CN-121988579-A - Intelligent cleaning and disinfecting system for water tank based on machine vision and control method

CN121988579ACN 121988579 ACN121988579 ACN 121988579ACN-121988579-A

Abstract

The invention discloses an intelligent cleaning and disinfecting system for a water tank based on machine vision and a control method, wherein the system comprises a front-end water tank body, a secondary water supply water tank body, a water tank cleaning unit, a water tank disinfecting unit and a water pump unit, wherein the front-end water tank body and the secondary water supply water tank body are connected with a water inlet end, the water tank cleaning unit comprises an omnidirectional cleaning spray head, a high-definition camera and an intelligent cleaning control unit, the high-definition camera is arranged in the secondary water supply water tank body and is used for acquiring pictures of the inner cavity of the secondary water supply water tank body, the intelligent cleaning control unit controls the omnidirectional cleaning spray head to perform fixed-point or sweeping type cleaning based on picture identification results, the water tank disinfecting unit consists of a plurality of disinfectant spray heads, and the water pump unit supplies liquid to the omnidirectional cleaning spray heads and the disinfectant spray heads through pipelines respectively. The system and the control method realize the recognition, automatic cleaning and disinfection of the pollution of the water tank and improve the sanitary maintenance efficiency.

Inventors

XIA PING
SUN WEIDONG
LIU CHANG
WANG RONG
ZHU ANQING
LU MEI
ZHOU PING
ZHANG DONG
GAO QIAOQING
SHENG FENG
JIANG SHUHONG
SHEN XUE
QIAN HAO
ZHANG CHAOQI
SHI WULAN

Assignees

上海城市水资源开发利用国家工程中心有限公司
中国移动通信集团上海有限公司
上海中心大厦置业管理有限公司
壹辰能源科技(上海)有限公司

Dates

Publication Date: 20260508
Application Date: 20251230

Claims (10)

