boats: This embodiment provides a double-helix adjustable-angle chain roller type river debris removal device for cleaning vessels, including a collection mechanism, a pretreatment unit, and a conveying unit arranged sequentially along the debris conveying direction. A schematic diagram of the overall device structure is shown below. Figure 1 As shown in the diagram, the structural schematic of the cutter head 3 is as follows: Figure 2 As shown, the overall front view of the device is as follows: Figure 3 As shown, the overall top view of the device is as follows: Figure 4 As shown.

[0022] The collection mechanism includes a shovel plate 1 and two symmetrically arranged rotating gathering mechanisms 2, used to guide floating objects to the pretreatment unit. To prevent the floating objects from scattering and smaller objects from leaking from the sides of the shovel plate 1, the rotating gathering mechanisms 2 on both sides, in conjunction with opposing rotation logic, synchronously gather the scattered floating objects towards the center of the device, thereby increasing the collection volume per batch. The shovel plate 1 is responsible for scooping up the floating objects; its draft and tilt angle are adjustable. After scooping up the floating objects, the shovel plate can be tilted upwards, allowing the floating objects to slide towards the inner cutter disc 3 and the V-shaped double helix device 5. The blades of the rotating gathering mechanism 2 feature a ribbon-like spiral design, with flexible rubber strips and high-density brushes at the edges. The flexible rubber strips adhere to the inner wall of the shovel plate 1 to scrape off adhering wet, soft aquatic plants, while the high-density brushes comb through the aquatic plant fibers, reducing the risk of entanglement in subsequent components from the source.

[0023] Additionally, it should be noted that the rotating collection mechanism 2 can move a short distance horizontally around its axis, increasing the collection coverage area through opening and closing motions.

[0024] The pretreatment unit includes a cutter head 3 and a V-shaped double helix device 5 located behind the cutter head 3. The included angle of the shaft of the V-shaped double helix device 5 is adjustable. Compared with the traditional single helix conveying structure, the structural layout of the V-shaped double helix device 5 expands the space for accommodating floating objects and reserves a pretreatment buffer zone, preventing larger or harder floating objects or aquatic plants from directly reaching the conveying unit without being fully processed, thus reducing the risk of entanglement and jamming. The blades of the V-shaped double helix device 5 adopt a pitch design with a looser front and a tighter rear, that is, the blades use a variable pitch design where the pitch at the front section is greater than the pitch at the rear section. Specifically, the pitch is larger near the cutter head end to accept dispersed broken objects, while the pitch is smaller near the chain roller end to compress the volume of waste and increase the conveying thrust. The V-shaped double helix device 5 is adjusted by using a hydraulic cylinder or electric push rod to achieve stepless adjustment of the included angle to adapt to different floating object volumes. It is equipped with an independent speed control unit (speed is adjusted via a hydraulic proportional valve): a small included angle requires a higher speed to adapt to small volume lightweight waste, and a large included angle requires a lower speed to adapt to broken and entangled materials. The V-shaped double helix device 5 and the cutter head 3 constitute an anti-entanglement cooperative mechanism. When an entanglement risk is detected, the V-shaped double helix device 5 is configured to increase the shaft angle to form a pre-processing buffer zone, allowing the cutter head 3 to crush the entangled material.

[0025] The conveying unit is a chain roller conveyor mechanism used to output the floating debris processed by the pretreatment unit. The chain roller conveyor mechanism is arranged at an upward angle to adapt to the height of the collection chamber, and consists of a chain 4 and multiple rollers 6. The rollers 6 have anti-slip textured surfaces to enhance the friction of wet, slippery waste and prevent slippage during transport. Small gaps and elastic buffer pads are provided between the rollers 6; the small gaps prevent leakage of small debris, and the buffer pads accommodate irregularly shaped waste to prevent jamming. A chain tensioning assembly is also provided to adjust the tension in real time to ensure stable operation.

[0026] The river debris removal device in this embodiment may also include a buffer protection system. A hydraulic buffer is installed at the support of the cutter head 3 and the V-shaped double helix device 5. This buffer allows the cutter head 3 to swing backward by 5° to 10° when encountering hard objects such as tree branches or plastic buckets. The buffer absorbs the impact energy through hydraulic oil damping, preventing tooth breakage and shaft deformation. At the moment the buffer is displaced under pressure, its built-in displacement sensor or pressure sensor immediately sends a signal to the control system, triggering the cutter head 3 to instantly decelerate or stop urgently, so as to minimize hard contact damage. After the hard object passes and the buffer automatically resets under the action of the built-in spring, the cutter head 3 resumes normal rotation speed.

[0027] It should be noted that by using the displacement or pressure signal of the buffer protection system, the cutter head 3 is triggered to decelerate instantly upon impact with a hard object, thus protecting the equipment.

[0028] The river floating debris removal device in this embodiment may also include a drive and transmission system, consisting of a hydraulic motor, a reducer and a chain drive device, for providing power to the auger shaft and chain rollers and ensuring adjustable speed.

[0029] In summary, the river floating debris cleaning device of this invention adopts a V-shaped double helix adjustable angle design, combined with a front-loose and rear-tight pitch blade, to expand the floating debris holding space and form a pre-treatment buffer zone, preventing untreated hard objects from directly impacting the conveying components. It can also adapt to different volumes of garbage through stepless angle adjustment. The flexible rubber strip and brush of the rotating mechanism reduce the adhesion of aquatic plants from the source, and the rotating cutting disc integrates low-friction teeth to simultaneously achieve the functions of cutting aquatic plants and hooking lightweight objects, completely reducing the risk of equipment jamming.

