Foam cleaning robot for water distribution channel of rectangular secondary sedimentation tank

Abstract

A foam cleaning robot for a water distribution channel of a rectangular secondary sedimentation tank comprises a robot body. The walking assembly is used for driving the robot body to move along the canal; the cleaning assembly is used for being placed in the canal and comprises a cleaning frame body, a cleaning driving part, a rotating part and a cleaning part, the rotating part is rotationally installed on the cleaning frame body and driven by the cleaning driving part, and the cleaning part is fixed to the outer surface of the rotating part and tightly attached to the canal wall of the canal for cleaning; the scraping assembly is arranged at the rear end of the cleaning assembly in the cleaning direction and used for scraping residual foam and scum on the channel wall; the spraying assembly is arranged at the rear end, in the cleaning direction, of the scraping assembly and used for inhibiting foam regeneration by spraying an inhibitor; and the control module is used for controlling the cooperative action of each component. Through closed-loop control of a plurality of sensors and real-time feedback of foam thickness, water quality and obstacle data, automation of the whole process of'cleaning, scraping, foam inhibition and obstacle avoidance 'is achieved, and the cleaning efficiency and cleaning quality of channel wall foam are greatly improved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, specifically to a foam cleaning robot for a rectangular secondary sedimentation tank distribution channel. Background Technology

[0002] The secondary sedimentation tank distribution channel is an important component of the secondary sedimentation tank in a wastewater treatment system. Located at the front end of the secondary sedimentation tank, its main function is to evenly distribute the mixed liquor from biological treatment units (such as the aeration tank in the activated sludge process) to various areas of the secondary sedimentation tank. The distribution channel is typically rectangular or trapezoidal in shape. Its shape design helps ensure the stability of the water flow and reduces turbulence and short-circuiting. For example, the trapezoidal channel has a certain angled slope to better withstand the lateral pressure of the water flow.

[0003] Over time, a large amount of sludge, algae, microbial film, and other impurities will adhere to the walls of the secondary sedimentation tank distribution channel. These deposits increase the roughness of the channel, affecting the uniform distribution of water flow, which in turn leads to a decrease in the sedimentation effect of the secondary sedimentation tank. Under various circumstances, foam may be generated in the channel. The accumulation of foam on the channel wall will change the hydraulic characteristics of the channel. The foam occupies a certain space, which may reduce the actual water flow area in the distribution channel, resulting in uneven distribution of water flow velocity, which in turn affects the uniform distribution of the mixed liquor to the secondary sedimentation tank.

[0004] The existing secondary sedimentation tank water distribution channel is mostly cleaned manually using high-pressure water guns. However, this method is inefficient for large-area cleaning, has poor adaptability, and causes frequent foam regeneration, making cleaning difficult. Utility Model Content

[0005] This application provides a foam cleaning robot for a rectangular secondary sedimentation tank distribution channel to improve cleaning speed and cleaning effect.

[0006] According to this application, one embodiment provides a foam cleaning robot for a rectangular secondary sedimentation tank distribution channel, comprising:

[0007] Robot body;

[0008] A walking component is connected to the robot body and is used to drive the robot body to move along the water channel;

[0009] A cleaning assembly is connected to the robot body and is used to be placed in a water channel. The cleaning assembly includes a cleaning frame, a cleaning drive, a rotating part, and a cleaning part. The rotating part is rotatably mounted on the cleaning frame and driven by the cleaning drive. The cleaning part is fixed to the outer surface of the rotating part and closely adheres to the wall of the water channel for cleaning.

[0010] A scraping component, connected to the robot body, is located at the rear end of the cleaning component along the cleaning direction, and is used to scrape away residual foam and scum from the channel wall; and

[0011] The control module is integrated into the robot body and is used to control the coordinated movements of the walking component, the cleaning component, and the scraping component.

[0012] In another embodiment, the robot body integrates:

[0013] Foam thickness sensor for real-time monitoring of foam thickness in water channels;

[0014] Obstacle detection sensors are used to identify obstacles in a movement path;

[0015] Water quality sensors are used to monitor water quality parameters in canals in real time.

[0016] Wireless communication module, used for remote data transmission and receiving control commands;

[0017] Based on feedback data from the water quality sensor, foam thickness sensor, and obstacle detection sensor, the control module optimizes the cleaning path and operating parameters of the foam cleaning robot by coordinating the sweeping component, scraping component, and algorithm.