1. Machine vision-based intelligent cleaning and disinfecting system for water tanks, characterized in that the system comprises: the front-end water tank body (10), the front-end water tank body (10) is connected with a water inlet end; the secondary water supply water tank body (20), the secondary water supply water tank body (20) is connected with the water inlet end; The intelligent cleaning device comprises a water tank cleaning unit (30), wherein the water tank cleaning unit (30) comprises an omnidirectional cleaning spray head (301), a high-definition camera (302) and an intelligent cleaning control unit (303), the omnidirectional cleaning spray head (301) and the high-definition camera (302) are arranged in an inner cavity of a secondary water supply water tank body (20), the intelligent cleaning control unit (303) is arranged on the outer wall of the secondary water supply water tank body (20), the intelligent cleaning control unit (303) is electrically connected with the omnidirectional cleaning spray head (301), the intelligent cleaning control unit (303) is electrically connected with the high-definition camera (302), and the intelligent cleaning control unit (303) is used for controlling the action track of the omnidirectional cleaning spray head (301) based on images of the inner cavity of the secondary water supply water tank body (20) obtained by the high-definition camera (302). The intelligent cleaning device comprises a water pump unit (50), wherein the water pump unit (50) is arranged in an inner cavity of a front-end water tank body (10), the water pump unit (50) comprises a high-pressure water pump (501) and a water pump control unit (503), an outlet end of the high-pressure water pump (501) is connected with an omnidirectional cleaning spray head (301) through a pipeline, the intelligent cleaning control unit (303) is electrically connected with the water pump control unit (503), the water pump control unit (503) is electrically connected with the high-pressure water pump (501), and the water pump control unit (503) is used for controlling the opening and closing of the high-pressure water pump (501) and simultaneously is in linkage with the intelligent cleaning control unit (303) to control the output pressure and flow of the high-pressure water pump (501).
2. The intelligent cleaning and disinfecting system for a water tank based on machine vision according to claim 1, further comprising a water tank disinfecting unit (40), wherein the water tank disinfecting unit (40) comprises a plurality of disinfectant spray heads (401), and each disinfectant spray head (401) is arranged in an inner cavity of the secondary water supply water tank body (20) according to a preset rule; The water pump unit (50) further comprises a dosing proportioning pump (502), the inlet end of the dosing proportioning pump (502) is connected with the outlet end of the high-pressure water pump (501) through a pipeline, the outlet end of the dosing proportioning pump (502) is connected with the disinfectant spray head (401) through a pipeline, the water pump control unit (503) is electrically connected with the dosing proportioning pump (502), the water pump control unit (503) is used for controlling the opening and closing of the dosing proportioning pump (502), and meanwhile, the intelligent cleaning control unit (303) is linked to control the dosing proportion of the dosing proportioning pump (502).
3. The intelligent cleaning and disinfecting system for a water tank based on machine vision according to claim 1, wherein a slope is arranged at the bottom of the secondary water supply water tank body (20), the slope is inclined to the front end water tank body (10), a cleaning water outlet (201) is arranged at the bottom of the secondary water supply water tank body (20), the cleaning water outlet (201) is connected with the front end water tank body (10) through a pipeline, and a cleaning water electromagnetic valve (601), a Y-shaped filter (602) and a pipeline suction pump (603) are arranged between the cleaning water outlet (201) and the front end water tank body (10); the bottom of the secondary water supply tank body (20) is also provided with a water supply and drainage hole (202), and the water supply and drainage hole (202) is connected with a drainage electromagnetic valve (604) through a pipeline; the intelligent cleaning control unit (303) is electrically connected with the cleaning water electromagnetic valve (601), and the intelligent cleaning control unit (303) is used for controlling the opening and closing of the cleaning water electromagnetic valve (601).
4. The intelligent cleaning and disinfecting system for a water tank based on machine vision according to claim 1, wherein a medicament electromagnetic valve (605) is arranged between the outlet end of the high-pressure water pump (501) and the inlet end of the dosing proportioning pump (502), the intelligent cleaning control unit (303) is electrically connected with the medicament electromagnetic valve (605), the intelligent cleaning control unit (303) is used for controlling the opening and closing of the medicament electromagnetic valve (605), and/or, A first water inlet electromagnetic valve (606) is arranged between the front-end water tank body (10) and the water inlet end, a high-pressure electromagnetic valve (607) is arranged between the front-end water tank body (10) and the omnidirectional cleaning nozzle (301), the intelligent cleaning control unit (303) is electrically connected with the high-pressure electromagnetic valve (607), the intelligent cleaning control unit (303) is used for controlling the opening and closing of the high-pressure electromagnetic valve (607), and/or, The secondary water supply tank body (20) and the water inlet end are provided with a second water inlet electromagnetic valve (608).
5. A control method of a machine vision-based intelligent cleaning and disinfecting system for a water tank, which is used for the machine vision-based intelligent cleaning and disinfecting system for a water tank, as set forth in any one of claims 1 to 4, characterized in that the control method comprises the following steps: (1) Acquiring a real-time picture of the inner cavity of the secondary water supply water tank body (20) through the high-definition camera (302) arranged in the inner cavity of the secondary water supply water tank body (20); (2) The intelligent cleaning control unit (303) processes the real-time picture to obtain a standardized picture, inputs the standardized picture into a pre-trained convolutional neural network detection model, identifies a pollution area in the inner cavity of the secondary water supply tank body (20), and outputs space distribution, area, shape and position characteristics, geometric centers, contour directions and pollution level information of the pollution area; (3) The intelligent cleaning control unit (303) generates a corresponding cleaning instruction based on the spatial distribution, the area, the shape and the position characteristics, the geometric center and the outline direction of the pollution area and the pollution level information, wherein the cleaning instruction comprises cleaning intensity, cleaning duration and an action track of the omnidirectional cleaning nozzle (301); (4) The intelligent cleaning control unit (303) controls the high-pressure electromagnetic valve (607) to be opened, the water pump control unit (503) controls the high-pressure water pump (501) to be opened, the high-pressure water pump (501) conveys high-pressure water to enter the omnidirectional cleaning spray head (301), the omnidirectional cleaning spray head (301) performs fixed-point spraying and/or sweeping type cleaning according to the cleaning instruction, and the spraying pressure and the action track are synchronously adjusted according to a preset cleaning progress; (5) After the cleaning time is up, the intelligent cleaning control unit (303) controls the high-pressure electromagnetic valve (607) to be closed, the water pump control unit (503) controls the high-pressure water pump (501) to be closed, the real-time picture of the inner cavity of the secondary water supply water tank body (20) after cleaning is obtained again through the high-definition camera (302), the intelligent cleaning control unit (303) is based on the real-time picture after cleaning and the pollution area change before and after cleaning, and if the cleaning effect does not reach a preset threshold value, the steps (3) - (4) are circulated.