[0030] More importantly, the river floating debris removal device in this embodiment may also include an anti-entanglement system for driving the anti-entanglement cooperative mechanism, the execution flowchart of which is shown below. Figure 5 As shown, it includes: S1, acquire the basic status data set of floating objects during this operation using the cleaning device.

[0031] Here, the basic state data set includes at least the stacking density, cumulative swarming work, and hardness characteristic value. The cumulative swarming work is obtained by integrating the swarming resistance characteristic value.

[0032] Before the operation begins, the system performs a no-load calibration to obtain the reference parameters of each component.

[0033] In one specific implementation, the system performs an initialization calibration procedure before each operation begins, or at a preset time interval (e.g., every 4 hours). The operator steers the cleanup vessel into clear waters with virtually no floating debris, starts the cleanup device, and runs all its components (such as the rotating gathering mechanism 2, the cutter head 3, and the V-shaped double helix device 5) unloaded for 10 to 15 seconds. During this period, the anti-entanglement system automatically collects and records data such as torque, vibration frequency, and rotational speed, and uses their average values ​​as a series of reference parameters, including the unloaded reference torque, unloaded vibration frequency, and reference rotational speed for this operation, for subsequent difference and comparison calculations.

[0034] As a specific implementation, the aforementioned data set of basic state information of floating debris acquired by the cleaning device during this operation includes: The first step is to collect the actual mass and stacking volume of the floating objects on shovel plate 1 during this operation, and use the ratio of the actual mass to the stacking volume as the stacking density.

[0035] Here, the packing density is used to characterize the type of material, i.e., the type of floating matter.

[0036] The first sub-step involves using a weighing sensor at the bottom of the shovel plate 1 to collect real-time weight data of the floating debris. After collecting five sets of data consecutively, the average of the five sets is taken as the actual mass of the floating debris on the shovel plate 1 during this operation. The actual mass has already deducted the weight of the shovel plate 1 itself, directly reflecting the actual mass of the collected debris.

[0037] The second sub-step involves using infrared sensors installed on both sides of the shovel plate 1 to perform a two-dimensional planar scan of the surface of the shovel plate 1 to obtain the coverage area of ​​floating debris; the stacking volume is determined by multiplying the coverage area of ​​floating debris and the average stacking height; or, by using multiple infrared sensors at different angles to perform cross-scanning, a simple three-dimensional point cloud model is constructed, and the volume is directly calculated and estimated.

[0038] The average stacking height is an empirical value calibrated based on historical big data. During the equipment commissioning phase, the average height of typical floating objects such as aquatic plants, plastic bottles, and driftwood when naturally stacked on shovel plate 1 was measured, forming a database of the correspondence between floating object types and average heights. During operation, the system can initially identify the material type based on sensor data and retrieve the corresponding empirical height value from the database for volume estimation.

[0039] The third sub-step is to use the ratio of the actual mass to the stacked volume as the stacking density.

[0040] The second step is to collect the operating torque at each moment during the garbage grabbing time of this operation, and use the difference between the operating torque and the no-load reference torque as the characteristic value of the aggregation resistance.

[0041] Here, the eigenvalue of the cohesion resistance is used to characterize volume and entanglement.

[0042] In this embodiment, the operating torque of the rotating mechanism is collected in real time at each moment during the garbage grabbing time of this operation by a torque sensor. The PLC (Programmable Logic Controller) is used to retrieve the preset no-load reference torque or the no-load reference torque during no-load calibration. The difference between the operating torque and the no-load reference torque is used as the characteristic value of the gathering resistance. Here, the garbage grabbing time refers to the time taken for the shovel plate 1 to grab a batch of garbage.

[0043] It should be noted that the difference between the running torque and the no-load reference torque can reflect the resistance to the aggregation of floating objects. The larger the difference, the greater the resistance encountered when the objects aggregate, that is, the stronger the aggregation of the floating objects.

[0044] Furthermore, after the floating debris is grabbed by the shovel plate 1 and the rotating gathering mechanism 2 of the collection mechanism, it needs to be crushed by the cutter disc 3. The rotation speed of the cutter disc is determined by the characteristic value of the gathering resistance of the floating debris per unit time. Therefore, the integral value of the gathering resistance characteristic value at each moment during a single garbage grabbing time is calculated as the cumulative gathering work.

[0045] The third step is to collect the vibration frequency of the cutter head and use the difference between the vibration frequency of the cutter head 3 and the no-load vibration frequency as the hardness characteristic value.

[0046] Here, hardness eigenvalues ​​are used to characterize the hardness of materials.

[0047] In this embodiment, the vibration frequency is collected by a cutter head vibration sensor, and the average value of the vibration frequency within a preset time period is taken as the cutter head vibration frequency. The hardness characteristic value of the floating object is calculated by the difference between the cutter head vibration frequency and the no-load vibration frequency of the cutter head 3. The larger the difference, the higher the hardness of the floating object contacting the cutter head. The preset time period is defined as the period from the 1st second to the 6th second after the shovel plate 1 completes its upward movement and the floating object first contacts the cutter head. This time window is designed to stably collect vibration data when the cutter head is breaking hard objects, eliminating interference from the initial impact and the end idling.

[0048] Thus, this embodiment has obtained a set of basic state data of floating objects during this operation.