[0018] In another embodiment, the cleaning unit includes a rotating drum and multiple sets of cleaning brush heads disposed on the rotating drum. The rotating drum is coaxially sleeved on the outer ring of the rotating unit, and the rotating drum and the rotating unit remain relatively stationary in the circumferential direction. The multiple cleaning brush heads are evenly distributed on the outer surface of the rotating drum and are staggered along the axial direction.

[0019] In another embodiment, the tangential velocity direction of the cleaning section near the channel wall is opposite to the movement direction of the walking component.

[0020] In another embodiment, the rotating part is provided with at least one set, and multiple sets of the rotating parts are coaxially mounted with transmission wheels. The transmission wheels of adjacent rotating parts are connected by a transmission belt so that adjacent rotating parts are driven synchronously.

[0021] In another embodiment, the scraping assembly includes a scraper and an adjusting member. The scraper is rotatably mounted on the cleaning frame and contacts the channel wall. The rotation axis of the scraper is parallel to the rotation axis of the rotating part. The adjusting member is used to adjust and fix the contact angle between the scraper and the channel wall.

[0022] In another embodiment, the adjusting component includes an electric push rod and a hinge seat. One end of the electric push rod is mounted on the cleaning frame, and the other end is hinged to the scraper on the side away from the channel wall via the hinge seat, so as to adjust the contact pressure between the scraper and the channel wall by the extension and retraction of the electric push rod.

[0023] In another embodiment, a spraying assembly is further included at the rear end of the scraping assembly. The spraying assembly is connected to the robot body and is used to suppress foam regeneration by spraying an inhibitor. The control module dynamically adjusts the spraying pressure of the spraying assembly based on feedback data from the foam thickness sensor.

[0024] In another embodiment, the walking assembly includes a walking drive and a walking track. The walking drive is used to drive the walking track to walk. The walking track is provided with anti-slip strips, and the anti-slip strips are set at a non-zero angle with the walking direction. The control module optimizes the cleaning path and speed in real time based on the feedback data of the obstacle detection sensor.

[0025] In another embodiment, the robot body is equipped with photovoltaic modules, which are used to power and store energy for the various components of the foam cleaning robot.

[0026] According to the above embodiment, the rectangular secondary sedimentation tank water distribution channel foam cleaning robot places the robot body on the side of the channel and inserts the cleaning component into the inner wall. The walking component is controlled by the control module to move. During the movement, the cleaning drive component drives the rotating part and the cleaning part to rotate and clean the channel wall. Subsequently, the scraping component scrapes away the foam and scum on the channel wall behind the cleaning component. The overall movement is controlled by the control module to make each component work in coordination, which effectively improves the cleaning efficiency of the channel wall, reduces the time cost of manual cleaning, and is more flexible and convenient. The scraping after cleaning further improves the cleaning effect. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the foam cleaning robot for the rectangular secondary sedimentation tank water distribution channel in this embodiment;

[0028] Figure 2 This is a schematic diagram of the overall structure of the foam cleaning robot for the rectangular secondary sedimentation tank water distribution channel in this embodiment from another perspective;

[0029] Figure 3 This is a schematic diagram of the cleaning component in one embodiment;

[0030] Figure 4 This is a schematic diagram of the overall structure of the foam cleaning robot for the rectangular secondary sedimentation tank water distribution channel in this embodiment from another perspective;

[0031] Figure 5 for Figure 4 Enlarged view of section A;

[0032] Figure 6 A schematic diagram of the spraying component in one embodiment.

[0033] Figure label:

[0034] 1. Robot body; 11. Horizontal section; 12. Vertical section;

[0035] 2. Photovoltaic modules; 21. Mounting rack; 22. Photovoltaic panels; 23. Energy storage box;

[0036] 3. Walking components; 31. Walking tracks; 32. Anti-slip strips;

[0037] 4. Sweeping assembly; 41. Sweeping frame; 411. Mounting plate; 412. Upper mounting plate; 413. Lower mounting plate; 42. Cleaning drive unit; 43. Rotating part; 431. Rotating column; 44. Cleaning part; 441. Rotating drum; 442. Cleaning brush head; 45. Drive wheel; 46. Drive belt;

[0038] 5. Scraping assembly; 51. Scraper; 52. Positioning block; 53. Electric push rod; 54. Hinge seat; 55. Sleeve; 56. Rotating shaft;

[0039] 6. Spraying assembly; 61. Water tank; 62. First water supply pipe; 63. Second water supply pipe; 64. Water pump; 65. Sprayer head; 66. Positioning block; 67. Connecting plate; 68. Liquid filling connector;

[0040] 7. Control module; 71. Foam thickness sensor; 72. Obstacle detection sensor; 73. Water quality sensor; 74. Wireless communication module. Detailed Implementation

[0041] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0042] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments, and the operational steps involved in each embodiment can also be rearranged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for clearly describing a particular embodiment and do not imply that they represent the necessary components and / or order.

