CN-122007073-A - Vehicle-mounted large-particle-size rockfill water-saving cleaning system and method

CN122007073ACN 122007073 ACN122007073 ACN 122007073ACN-122007073-A

Abstract

The application relates to the technical field of rock-fill cleaning, in particular to a vehicle-mounted large-particle-size rock-fill water-saving cleaning system and method, wherein the system comprises a spray head array unit, an image acquisition unit, a gap identification unit and a central control unit, wherein the spray head array unit is configured to perform penetrating cleaning on target deep rock-fill in a rock-fill body; the system comprises an image acquisition unit, a gap identification unit and a central control unit, wherein the image acquisition unit is configured to acquire an actual image of a rock-fill body, the gap identification unit is configured to position a gap area between the rock-fill bodies and acquire three-dimensional position information of a center of mass of the gap area, and the central control unit is configured to generate a cleaning task for a three-dimensional flushing working surface so as to drive a nozzle array unit to execute the cleaning task. Therefore, the problems that in the related art, the angle of the spray head is fixed, the spray head cannot be flexibly adjusted according to the loading capacity and the shape of the rock-fill in the dump truck, water flows are splashed and dissipated, the water resource utilization rate is low, the cleaning dead angle exists, and the mud content of the rock-fill is difficult to effectively control are solved.

Inventors

XU JIN
JIN FENG
ZHOU HU

Assignees

清华大学

Dates

Publication Date: 20260512
Application Date: 20251231

Claims (10)

1. The utility model provides a on-vehicle big particle diameter rock-fill water conservation cleaning system which characterized in that includes: the nozzle array unit is used for carrying out penetrating cleaning on the target deep rock-fill in the rock-fill body of the carriage; The image acquisition unit is used for acquiring actual images of the rock-fill body at multiple visual angles; the gap identification unit is used for positioning gap areas among the rockfill according to the actual images and acquiring three-dimensional position information of mass centers in the gap areas; and the central control unit is used for generating a cleaning task of the three-dimensional flushing working surface according to the three-dimensional position information so as to drive the nozzle array unit to execute the cleaning task.
2. The system of claim 1, further comprising: And the spray head angle control unit generates a target angle instruction of the spray head array unit according to the cleaning task so as to drive a plurality of spray heads of the spray head array unit to rotate to corresponding target angles.
3. The system of claim 1, wherein the showerhead array unit further comprises: the horizontal water pipe rack is arranged at a preset height on the top surface of the carriage, wherein a plurality of spray heads are distributed on the water pipe rack; the vertical water pipe support and the lifting driving mechanism are used for adjusting the vertical height of the vertical water pipe support relative to a carriage.
4. The system of claim 1, wherein the gap recognition unit is specifically configured to perform preprocessing and feature enhancement on the actual image to obtain a processed image that meets a preset condition, recognize a rock-fill area in the processed image to generate a rock-fill binary image, extract a potential gap area of the processed image to generate a gap binary image, perform multiple view image adaptation processing on the rock-fill binary image and the gap binary image according to an acquisition type of the actual image, and perform morphological optimization processing on the gap binary image to determine a spatial relationship between an analysis rock-fill contour and a potential gap contour, and determine the gap area based on the spatial relationship to obtain the three-dimensional position information.
5. The system of claim 4, wherein the gap identification unit comprises: Generating a subunit, wherein the subunit is used for obtaining a perspective transformation matrix according to the angular feature points of the top surface opening of the carriage; the building subunit is used for building a mapping relation between an image pixel coordinate system and an actual carriage coordinate system taking the top surface of the rock-fill body as a reference according to the perspective transformation matrix; And the calculating subunit is used for calculating the pixel coordinates of the centroid according to the mapping relation and the clearance area, converting the pixel coordinates into carriage two-dimensional coordinates and generating the three-dimensional position information by combining distance coordinate values determined based on the average distance of the top surface or the side surface of the rock-fill body.
6. The system of claim 5, wherein the conversion formula of the two-dimensional coordinates of the car is: , , Wherein, the As a horizontal component in the homogeneous coordinates, For the vertical component in the homogeneous coordinates, For a scaling factor in the homogeneous coordinates, In order to perspective the transformation matrix, Is the horizontal coordinate among the pixel coordinates of the centroid, Is the vertical coordinate of the pixel coordinates of the centroid, For the horizontal coordinate in the two-dimensional coordinates of the car, Is the vertical coordinate in the two-dimensional coordinates of the carriage.
7. The water-saving vehicle-mounted large-particle-size rockfill cleaning method is characterized by comprising the following steps of: collecting actual images of piled stones in a carriage at multiple visual angles; positioning a gap area between the rockfill according to the actual image, and acquiring three-dimensional position information of the gap area; and generating a cleaning task of the three-dimensional flushing operation surface according to the three-dimensional position information of the clearance area so as to execute the cleaning task.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, the processor executing the program to implement the water-saving cleaning method for large-particle-size rockfill vehicle according to claim 7.
9. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the in-vehicle large-particle-diameter rockfill water-saving cleaning method according to claim 7.
10. A computer program product comprising a computer program, characterized in that the computer program is executed for realizing the water-saving cleaning method for large-particle-size rockfill on vehicle according to claim 7.