[0049] After determining the stacking density, clumping resistance characteristic value, and hardness characteristic value based on the raw data, these values ​​are matched against a preset working condition database. If the values ​​reach the corresponding levels, the corresponding working condition can be directly identified, classifying the current floating debris state as a lightweight, loose waste condition, a high-density aquatic plant condition, or a mixed waste condition containing hard materials. The clumping resistance characteristic value used for matching against the preset working condition database is the average of the clumping resistance characteristic values ​​at all moments during the waste grabbing time.

[0050] Specifically: when the stacking density is low, the aggregation resistance characteristic value is low, and the hardness characteristic value is low, it is judged as a light loose waste condition; when the stacking density is medium, the aggregation resistance characteristic value is high, and the hardness characteristic value is medium, it is judged as a high-density aquatic plant condition; when the stacking density is high, the aggregation resistance characteristic value is high, and the hardness characteristic value is high, it is judged as a mixed waste condition containing hard materials.

[0051] For the preset operating condition library numerical ranges under different operating conditions, three basic data sets under different operating conditions are extracted through experiments or historical data, and the numerical ranges of all basic data sets under the three operating conditions are calibrated as the preset operating condition library numerical ranges. Specifically, the calibration method involves collecting at least 100 sets of typical operating condition sample data that can be clearly classified visually. Statistical analysis is performed on the data of the three dimensions of stacking density, cohesion resistance characteristic value, and hardness characteristic value under each operating condition. The 25th to 75th percentile (i.e., interquartile range, IQR) of the data distribution is taken as the core numerical range of the corresponding operating condition judgment standard to improve the robustness of the judgment.

[0052] It should be noted that if the characteristic data of the current floating object does not fall completely within any preset working condition range, in order to ensure equipment safety, the system will default to the working condition of mixed waste containing hard objects with the highest risk level and execute its corresponding conservative control strategy.

[0053] S2. The reference rotation speed of the cutter head is determined based on the cumulative gathering work, and the reference rotation speed of the cutter head is corrected using the hardness characteristic value to obtain the corrected rotation speed of the cutter head for this operation.

[0054] A basic crushing speed is determined based on the total amount to be processed, and then real-time adjustments are made based on the processing difficulty to obtain the final cutter head adjustment speed value, which is used to ensure that the crushing capacity matches the incoming material, so as to avoid overloading or idling.

[0055] The cumulative gathering work refers to the integral of the gathering resistance characteristic value over time during a single garbage grabbing time. It reflects the total energy consumed or work done by the rotating gathering mechanism 2 to overcome the agglomeration of floating objects, and can also effectively characterize the total volume and degree of entanglement of the material to be processed.

[0056] The cumulative gathering work and the cutter head speed are positively correlated, that is, the greater the cumulative gathering work, the greater the cutter head speed. By calibrating the proportionality coefficient k1 through experiments, the reference speed value of the cutter head can be directly derived from the cumulative gathering work.

[0057] As an example, the formula for calculating the reference rotational speed of the cutter head can be: In the formula, V represents the reference rotational speed of the cutter head. Indicates the cumulative accumulation of merit. It represents a proportionality coefficient.

[0058] The proportionality coefficient k1 is used to correlate the total amount of material to be processed with the basic crushing capacity of the cutter head 3. The calibration target is to ensure that the cutter head speed can reach 80%-90% of its rated operating speed when the device is handling a floating load at its design limit. For example, if the maximum continuous cumulative gathering work measured by experiments is 500 N·m·s, then the ideal cutter head speed is 200 rpm. In general, the proportional coefficient k1 is preset in the PLC controller.

[0059] The rotational speed is corrected by adjusting the vibration fluctuation of the cutter head 3. The more intense the vibration, the less complete the cutting, and the rotational speed needs to be increased accordingly until the vibration returns to a stable state. Therefore, the corrected rotational speed value of the cutter head for this operation is obtained by correcting the base rotational speed value of the cutter head using the hardness characteristic value.

[0060] Here, the cutter head correction speed value is used to achieve adaptive adjustment of the front-end crushing capacity.

[0061] As a specific implementation method, the cutter head reference speed value is corrected using the hardness characteristic value to obtain the corrected cutter head speed value for this operation, including: The speed correction coefficient is obtained by normalizing the hardness characteristic value, and the speed adjustment amount is determined based on the speed correction coefficient and the cutter head reference speed value. The cutter head reference speed value is adjusted according to the speed adjustment amount to obtain the cutter head corrected speed value for this operation.

[0062] As an example, the formula for calculating the tool turret correction speed value in this operation can be: In the formula, V represents the cutter head correction speed value, V represents the cutter head reference speed value, and F represents the hardness characteristic value. Indicates the no-load vibration frequency. This represents the speed correction factor. This indicates the amount of speed adjustment.

[0063] In the formula for calculating the corrected rotational speed of the cutter head, the no-load vibration frequency of the cutter head 3 is used to normalize the hardness characteristic value, ensuring that the rotational speed correction coefficient is a dimensionless data point, which facilitates the correction of the cutter head's reference rotational speed value. Taking the absolute value of the hardness characteristic value ensures that the amplitude of both positive and negative vibration frequency deviations serves as the basis for increasing the rotational speed to cope with increased cutting difficulty. The larger the hardness characteristic value, the greater the difficulty for the cutter head in handling the floating object in this case. To ensure sufficient cutting, the cutter head rotational speed needs to be increased accordingly.

[0064] Thus, this embodiment has obtained the corrected rotational speed value of the cutter head for this operation.

[0065] S3. Determine the bulkiness coefficient of the floating object based on the characteristic value of the cohesion resistance and the stacking density, and determine the final adjustment amount of the double helix angle based on the bulkiness coefficient.