[0043] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. Unless otherwise specified, the terms "connection" and "linkage" used in this application include both direct and indirect connections (linkages).

[0044] The secondary sedimentation tank distribution channel is an important component of the secondary sedimentation tank in the sewage treatment system. Over time, a large amount of sludge, algae, microbial film and other impurities will adhere to the channel wall. These deposits will increase the roughness of the channel, affect the uniform distribution of water flow, and thus lead to a deterioration in the sedimentation effect of the secondary sedimentation tank. Under various reasons, foam will be generated in the channel. The accumulation of foam on the channel wall will change the hydraulic characteristics of the channel. The foam occupies a certain space, which may reduce the actual water flow area in the distribution channel, resulting in uneven distribution of water flow velocity, and thus affecting the uniform distribution of mixed liquor to the secondary sedimentation tank.

[0045] Currently, the cleaning of secondary sedimentation tank distribution channels is mostly done manually using high-pressure water guns. This method is inefficient and has poor adaptability when cleaning large areas, and the frequent foam regeneration makes cleaning difficult. Therefore, a foam cleaning robot for rectangular secondary sedimentation tank distribution channels is needed.

[0046] This application provides a foam cleaning robot for a rectangular secondary sedimentation tank distribution channel. The robot is set up to walk automatically along the side of the channel and directly cleans the channel wall during its automatic movement, thereby improving the cleaning speed and cleaning effect.

[0047] According to this application, please refer to Figure 1 , Figure 2 and Figure 3 One embodiment provides a foam cleaning robot for a rectangular secondary sedimentation tank distribution channel, including a robot body 1 and a walking component 3, a cleaning component 4, a scraping component 5, a spraying component 6, and a control module 7 connected to the robot body 1. The walking component 3 is used to drive the robot body 1 to move along the channel. The cleaning component 4 is used to be placed in the channel and includes a cleaning frame 41, a cleaning drive component 42, a rotating part 43, and a cleaning part 44. The rotating part 43 is rotatably mounted on the cleaning frame 41 and driven by the cleaning drive component 42. The cleaning part 44 is fixed to the outer surface of the rotating part 43 and closely adheres to the channel wall for cleaning. The scraping component 5 is located at the rear end of the cleaning component 4 along the cleaning direction and is used to scrape off residual foam and scum from the channel wall. The spraying component 6 is located at the rear end of the scraping component 5 along the cleaning direction and is used to inhibit foam regeneration by spraying inhibitors. The control module 7 is used to control the coordinated movement of the walking component 3, the cleaning component 4, the scraping component 5, and the spraying component 6.

[0048] When cleaning the water channel, the robot body 1 is placed directly on the side of the water channel and the cleaning component 4 is inserted into the inner wall. The walking component 3 is controlled by the control module 7 to move. During the movement, the front cleaning drive component 42 drives the rotating part 43 and the cleaning part 44 to rotate and clean the water channel wall. Subsequently, the scraping component 5 scrapes away the foam and scum on the channel wall behind the cleaning component 4. Finally, the rear end sprays inhibitors through the spraying component 6 to inhibit foam regeneration. The overall movement is controlled by the control module 7 to coordinate the actions of each component, which effectively improves the cleaning efficiency of the water channel wall, reduces the time cost of manual cleaning, and is more flexible and convenient. The scraping and inhibitor spraying after cleaning further improve the cleaning effect.

[0049] In this application, "front-end" and "back-end" are used for comparison based on the direction of travel. Please refer to [the relevant documentation / reference]. Figure 1 The cleaning component 4 has one side as the front end and the spraying component 6 has one side as the rear end. In other embodiments, the walking component 3 can walk in the opposite direction. The front and rear distribution and materials of each component can be adjusted and designed according to the on-site conditions of the items to be cleaned, which will not be elaborated here.