6. The control method of the intelligent cleaning and disinfecting system for a water tank based on machine vision according to claim 5, wherein the processing the real-time picture to obtain the standardized picture comprises the following steps: estimating global transmissivity of an inner cavity of the secondary water supply water tank body (20) on the basis of a dark channel prior model for the real-time picture, and recovering a reflection component of the picture by utilizing the global transmissivity to execute defogging treatment; Based on the defogging processed picture, utilizing a time domain multi-frame noise estimation method or a convolution kernel filtering algorithm to inhibit random noise caused by low illumination or reflection of an inner cavity structure of the secondary water supply tank body (20), and executing noise reduction processing; Performing segmentation equalization on a picture brightness channel based on an illumination distribution model after the noise reduction treatment is completed, and performing illumination correction; After the illumination correction is finished, remapping the picture coordinates based on preset lens parameters and an internal reference matrix, and executing distortion correction processing; and outputting the picture subjected to the defogging treatment, the noise reduction treatment, the illumination correction and the distortion correction treatment as a standardized image.
7. The control method of the intelligent cleaning and disinfecting system for a water tank based on machine vision according to claim 5, wherein the intelligent cleaning control unit (303) generates the corresponding cleaning instruction based on the spatial distribution, area, shape and position characteristics, geometric center and contour direction, and pollution level information of the polluted area, comprising: The intelligent cleaning control unit (303) establishes a pollution partition model based on the distribution density of the spatial distribution of the pollution areas, and prioritizes the pollution partitions according to the pollution level information to form a hierarchical area list for guiding cleaning path planning; According to the classified area list, combining the area, shape and position characteristics of the polluted area, dynamically calculating a cleaning energy demand parameter, and adaptively determining cleaning strength and cleaning time according to the cleaning energy demand parameter; After determining the cleaning intensity and the cleaning duration, optimizing the rotation angle and the spraying posture of the omnidirectional cleaning nozzle (301) based on the geometric center and the contour direction of the polluted area; and combining the cleaning strength, the cleaning time length, the rotation angle of the omnidirectional cleaning nozzle (301) and the spraying gesture to form a cleaning instruction, and dynamically fine-adjusting the cleaning instruction based on the real-time picture feedback in the cleaning execution process so as to ensure that the cleaning effect stably reaches a preset threshold value.
8. The method for controlling a machine vision-based intelligent cleaning and disinfecting system for a water tank according to claim 7, wherein the dynamically calculating the cleaning energy demand parameter according to the classified area list and combining the area, shape and position characteristics of the polluted area, and adaptively determining the cleaning intensity and the cleaning duration according to the cleaning energy demand parameter comprises: Calculating a basic cleaning energy requirement value based on the area of the polluted area so as to reflect the minimum cleaning energy requirement corresponding to the pollutant coverage area; Calculating a shape factor based on the shape complexity of the contaminated area, wherein the shape factor is used to characterize the tortuosity degree of the contaminated contour and to correct the base cleaning energy demand value; Calculating a space compensation coefficient based on the position characteristics of the polluted area, wherein the space compensation coefficient is used for compensating the cleaning difficulty at the corner, the curved surface or the difficult-to-reach position of the water tank; And adaptively determining the cleaning strength and the cleaning time length according to a preset mapping relation based on the cleaning energy demand parameter.
9. The control method of the intelligent cleaning and disinfecting system for a water tank based on machine vision according to claim 7, wherein optimizing the rotation angle and the spray gesture of the omnidirectional cleaning nozzle (301) based on the geometric center and the contour direction of the contaminated area after determining the cleaning intensity and the cleaning duration, comprises: Determining cleaning target points based on the geometric center of the polluted area, and establishing a spraying coverage path according to the space distance between the cleaning target points; calculating a rotation angle based on the profile direction of the contaminated area, so that the spraying direction of the omnidirectional cleaning nozzle (301) is consistent with the main direction of the contaminated profile; Calculating an injection attitude adjustment quantity based on the curved surface characteristics of the cleaning target point position, and enabling an injection beam to be attached to the curved surface shape of the inner cavity of the secondary water supply water tank body (20) by adjusting the pitch angle, the yaw angle or the injection scattering angle of the omnidirectional cleaning spray head (301); Generating an action track of the omnidirectional cleaning spray head (301) based on the rotation angle and the spray gesture adjustment amount, and combining the action track with the cleaning intensity and the cleaning duration to form a cleaning instruction.
10. The control method of a machine vision based intelligent cleaning and disinfecting system for a water tank of claim 5, further comprising: When the cleaning effect reaches a preset threshold value, the intelligent cleaning control unit (303) controls the medicament electromagnetic valve (605) to be opened, the water pump control unit (503) controls the high-pressure water pump (501) and the dosing proportioning pump (502) to be opened, the high-pressure water pump (501) conveys high-pressure water to enter the dosing proportioning pump (502), meanwhile, the water pump control unit (503) controls the dosing proportion of the dosing proportioning pump (502), after the disinfectant is compounded, the intelligent cleaning control unit (303) controls the medicament electromagnetic valve (605) to be closed, the water pump control unit (503) controls the high-pressure water pump (501) to be closed, and the compounded disinfectant is conveyed to each disinfectant spray head (401) through a pipeline and is uniformly sprayed to the inner wall of the secondary water supply tank body (20); After the disinfectant is sprayed, the water pump control unit (503) controls the dosing proportioning pump (502) to be closed, the preset soaking time is kept, then the intelligent cleaning control unit (303) controls the cleaning water electromagnetic valve (601) to be opened, the disinfection waste liquid is discharged from the cleaning water outlet (201), and after the disinfection waste liquid is thoroughly emptied, the intelligent cleaning control unit (303) controls the cleaning water electromagnetic valve (601) to be closed.