[0066] It should be noted that in this step, the single grabbing time and the volume of aggregated waste per unit time required to calculate the actual cutting volume are based on the same floating waste volume as the waste grabbing time and stacking volume defined in step S1.

[0067] Based on the dynamic matching of the cutting output of the cutter head 3 to the double helix conveyor, and combined with the fluffiness and agglomeration characteristics of floating objects on the water surface, the final adjustment amount of the double helix angle is derived through existing basic data and real-time conveying status.

[0068] The bulkiness of the floating material directly determines the space required for the double helix. Therefore, it is positively correlated with the cohesion resistance characteristic value and inversely correlated with the stacking density. That is, the larger the cohesion resistance characteristic value and the smaller the stacking density, the larger the bulkiness coefficient of the floating material.

[0069] As a specific implementation method, the bulkiness coefficient of the floating object is determined based on the cohesion resistance characteristic value and the stacking density, including: The aggregation resistance characteristic values ​​at each moment during the garbage grabbing time are fused to obtain the aggregation resistance fusion value; The first fluffing factor is obtained by normalizing the coalescence resistance fusion value, and the second fluffing factor is obtained by normalizing the stacking density. The bulkiness coefficient of the floating object is determined by combining the first bulkiness factor and the second bulkiness factor.

[0070] As an example, the formula for calculating the bulkiness coefficient of floating objects can be: P represents the bulkiness coefficient of the floating debris, and J represents the cohesion resistance fusion value, which is equal to the average of the cohesion resistance characteristic values ​​at all times during the debris grabbing time. This represents the baseline convergence resistance characteristic value. M represents the first bulk factor, and M represents the bulk density. Indicates the baseline stacking density. This indicates the second fluffing factor.

[0071] In the formula for calculating the bulkiness coefficient, the baseline cohesion resistance characteristic value and the baseline stacking density are used to normalize the calculation of the bulkiness coefficient. A complete equipment grab-and-crush cycle is performed using standard test material (e.g., a specific mass of fully soaked standard-sized sawdust or plastic granules per unit volume). The average cohesion resistance characteristic value and stacking density measured during this process are used as the baseline cohesion resistance characteristic value and the baseline stacking density, respectively. This calibration procedure can be performed before the equipment leaves the factory or during periodic maintenance. and The ratio of [value] to [value] can more accurately characterize the fluffiness of the current floating object relative to most standard floating objects.

[0072] It should be noted that the bulkiness coefficient can be used to distinguish the bulkiness characteristics under different working conditions. For example, high-density aquatic plants have medium density and aggregation resistance characteristics, resulting in a large calculated bulkiness coefficient, indicating a high bulkiness state. Lightweight loose debris has low density and aggregation resistance characteristics, resulting in a medium bulkiness coefficient. Mixed debris containing hard materials has high density and aggregation resistance characteristics, with a bulkiness coefficient similar to that of high-density aquatic plants. However, due to the high proportion of hard materials, the focus should be on impact resistance rather than bulkiness. Determining the bulkiness coefficient here is beneficial for providing a clear basis for subsequent adjustment of the double helix angle.

[0073] As a specific implementation method, the final adjustment amount of the double helix angle is determined based on the loft coefficient, including: The first step is to determine the actual cutting amount based on the hardness characteristic value and the volume of coalescing per unit time.

[0074] Here, the actual cutting amount is used to characterize the actual material flow rate entering the spiral after the cutter head 3 is crushed. The actual cutting amount is negatively correlated with the hardness characteristic value and positively correlated with the agglomeration volume.

[0075] The first sub-step is to determine the cutting efficiency based on the hardness characteristic value.

[0076] The higher the hardness of the floating object, the less complete the cutting and the worse the cutting efficiency. Therefore, the hardness characteristic value is negatively correlated with the cutting efficiency.

[0077] As an example, the formula for calculating cutting efficiency can be: In the formula, X represents the cutting efficiency, and F represents the hardness characteristic value. Indicates the no-load vibration frequency. This represents the absolute value of the hardness characteristic.

[0078] In the formula for calculating cutting efficiency, Less than ,so The value ranges from 0 to 1; the hardness characteristic value is negatively correlated with cutting efficiency, so it is adopted... ; Dimensionless and normalized processing is used to achieve cutting efficiency.

[0079] It should be noted that although the hardness characteristic value is determined by the vibration frequency of the cutter head and the no-load vibration frequency, in order to avoid affecting the physical meaning of the cutting efficiency calculation formula itself, the hardness characteristic value is not split. Instead, the difference between the vibration frequency of the cutter head and the no-load vibration frequency (i.e., the hardness characteristic value) is calculated and analyzed as a whole. In this embodiment, the absolute value is used.

[0080] The second sub-step involves determining the actual cutting amount based on the cutting efficiency and the volume of material gathered per unit time.

[0081] Here, the actual cutting volume is positively correlated with both cutting efficiency and agglomeration volume; the greater the cutting efficiency and agglomeration volume, the greater the actual cutting volume.

[0082] In this embodiment, the volume of floating debris grabbed in a single grab divided by the grab time in a single grab can be obtained. The actual cutting amount can be obtained by multiplying the cutting efficiency by the volume of the gathered debris per unit time.

[0083] As an example, the formula for calculating the actual cutting amount can be: In the formula, Q represents the actual cutting amount, X represents the cutting efficiency, and N represents the product of the aggregated volume per unit time.