[0050] Please refer to Figure 1 and Figure 2 The robot body 1, serving as the core carrier, can utilize a lightweight aluminum alloy frame with an external waterproof shell to adapt to the humid environment of the water channel. In this embodiment, the robot body 1 is L-shaped, comprising a horizontal section 11 and a vertical section 12. The horizontal section 11 is positioned horizontally above the water channel, while the vertical section 12 is used to mount the cleaning component 4, extending into the water channel close to the channel wall. The walking component 3 is mounted at the lower end of the horizontal section 11 and positioned away from the vertical section 12, allowing the walking component 3 to move outside the water channel and drive the cleaning component 4 to clean inside the channel.

[0051] For details, please refer to Figure 1 and Figure 2 The robot body 1 integrates a foam thickness sensor 71, an obstacle detection sensor 72, a water quality sensor 73, and a wireless communication module 74. The water quality sensor 73 is located below the vertical section 12, making it easy to extend into the water channel to monitor the water quality parameters in real time. The foam thickness sensor 71 is installed at the front end of the horizontal section 11 near the direction of travel to monitor the foam thickness in the water channel in real time. The obstacle detection sensor 72 is installed at the front end of the horizontal section 11 near the direction of travel to identify obstacles in the movement path. The wireless communication module 74 is installed on the side of the horizontal section 11 away from the water channel and is arranged side by side with the control module 7. The wireless communication module is electrically connected to the various sensors and drive devices in each component of this application, and performs remote data transmission and receives control commands.

[0052] In this embodiment, the control module 7 optimizes the cleaning path and operating parameters of the foam cleaning robot by coordinating the sweeping component 4, the scraping component 5, the spraying component 6, and the algorithm based on feedback data from the water quality sensor 73, the foam thickness sensor 71, and the obstacle detection sensor 72.

[0053] Please refer to Figure 1 and Figure 3 In this application, the rotating part 43 is configured as a rotating column 431, and the cleaning part 44 includes a rotating cylinder 441 and multiple sets of cleaning brush heads 442 disposed on the rotating cylinder 441. The rotating cylinder 441 is coaxially sleeved on the outer ring of the rotating part 43, and the rotating cylinder 441 and the rotating part 43 remain relatively stationary in the circumferential direction. The multiple sets of cleaning brush heads 442 are evenly distributed on the outer surface of the rotating cylinder 441, so that the rotation of the rotating part 43 drives the rotating cylinder 441 and the multiple sets of cleaning brush heads 442 to rotate, thereby washing and cleaning the channel wall through the rotation of the brush heads. In this embodiment, the multiple sets of cleaning brush heads 442 are staggered along the axial direction to cover the cleaning depth and cleaning range of the rotating cylinder 441, reducing the number of missed cleaning positions.

[0054] Please refer to Figure 3 The cleaning brush head 442 can also be spirally distributed, specifically using nylon bristles, which are corrosion-resistant and highly flexible, adaptable to the uneven surface of the channel wall. The rotating drum 441 and the rotating part 43 can also be designed as a detachable structure to facilitate the replacement of the cleaning brush head 442 and maintain the continuous cleaning effect of the cleaning robot. In other embodiments, the bristles of the cleaning brush head 442 can also adaptively adjust the contact pressure with the channel wall through an elastic structure to ensure uniform cleaning force.

[0055] In this embodiment, the tangential velocity direction of the cleaning section 44 near the channel wall is opposite to the moving direction of the traveling component 3. This reverse rotation generates shear force, enhancing the dirt removal effect. In other embodiments, the tangential velocity direction of the cleaning section 44 near the channel wall can also be in the same direction as the moving component 3. However, the traveling speed and the rotational speed of the cleaning section 44 need to be calculated to avoid the cleaning section 44's rotational distance being the same or similar to its traveling distance, which would significantly reduce the cleaning effect. Therefore, the cleaning section 44 is designed to have a larger rotational speed and a slower traveling speed, creating a speed difference between the two to enhance the cleaning effect.