Description

Vehicle-mounted large-particle-size rockfill water-saving cleaning system and method Technical Field The application relates to the technical field of rock-fill cleaning, in particular to a vehicle-mounted water-saving cleaning system and method for large-particle-size rock-fill. Background In the related art, the rock-fill that the concrete dam of rock-fill adopted, its mud content should not be greater than 0.2%, and to the cleaning method of rock-fill, have through fixed spray station, lift down the rock-fill from the tipper and carry out the paving and wash, not only consuming time and consume energy, still need the secondary to transport the rock-fill, the in-process rock-fill can collide the damage each other, produce small particle diameter rubble, influence the compactness of rock-fill concrete, still through setting up washing platform, water spray subassembly and hydrologic cycle processing system, can directly wash the rock-fill in the tipper, effectively avoid the stone damage and the pollution problem that secondary transportation brought. However, in the related art, because the angle of the spray head is fixed, the spray head cannot be flexibly adjusted according to the loading capacity and the shape of the rock-fill in the dump truck, so that the water discharged by the spray head directly impacts the surface of the rock-fill, the water is splashed and dissipated, the gap is difficult to directly flush in, the water resource utilization rate is low, the clay adhered to the surface of the rock-fill in the deep position of the rock-fill body is difficult to effectively clean, and the cleaning dead angle exists, so that the mud content of the rock-fill is difficult to effectively control, and the problem needs to be solved. Disclosure of Invention The application provides a vehicle-mounted water-saving cleaning system and method for large-particle-size rock piles, which are used for solving the problems that in the prior art, the angle of a spray head is fixed, the spray head cannot be flexibly adjusted according to the loading capacity and the shape of the rock piles in a dump truck, water flow splashes and escapes, the water is difficult to directly flush into a rock pile gap, the water resource utilization rate is low, clay attached to the rock piles at the deep positions of the rock piles is difficult to effectively clean, cleaning dead angles exist, and the mud content of the rock piles is difficult to effectively control. The embodiment of the first aspect of the application provides a vehicle-mounted large-particle-size rock-fill water-saving cleaning system, which comprises a spray head array unit, an image acquisition unit, a gap identification unit and a central control unit, wherein the spray head array unit is used for carrying out penetrating cleaning on target deep rock-fill in a rock-fill body of a carriage, the image acquisition unit is used for acquiring actual images of the rock-fill body in multiple views, the gap identification unit is used for positioning gap areas among the rock-fill according to the actual images and acquiring three-dimensional position information of mass centers in the gap areas, and the central control unit is used for generating a cleaning task of a three-dimensional flushing working surface according to the three-dimensional position information so as to drive the spray head array unit to execute the cleaning task. According to the technical means, penetrating cleaning is performed through the nozzle array unit, so that the penetrating cleaning can directly act on the rock-fill in the rock-fill body, in addition, the image acquisition unit is used for acquiring actual images from multiple angles, comprehensive and three-dimensional visual data support is provided for gap identification, in addition, the gap identification unit is used for accurately positioning a gap area and acquiring three-dimensional position information of the gap area, accurate perception of a rock-fill gap is realized, reliable position basis is provided for cleaning, meanwhile, the central control unit is used for driving the nozzle array unit to execute a cleaning task of a three-dimensional flushing operation surface, flood irrigation cleaning is abandoned, targeted accurate flushing is realized, blind areas of rock-fill cleaning are effectively eliminated, the cleanliness of deep rock-fill of the rock-fill body is remarkably improved, strict mud content control standard is met, invalid water consumption is reduced from the source, the water resource utilization rate is greatly improved, long-term operation cost is reduced, and through full-flow automatic control, the cleaning operation is realized from manual rough to intelligent accurate upgrading, and the operation efficiency is remarkably improved. Optionally, in one embodiment of the present application, the cleaning device further comprises a spray head angle control unit, wherein the spray head angle control unit gene