[0084] The second step is to determine the effective conveying area of ​​the double spiral based on the fluffiness coefficient, the actual cutting amount, and the real-time rotation speed of the double spiral shaft.

[0085] Here, the effective conveying area is positively correlated with the fluffiness coefficient and the actual cutting volume, and negatively correlated with the conveying capacity of the double helix shaft (reflected by the rotational speed). The larger the fluffiness coefficient and the actual cutting volume, and the smaller the real-time rotational speed of the double helix shaft, the larger the effective conveying area of ​​the double helix. The real-time rotational speed of the double helix shaft is used to quantify the rotational speed value of the effective conveying area in this control cycle, and it is taken from the actual rotational speed measurement value of the double helix shaft at the end of the previous control cycle.

[0086] As an example, the formula for calculating the effective conveying area of ​​a double spiral can be: In the formula, This represents the effective conveying area of ​​the double helix, Q represents the actual cutting volume, and P represents the bulkiness coefficient of the floating material. This indicates the real-time rotational speed of the double-helix shaft, directly acquired via a speed sensor. This represents a dimensionless conveying efficiency coefficient used to calibrate the actual conveying capacity at different speeds; it is a fixed value calibrated experimentally.

[0087] The conveying efficiency coefficient is a dimensionless coefficient ranging from 0 to 1, used to correct for the difference between the theoretical and actual conveying capacity caused by factors such as material slippage and friction losses between the blades and the material. Its calibration method is as follows: Under standard operating conditions, the double-helix device is set to operate at a constant speed, and the volume of standard material conveyed per unit time is measured. Simultaneously, the theoretical conveying volume is calculated based on the helix's geometric parameters and rotational speed. The conveying efficiency coefficient is then equal to the ratio of the standard material volume to the theoretical conveying volume.

[0088] It should be noted that, to prevent calculation crashes due to the real-time rotational speed being zero when the double helix device starts or stops, a very small positive bias can be added to the denominator of the above fraction. For example, the denominator can be modified to... , It is a very small value, such as 0.01 m / s.

[0089] The third step is to determine the final adjustment amount of the double helix angle based on the effective conveying area.

[0090] The first sub-step involves determining the target angle of the double helix based on the effective conveying area, the center distance between the double helix shafts, and the effective height of the helix blades.

[0091] The geometric relationship between the effective conveying area of ​​the double helix and the included angle of the double helix is ​​the key to achieving precise adjustment. The double helix conveying channel can be approximated as an isosceles triangular region, so the geometric relationship between its cross-sectional area and the included angle of the two helical shafts depends only on the fixed structural parameters of the equipment itself. The fixed parameters include the center distance between the double helix shafts and the effective height of the helical blades.

[0092] Here, the center distance between the two helical shafts is defined as the distance between the center lines of the two V-shaped helical shafts, which is an inherent structural parameter of the equipment; the effective height of the helical blade is defined as the radial distance from the outer edge of the helical blade to the center of the helical shaft, which is also an inherent structural parameter of the equipment.

[0093] In this embodiment, the size of the target angle of the double helix can be deduced by utilizing the calculation principle of the area of ​​an isosceles triangle, based on the effective conveying area, the center distance between the double helix shafts, and the effective height of the helix blades.

[0094] Before the target angle of the double helix, a limiting step is added to prevent the calculation result from exceeding the effective domain of the arcsine function. First, amplitude limiting processing is required, that is, setting the parameters... .

[0095] If A is greater than 1, it means that the conveying cross-sectional area required for the current material flow rate and bulkiness has exceeded the maximum conveying cross-sectional area that the equipment can provide in terms of its physical structure. This indicates that the system is in a critical overload state. Taking A as 1, the included angle is set to the maximum included angle that can provide the maximum capacity, corresponding to... That is, 90 degrees, as an emergency response strategy.

[0096] If A is less than or equal to -1, then A is set to -1, and finally... .

[0097] In the formula, The angle between the two helical targets is represented by A, which represents a parameter to be determined. Represents the arcsine function. H represents the effective conveying area of ​​the double helix, H represents the effective height of the helical blades, and B represents the center distance between the double helix shafts.

[0098] It should be noted that the calculation of the double helix angle adjustment amount also needs to be combined with real-time status and safety redundancy, that is, real-time feedback of the double helix shaft torque is introduced to make the final correction of the angle adjustment amount, prevent the impact caused by parameter sudden change, and actively prevent blockage and entanglement.

[0099] The second sub-step involves determining the base adjustment amount based on the difference between the target angle of the double helix and the current angle of the double helix.

[0100] In this embodiment, the current angle of the double helix is ​​obtained by an angle sensor, and then the difference between the target angle of the double helix and the current angle of the double helix is ​​calculated, and the difference is used as the basic adjustment amount.

[0101] The third sub-step involves determining whether to introduce a correction coefficient for the included angle of the basic adjustment based on the difference between the working torque values ​​of the double helix shaft at two adjacent moments, and then determining the final adjustment amount of the included angle of the double helix based on the determination result.

[0102] After obtaining the basic adjustment amount, it is then determined whether to introduce load feedback to correct the basic adjustment amount. The working torque value of the double helix shaft, i.e., the operating load of the device, is collected in real time by a torque sensor; then, the load increment is obtained by subtracting the torque value at the previous sampling time from the current torque value; finally, it is determined whether to introduce the angle correction coefficient of the basic adjustment amount based on the load increment, thereby determining the final adjustment amount of the double helix angle.