[0056] Please refer to Figure 1 and Figure 3The cleaning frame 41 is fixedly installed at the front end of the vertical section 12. It includes a mounting plate 411 fixed to the vertical section 12 and an upper mounting plate 412 and a lower mounting plate 413 extending away from the vertical section 12. The upper and lower ends of the rotating part 43 are respectively inserted into the upper mounting plate 412 and the lower mounting plate 413 and are rotatably installed through bearings. The axis of the rotating part 43 is set to match the plane of the channel wall so that the cleaning part 44 can better contact the channel wall. The cleaning drive 42 is a rotating motor, which is installed on the upper end of the upper mounting plate 412 away from the liquid surface. The output shaft of the rotating motor is connected to the upper end of the rotating part 43 through a coupling so that the rotating motor drives the rotating part 43 to rotate.

[0057] Please refer to Figure 1 and Figure 3 The rotating part 43 can be configured as one or more and is located near the upper mounting plate 412. When there is one rotating part 43, the rotating motor drives the rotating part 43 to rotate. When there are two rotating parts 43, a transmission wheel 45 is coaxially mounted on the rotating part 43, and the transmission wheels 45 of adjacent rotating parts 43 are connected by a transmission belt 46 so that adjacent rotating parts 43 are driven synchronously. When there are three or more rotating parts 43, except for the rotating parts 43 on both sides, the remaining rotating parts 43 are coaxially mounted with two transmission wheels 45 so as to rotate synchronously with the rotating parts 43 on both sides.

[0058] In other embodiments, the above-mentioned linkage structure can also be designed as other transmission methods such as gear meshing transmission, which will not be elaborated here.

[0059] For further details, please refer to... Figure 1 , Figure 4 and Figure 5 The scraping assembly 5 includes a scraper 51 and an adjusting component. The scraper 51 is rotatably mounted on the cleaning frame 41 via a rotating shaft 56 and is positioned in contact with the channel wall. The rotating shaft 56 of the scraper 51 is parallel to the rotating shaft 56 of the rotating part 43. The adjusting component is used to adjust and fix the contact angle between the scraper 51 and the channel wall. Specifically, the adjusting component includes an electric push rod 53 and a hinge seat 54. A position block 52 is fixed on the mounting plate 411. The electric push rod 53 is mounted on the position block 52, and the telescopic end of the electric push rod 53 is hinged to the side of the scraper 51 away from the channel wall via the hinge seat 54, so as to adjust the contact pressure between the scraper 51 and the channel wall by the telescopic movement of the electric push rod 53.

[0060] Please refer to Figure 4 and Figure 5 The hinge seat 54 is located on the side of the scraper 51 away from the scraper blade. The telescopic end of the electric push rod 53 is set as a sleeve 55. The sleeve 55 is engaged with the hinge shaft in the hinge seat 54 to achieve the hinge connection between the two.

[0061] In this embodiment, the scraper 51 can be made of polyurethane material, and its scraping blade can be designed as a flat structure, a serrated structure, or other structures that fit against the channel wall. By adjusting the contact pressure between the scraper 51 and the channel wall, friction is increased to improve the cleaning effect of the scraper 51. In other embodiments, the scraper 51 and the rotating shaft 56 can also be designed as a detachable structure to facilitate the replacement of the scraper 51, which will not be elaborated here.

[0062] The robot body 1 moves, and after the channel wall is cleaned by the cleaning component 4, the electric push rod 53 is activated to push the sleeve 55 and the hinge seat 54 to move, causing the scraper 51 to change angle and scrape off the foam and scum on the channel wall.

[0063] For further details, please refer to... Figure 1 , Figure 2 and Figure 6 The spraying assembly 6 includes a water tank 61, a first water supply pipe 62, a second water supply pipe 63, a water pump 64, and multiple nozzles 65. The water tank 61 and water pump 64 are both fixedly connected to the upper end of the robot body 1. The upper end of the water tank 61 is open and fitted with a liquid filling connector 68. One end of the first water supply pipe 62 is connected to the water tank 61, and the other end is connected to the water pump 64. One end of the second water supply pipe 63 is connected to the water pump 64, and the other end is connected to the nozzles 65 to supply liquid. Specifically, a positioning block 66 is fixedly connected to the rear end of the robot body 1. A connecting plate 67 is fixedly connected to one side of the positioning block 66. Multiple nozzles 65 are evenly installed on the connecting plate 67. The second water supply pipe 63 passes through the positioning block 66 for positioning and communicates with the multiple nozzles 65 within the connecting plate 67.