Description

Intelligent cleaning and disinfecting system for water tank based on machine vision and control method Technical Field The invention relates to the field of water supply and water supply, in particular to an intelligent water tank cleaning and sterilizing system based on machine vision and a control method. Background Along with the continuous expansion of the urban centralized water supply system and the promotion of the transformation process of old communities, the secondary water supply tank becomes an important facility for guaranteeing stable water supply of various buildings. In order to maintain the sanitation of the water tank, the current industry generally adopts a mode of regular manual maintenance and manual cleaning. However, the manual operation of entering the water tank has the problems of high labor intensity, moist environment, sliding, harmful gas accumulation and other potential safety hazards, the manual judgment of the pollution degree depends on visual experience, the lack of accurate identification capability, incomplete cleaning, multiple missing areas, uneven repeated flushing and the like. Although some water tanks have been equipped with automatic cleaning devices in recent years, such as fixed spraying, rotary spray heads or simple hydraulic impact structures, these automatic cleaning devices generally have the defects that it is difficult to adjust cleaning parameters according to actual pollution levels, the spraying range and the spraying angle are not controllable, heavy pollution areas cannot be cleaned with emphasis, and light pollution areas are cleaned excessively, so that the cleaning effect is still difficult to ensure stably. Meanwhile, the existing automatic cleaning device does not have pollution recognition capability, and the cleaning path cannot be intelligently planned according to the position and the area of a polluted area, so that blind cleaning and mess cleaning often occur, and the automatic cleaning cannot truly replace manual work. In addition, the traditional water tank still generally lacks on-line image monitoring and data analysis functions, cannot record pollution evolution trend, cannot intelligently predict cleaning cycle, cannot realize accurate addition and even coverage of disinfectant, and is still in a rough management stage as a whole. Therefore, an intelligent water tank cleaning and disinfecting system and method capable of identifying pollution positions in real time, automatically generating cleaning strategies, accurately adjusting nozzle parameters and verifying cleaning effects in a closed loop manner are needed, so that the problems that the existing manual cleaning and the traditional automatic cleaning are difficult to control and low in efficiency are solved. Disclosure of Invention In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. In a first aspect, the present invention provides a machine vision-based intelligent cleaning and disinfecting system for a water tank, the system comprising: The front-end water tank body is connected with the water inlet end; The secondary water supply water tank body is connected with the water inlet end; The intelligent cleaning control unit is arranged on the outer wall of the secondary water supply water tank body and is electrically connected with the omnidirectional cleaning spray head, the intelligent cleaning control unit is electrically connected with the high-definition camera, and the intelligent cleaning control unit is used for controlling the action track of the omnidirectional cleaning spray head based on the image of the inner cavity of the secondary water supply water tank body obtained by the high-definition camera; The intelligent cleaning device comprises a front-end water tank body, a water pump unit, an intelligent cleaning control unit and an intelligent cleaning control unit, wherein the water pump unit is arranged in an inner cavity of the front-end water tank body and comprises a high-pressure water pump and a water pump control unit, an outlet end of the high-pressure water pump is connected with the omnidirectional cleaning spray head through a pipeline, the intelligent cleaning control unit is electrically connected with the water pump control unit, the water pump control unit is electrically connected with the high-pressure water pump and used for controlling the opening and closing of the high-pressure water pump, and meanwhile, the intelligent cleaning control unit is linked to control the output pressure and flow of the high-pressure water pump. In one possible embodiment, the system further comprises a water tank sterilizing unit, wherein the water tank st