[0103] The final adjustment amount of the double helix angle, determined based on the judgment result, includes: In the first case, if the load increment is greater than the preset change threshold, the base adjustment amount is corrected using the included angle correction coefficient to obtain the final adjustment amount.

[0104] Here, the included angle correction coefficient is determined by the load increment and the rated load of the screw drive motor. The rated load of the screw drive motor is defined as the rated torque or power value obtained from the nameplate or technical manual of the drive motor of the V-type double helix device 5, which is a fixed equipment performance parameter. The preset change threshold can be set to an adjustable engineering parameter greater than zero, such as 1% of the rated load of the screw drive motor. By comparing the load increment with the preset change threshold, small torque fluctuations during normal operation of the equipment can also be filtered out, avoiding unnecessary oscillations caused by the overly sensitive control system.

[0105] In this embodiment, when the load increment is greater than 0, it indicates that the load is increasing, which may indicate a risk of entanglement or blockage. At this time, an angle correction factor is introduced. The formula for calculating the angle correction factor is as follows: In the formula, This represents the angle correction factor. Indicates the load increment. This indicates the rated load of the screw drive motor.

[0106] The final adjustment amount is determined based on the included angle correction factor and the basic adjustment amount. The formula for calculating the final adjustment amount is as follows: In the formula, Indicates the final adjustment amount. Indicates the base adjustment amount. This represents the angle correction factor.

[0107] In the second scenario, if the load increment is not greater than the preset change threshold, the basic adjustment amount will be used as the final adjustment amount.

[0108] It should be noted that the basic adjustment is dynamically corrected by monitoring the load increment of the double helix shaft in real time to prevent blockage.

[0109] Thus, this embodiment has determined the final adjustment amount of the double helix angle.

[0110] S4, obtain the reference speed of the double helix under no-load conditions; adjust the reference speed of the double helix according to the working condition adaptation coefficient corresponding to the basic state data group to obtain the target speed of the double helix.

[0111] The coordinated matching of the twin helix speeds requires that the speed be linked to the cutting volume and the angle adjustment results to ensure no accumulation during the cutting and conveying process. Specifically, the helix speed is negatively correlated with the angle; that is, a small angle requires a high speed to enhance thrust, while a large angle allows for a low speed for gentler conveying. Therefore, based on the determined target angle of the twin helix and the current operating conditions, the reference speed of the twin helix is ​​adjusted in reverse to obtain the coordinated target speed.

[0112] Here, the double-helix reference speed refers to the default speed under no-load conditions. It is defined as a fixed engineering parameter preset according to equipment design and safety specifications, used for no-load or initial conditions. For example, it can be set to 10%-20% of the motor's rated maximum speed to ensure smooth start-up and avoid shock.

[0113] To avoid clogging by loose materials, the smaller the included angle, the higher the rotation speed needs to be to increase the thrust of dense materials. Therefore, in this embodiment, a working condition adaptation coefficient is introduced to establish an inverse relationship between rotation speed and included angle.

[0114] As a specific implementation method, the double-helix reference speed is adjusted according to the working condition adaptation coefficient corresponding to the basic state data set to obtain the double-helix target speed, including: The first step is to normalize the included angle of the double helix target to obtain the normalized angle value, and then determine the speed adjustment coefficient by combining the working condition adaptation coefficient.

[0115] Here, the operating condition adaptation coefficient is set according to the corresponding operating condition of the basic state data group and is used to coordinate the adjustment of the double helix speed; the speed adjustment coefficient is negatively correlated with the normalized value of the included angle and positively correlated with the operating condition adaptation coefficient.

[0116] In the formula, Indicates the speed adjustment coefficient. Indicates the working condition adaptation coefficient. This represents the normalized value of the included angle.

[0117] In the calculation formula of the speed adjustment coefficient, the working condition adaptation coefficient can reflect the influence of material characteristics on the speed. Through repeated experiments under various typical working conditions such as light bulk waste, high-density aquatic plants, and mixed waste containing hard materials, the coefficient that enables the smoothest material conveying and the lowest energy consumption is calibrated, or it is obtained through statistical optimization based on a large amount of historical operating data. The empirical example settings are as follows: 0.8 for light bulk waste working condition, 0.5 for high-density aquatic plant working condition, and 0.6 for mixed waste containing hard materials working condition; obtain the upper limit of the maximum included angle of the double helix device, and use the ratio of the double helix target included angle to the upper limit of the maximum included angle as the included angle normalization value to realize the normalization processing of the double helix target included angle.

[0118] It should be noted that when the angle between the two helical targets is extremely small, the denominator approaches zero, which causes the calculated rotational speed of the two helical targets to approach infinity. A small positive offset, such as 0.05, can be added to the denominator of the rotational speed adjustment coefficient formula to prevent the calculated target rotational speed from being too large when the angle between the two helical targets is close to the minimum value, thus affecting the stability of the system.

[0119] The second step is to use the speed adjustment coefficient to weight the double-helix reference speed to obtain the double-helix target speed.

[0120] In this embodiment, the product of the speed adjustment coefficient and the double helix reference speed is calculated as the double helix target speed.

[0121] Thus, this embodiment has obtained the target rotational speed of the double helix.

[0122] S5 uses the corrected rotation speed of the cutter head, the final adjustment amount of the double helix angle, and the target rotation speed of the double helix as control commands to drive and control the cutter head and the V-shaped double helix device respectively.

[0123] In this embodiment, the calculated corrected rotational speed of the cutter head, the final adjustment amount of the double helix angle, and the target rotational speed of the double helix are used as control commands to drive the corresponding mechanism to perform an adaptive adjustment.