[0064] In this embodiment, the water storage tank 61 contains a foam inhibitor mixture. The foam inhibitor in the water storage tank 61 is fed into the nozzle 65 and sprayed out by the water pump 64. The nozzle 65 can be set towards the channel wall, so that after the channel wall has been cleaned and scraped, the foam inhibitor is sprayed to inhibit foam regeneration.

[0065] The robot body 1 moves, and the channel wall is cleaned by the cleaning component 4 and scraped by the scraping component 5. The water pump 64 is activated to draw the inhibitor mixture from the water storage tank 61, which is then transported through the first water supply pipe 62 and the second water supply pipe 63. After that, it is transported to the positioning block 66 and sprayed by the nozzle 65 to inhibit the frequent foam regeneration on the channel wall. During this process, the control module 7 dynamically adjusts the spraying pressure of the spraying component 6 based on the feedback data of the foam thickness sensor 71.

[0066] For further details, please refer to... Figure 1 and Figure 2The walking component 3 includes a walking drive and a walking track 31. The walking drive is used to drive the walking track 31 to walk. The walking track 31 is provided with anti-slip strips 32, and the anti-slip strips 32 are set at a non-zero angle with the walking direction. The walking drive can be a DC brushless motor. The anti-slip strips 32 can be set in a "V" shape or a trapezoidal cross-section structure to increase friction and enhance the adhesion of the inner wall of the water channel to prevent slipping. The control module 7 optimizes the cleaning path and speed in real time based on the feedback data of the obstacle detection sensor 72.

[0067] Please refer to Figure 1 and Figure 2 To improve the cleaning robot's endurance, a photovoltaic module 2 is installed on the robot's main body 1 to power and store energy for all components of the foam cleaning robot. The photovoltaic module 2 is installed at the upper end of the horizontal section 11 and includes a mounting frame 21, a photovoltaic panel 22, and an energy storage box. The photovoltaic panel 22 is supported and oriented by the mounting frame 21 to maximize sunlight absorption; the specific structure can utilize existing technology and will not be elaborated here. The energy storage box uses a lithium-ion battery pack, supporting fast charging and photovoltaic complementary power supply. The photovoltaic module 2 reduces carbon emissions, meeting sustainable development requirements while simultaneously improving the cleaning robot's endurance.

[0068] Please refer to the foam cleaning robot for the rectangular secondary sedimentation tank distribution channel of this application. Figures 1-6 The working process during use is as follows:

[0069] The robot body 1 is placed beside the ditch, with the walking component 3 on the outside and the cleaning component 4 on the inside, in contact with the ditch wall. The robot receives cleaning task instructions via the wireless communication module 74. The control module 7 calls up a preset ditch map and, combined with real-time scanning data from the obstacle detection sensor 72, generates the optimal cleaning path. The control module 7 starts the motor, driving the rotating part 43 to rotate in the opposite direction of travel, causing the cleaning brush head 442 to scrub the ditch wall at high speed. The foam thickness sensor 71 monitors the residual foam thickness on the ditch wall in real time. If the detected value exceeds the preset value, the control module 7 activates the electric push rod 53, pushing the scraper 51 to rotate and adjust the contact pressure with the ditch wall to thoroughly remove scum. Based on the foam thickness data, the control module 7 dynamically adjusts the power of the water pump 64, thereby adjusting the water pressure and spray volume of the nozzle 65 to ensure that the inhibitor evenly covers the ditch wall and inhibits frequent foam regeneration. During travel, when the obstacle detection sensor 72 identifies an obstacle ahead, the control module 7 calculates a detour path in real time to ensure continuous operation.

[0070] This application uses a closed-loop control system with multiple sensors to achieve full automation of the "cleaning-scraping-foam suppression-obstacle avoidance" process through real-time feedback of foam thickness, water quality, and obstacle data. This greatly improves the cleaning efficiency and quality of channel wall foam and inhibits frequent foam regeneration.

[0071] The above-described specific examples are for illustrative purposes only and are not intended to limit the scope of this invention. Those skilled in the art to which this invention pertains can make various simple deductions, modifications, or substitutions based on the concept of this invention.

Claims

1. A rectangular two-basin distribution channel foam cleaning robot, characterized by, include: Robot body (1); The walking component (3) is connected to the robot body (1) and is used to drive the robot body (1) to move along the water channel; A cleaning assembly (4) is connected to the robot body (1) and used to be placed in a water channel. The cleaning assembly (4) includes a cleaning frame (41), a cleaning drive (42), a rotating part (43), and a cleaning part (44). The rotating part (43) is rotatably mounted on the cleaning frame (41) and driven by the cleaning drive (42). At least one set of rotating parts (43) is provided. The cleaning part (44) is fixed to the outer surface of the rotating part (43) and closely adheres to the wall of the water channel for cleaning. The scraping component (5) is connected to the robot body (1) and is located at the rear end of the cleaning component (4) along the cleaning direction, for scraping off residual foam and scum from the channel wall; The control module (7), integrated into the robot body (1), is used to control the coordinated movements of the walking component (3), the cleaning component (4), and the scraping component (5).

2. The rectangular two-basin distribution channel foam cleaning robot of claim 1, wherein, The robot body (1) integrates: A foam thickness sensor (71) is used to monitor the foam thickness in the canal in real time. An obstacle detection sensor (72) is used to identify obstacles in the movement path; A water quality sensor (73) is used to monitor water quality parameters in a canal in real time. The wireless communication module (74) is used for remote data transmission and receiving control commands; The control module (7) optimizes the cleaning path and operating parameters of the foam cleaning robot by coordinating the cleaning component (4), the scraping component (5) and the algorithm based on the feedback data from the water quality sensor (73), the foam thickness sensor (71) and the obstacle detection sensor (72).

3. The rectangular two-basin distribution channel foam cleaning robot of claim 1, wherein, The cleaning section (44) includes a rotating drum (441) and multiple sets of cleaning brush heads (442) disposed on the rotating drum (441). The rotating drum (441) is coaxially sleeved on the outer ring of the rotating section (43), and the rotating drum (441) and the rotating section (43) remain relatively stationary in the circumferential direction. The multiple cleaning brush heads (442) are evenly distributed on the outer surface of the rotating drum (441) and staggered along the axial direction.

4. The rectangular two-basin distribution channel foam cleaning robot of claim 1, wherein, The direction of the tangential velocity of the cleaning part (44) near the channel wall is opposite to the direction of movement of the walking component (3).

5. The rectangular two-basin distribution channel foam cleaning robot of claim 1, wherein, The rotating part (43) is provided with at least one set, and multiple sets of the rotating parts (43) are coaxially mounted with transmission wheels (45). The transmission wheels (45) of adjacent rotating parts (43) are connected by transmission belts (46) so that adjacent rotating parts (43) are driven synchronously.

6. The rectangular two-basin distribution channel foam cleaning robot of claim 2, wherein, The scraping assembly (5) includes a scraper (51) and an adjusting member. The scraper (51) is rotatably mounted on the cleaning frame (41) and contacts the channel wall. The rotating shaft (56) of the scraper (51) is parallel to the rotating shaft (56) of the rotating part (43). The adjusting member is used to adjust and fix the contact angle between the scraper (51) and the channel wall.

7. The rectangular two-basin distribution channel foam cleaning robot of claim 6, wherein, The adjusting component includes an electric push rod (53) and a hinge seat (54). One end of the electric push rod (53) is installed on the cleaning frame (41), and the other end is hinged to the scraper (51) away from the channel wall through the hinge seat (54) so ​​as to adjust the contact pressure between the scraper (51) and the channel wall by the extension and retraction of the electric push rod (53).

8. The rectangular two-basin distribution channel foam cleaning robot of claim 2, wherein, It also includes a spraying assembly (6) located at the rear end of the scraping assembly (5), the spraying assembly (6) being connected to the robot body (1) and used to suppress foam regeneration by spraying inhibitors, the control module (7) dynamically adjusting the spraying pressure of the spraying assembly (6) based on feedback data from the foam thickness sensor (71).

9. The foam cleaning robot for the rectangular secondary sedimentation tank distribution channel as described in claim 2, characterized in that, The walking component (3) includes a walking drive and a walking track (31). The walking drive is used to drive the walking track (31) to walk. The walking track (31) is provided with anti-slip strips (32), and the anti-slip strips (32) are set at a non-zero angle with the walking direction. The control module (7) optimizes the cleaning path and speed in real time based on the feedback data of the obstacle detection sensor (72).

10. The rectangular two-basin distribution channel foam sweeping robot according to claim 2, wherein, The robot body (1) is equipped with a photovoltaic module (2), which is used to supply power and store energy for each component of the foam cleaning robot.

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