[0124] The river floating debris removal device in this embodiment can achieve adaptive control of the floating debris removal device under different operating conditions, specifically: In the case of lightweight bulk waste, due to its low density and low aggregation resistance characteristic value, the bulkiness coefficient is small, the filling rate is large, and the required cross-sectional area for conveying is small. Combined with a small target angle, a combination of "small angle + high speed" is formed to improve the conveying thrust. Under high-density aquatic plant conditions, the density is medium and the cohesion resistance characteristic value is large, resulting in a large fluffiness coefficient, a small filling rate, and a large transport cross-sectional area. Combined with a large target angle, a combination of "large angle + low speed" is formed to avoid aquatic plants from tangling and tearing. In the case of mixed waste containing hard materials, the density is high and the aggregation resistance characteristic value is large. Although the looseness coefficient is large, the proportion of hard materials is high. Therefore, a medium target angle and a medium target rotation speed will be obtained to balance the capacity and impact resistance, and achieve precise adaptation under different working conditions.

[0125] In summary, the anti-entanglement system of this invention accurately determines the waste working conditions by collecting data such as mass, volume, and torque in real time through multiple sensors; the cutter head speed is linked to the aggregation amount and corrected by vibration; the double helix angle is dynamically calculated in combination with the fluffiness; and the speed and angle are adapted in opposite directions to form targeted solutions such as "small angle + high speed" and "large angle + low speed", ensuring accurate matching of cutting and conveying states under different working conditions, which can greatly improve the continuity and adaptability of operations.

[0126] Example 2 of a double-helix adjustable-angle chain roller river debris removal device for cleaning boats: This embodiment provides a floating debris removal device for river channels using a double-helix adjustable-angle chain roller, including a memory and a processor. The processor is used to process instructions stored in the memory to implement the following process: Acquire a set of basic state data of the floating objects during this operation using the cleaning device; the set of basic state data includes at least the stacking density, cumulative gathering work, and hardness characteristic value, wherein the cumulative gathering work is obtained by integrating the gathering resistance characteristic value. The cutter head reference speed value is determined based on the accumulated gathering work, and the cutter head reference speed value is corrected using the hardness characteristic value to obtain the cutter head corrected speed value for this operation; The bulkiness coefficient of the floating object is determined based on the cohesion resistance characteristic value and the stacking density, and the final adjustment amount of the double helix angle is determined based on the bulkiness coefficient. Obtain the reference speed of the double helix under no-load conditions; adjust the reference speed of the double helix according to the working condition adaptation coefficient corresponding to the basic state data group to obtain the target speed of the double helix; The cutter head and the V-shaped double helix device 5 are driven and controlled by the corrected rotation speed value of the cutter head, the final adjustment amount of the double helix angle, and the target rotation speed of the double helix, respectively.

[0127] Therefore, the floating debris cleaning device for a river with a double helix adjustable angle chain roller provided in this embodiment is essentially a processor device, implemented by an internal data processing process. Since the data processing process has been described in detail in the above embodiment one of the floating debris cleaning devices for a river with a double helix adjustable angle chain roller, it will not be repeated here.

[0128] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A double-helix adjustable-angle chain roller type river debris cleaning device for cleaning boats, characterized in that, Includes a memory and a processor, the processor being used to process instructions stored in the memory to implement the following process: Acquire a set of basic state data of the floating objects during this operation using the cleaning device; the set of basic state data includes at least the stacking density, cumulative gathering work, and hardness characteristic value, wherein the cumulative gathering work is obtained by integrating the gathering resistance characteristic value. The cutter head reference speed value is determined based on the accumulated gathering work, and the cutter head reference speed value is corrected using the hardness characteristic value to obtain the cutter head corrected speed value for this operation; The bulkiness coefficient of the floating object is determined based on the cohesion resistance characteristic value and the stacking density, and the final adjustment amount of the double helix angle is determined based on the bulkiness coefficient. Obtain the reference rotational speed of the double helix under no-load conditions; The double-helix reference speed is adjusted according to the working condition adaptation coefficient corresponding to the basic state data group to obtain the double-helix target speed. The cutter head correction speed value, the final adjustment amount of the double helix angle, and the target speed of the double helix are used as control commands to drive and control the cutter head and the V-shaped double helix device, respectively.

2. The floating debris cleaning device for river channels with a double-helix adjustable angle chain roller as described in claim 1, characterized in that, The acquisition of the basic state data set of floating objects by the cleaning device during this operation includes: The actual mass and stacking volume of the floating objects on the shovel during this operation are collected, and the ratio of the actual mass to the stacking volume is taken as the stacking density. The operating torque at each moment during the garbage grabbing time of this operation is collected, and the difference between the operating torque and the no-load reference torque is used as the aggregation resistance characteristic value. The vibration frequency of the cutter head is collected, and the difference between the cutter head vibration frequency and the no-load vibration frequency is used as the hardness characteristic value.

3. The floating debris cleaning device for river channels with a double-helix adjustable angle chain roller as described in claim 1, characterized in that, The step of determining the cutterhead reference rotational speed value based on the accumulated gathering work includes: The proportional coefficient was calibrated through experiments, and the reference rotational speed of the cutter head was derived based on the accumulated gathering work.

4. The floating debris cleaning device for river channels with a double-helix adjustable angle chain roller as described in claim 1, characterized in that, The step of correcting the cutter head reference speed value using the hardness characteristic value to obtain the corrected cutter head speed value for this operation includes: The hardness characteristic value is normalized to obtain the speed correction coefficient, and the speed adjustment amount is determined based on the speed correction coefficient and the cutter head reference speed value. The cutter head reference speed value is adjusted according to the speed adjustment amount to obtain the cutter head corrected speed value for this operation.

5. A double-helix adjustable-angle chain roller type river debris cleaning device for a cleaning vessel according to claim 2, characterized in that, The determination of the bulkiness coefficient of the floating object based on the cohesion resistance characteristic value and the stacking density includes: The aggregation resistance characteristic values ​​at each moment during the garbage grabbing time are fused to obtain the aggregation resistance fused value; The first fluff factor is obtained by normalizing the cohesion resistance fusion value, and the second fluff factor is obtained by normalizing the stacking density. The fluffiness coefficient of the floating object is determined by combining the first fluffiness factor and the second fluffiness factor; the fluffiness coefficient is positively correlated with the first fluffiness factor and negatively correlated with the second fluffiness factor.

6. The floating debris cleaning device for river channels with a double-helix adjustable angle chain roller as described in claim 1, characterized in that, The determination of the final adjustment amount of the double helix angle based on the fluffiness coefficient includes: The actual cutting amount is determined based on the hardness characteristic value and the agglomeration volume per unit time; the actual cutting amount is negatively correlated with the hardness characteristic value and positively correlated with the agglomeration volume. The effective conveying area of ​​the double helix is ​​determined based on the fluffiness coefficient, the actual cutting amount, and the real-time rotational speed of the double helix shaft; the effective conveying area of ​​the double helix is ​​positively correlated with the fluffiness coefficient and the actual cutting amount, and negatively correlated with the real-time rotational speed of the double helix shaft. The final adjustment amount of the included angle of the double helix is ​​determined based on the effective conveying area of ​​the double helix.

7. A double-helix adjustable-angle chain roller type river debris cleaning device for cleaning boats according to claim 6, characterized in that, The step of determining the final adjustment amount of the double-helix angle based on the effective conveying area of ​​the double helix includes: The target angle of the double helix is ​​determined based on the effective conveying area of ​​the double helix, the center distance between the double helix shafts, and the effective height of the helix blades. The base adjustment amount is determined based on the difference between the target angle of the double helix and the current angle of the double helix; Based on the difference between the working torque values ​​of the double helix shaft at two adjacent moments, it is determined whether to introduce a correction coefficient for the included angle of the basic adjustment amount, and then the final adjustment amount of the included angle of the double helix is ​​determined based on the determination result.

8. A double-helix adjustable-angle chain roller type river debris cleaning device for cleaning boats according to claim 7, characterized in that, The step of determining the final adjustment amount of the double helix angle based on the judgment result includes: If the load increment is greater than the preset change threshold, the base adjustment amount is corrected using the included angle correction coefficient to obtain the final adjustment amount; the load increment is the difference between the working torque values ​​at two adjacent moments, and the included angle correction coefficient is determined by the load increment and the rated load of the screw drive motor; If the load increment is not greater than the preset change threshold, then the basic adjustment amount is used as the final adjustment amount.

9. A double-helix adjustable-angle chain roller type river debris cleaning device for a cleaning vessel according to claim 7, characterized in that, The step of adjusting the double-helix reference speed according to the working condition adaptation coefficient corresponding to the basic state data group to obtain the double-helix target speed includes: The angle of the double helix target is normalized to obtain a normalized angle value, and the speed adjustment coefficient is determined by combining it with the working condition adaptation coefficient. The working condition adaptation coefficient is set according to the working condition state corresponding to the basic state data group. The speed adjustment coefficient is negatively correlated with the normalized angle value and positively correlated with the working condition adaptation coefficient. The target speed of the double helix is ​​obtained by weighting the reference speed of the double helix using the speed adjustment coefficient.

10. A double-helix adjustable-angle chain roller type river debris cleaning device for cleaning boats, characterized in that, The system includes a collection mechanism, a pretreatment unit, and a conveying unit arranged sequentially along the direction of floating object transport. The collection mechanism includes a shovel and two symmetrically arranged rotating and gathering mechanisms for guiding the floating object to the pretreatment unit. The pretreatment unit includes a cutter head and a V-shaped double helix device located behind the cutter head, the included angle of the shaft of the V-shaped double helix device being adjustable. The conveying unit is a chain roller conveying mechanism for outputting the floating object processed by the pretreatment unit. The V-shaped double helix device and the cutter head constitute an anti-entanglement cooperative mechanism. The anti-entanglement system of the anti-entanglement cooperative mechanism is used to acquire the basic state data set of floating objects of the cleaning device during this operation. The basic state data set includes at least the stacking density, cumulative cohesion work, and hardness characteristic value, wherein the cumulative cohesion work is obtained by integrating the cohesion resistance characteristic value; The cutter head reference speed value is determined based on the accumulated gathering work, and the cutter head reference speed value is corrected using the hardness characteristic value to obtain the cutter head corrected speed value for this operation; The bulkiness coefficient of the floating object is determined based on the cohesion resistance characteristic value and the stacking density, and the final adjustment amount of the double helix angle is determined based on the bulkiness coefficient. Obtain the reference rotational speed of the double helix under no-load conditions; The double-helix reference speed is adjusted according to the working condition adaptation coefficient corresponding to the basic state data group to obtain the double-helix target speed. The cutter head correction speed value, the final adjustment amount of the double helix angle, and the target speed of the double helix are used as control commands to drive and control the cutter head and the V-shaped double helix device, respectively.

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