A submersible pump control system and control method suitable for a dewatering vehicle

Abstract

The application discloses a kind of submersible pump control system and control method suitable for drainage vehicle, system includes: controller, rotating system, jib system, conveying water pipe, submersible pump, detection system, liquid-electric system;Method respectively collects ultrasonic wave, sonar data and analyzes to obtain submersible pump height from water surface, submersible pump height from water bottom, the distance of relative position of submersible pump from nearby obstacle;And set the real-time target position of submersible pump suction, and preset safety distance;Real-time control is carried out to jib system based on the data of analysis and setting, drives submersible pump to rise or descend movement and according to preset safety distance selects output early warning or alarm prompt, and according to the alarm prompt of output, start shutdown procedure.The control system and method of the application can automatically avoid underwater obstacles and avoid submersible pump bottom after submersible pump enters water, and can automatically adjust submersible pump suction depth, realize remote monitoring control and unmanned duty.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of engineering machinery, and particularly relates to a submersible pump control system and control method suitable for a drainage vehicle. BACKGROUND

[0002] In recent years, urban flood disasters have become more and more frequent, and rescue teams often need to urgently perform rescue and drainage tasks. In the rescue and drainage tasks, extreme weather such as heavy rain and strong wind often accompanies, the environment is poor, and the visibility is low, and there are certain unsafe factors in the rescue and drainage process. It is of great significance if unmanned and remote control of the rescue and drainage operation can be realized.

[0003] Generally, when the drainage vehicle is working, the water suction position of the water pump gradually becomes unsuitable as the water level continuously decreases, and the water pump suction depth needs to be manually adjusted, which is large in workload of the operator and has safety hazards;

[0004] Most of the existing drainage vehicles adopt a telescopic water pipe structure, the water pump is installed at the end of the water pipe, and a sequential control method is adopted. That is, the upper vehicle arm assembly and the submersible pump are driven by a set of power system, before the water pump works, the power take-off of the power system is connected, and the upper vehicle arm system is controlled to adjust the working posture, the water pipe is extended, and the submersible pump is positioned at a suitable suction depth position. Then, the submersible pump is controlled to work, and the suitable rotating speed is adjusted to perform the drainage work. After the water pump works for a period of time, the water surface decreases, the water suction space is not enough, and the suction depth position needs to be adjusted again. The operator manually controls the upper vehicle arm system to make the water pump reach the suitable suction height again. Therefore, the workload of the operator is large,

[0005] Secondly, the existing operation scheme completely depends on manual operation. After the submersible pump enters the water, the situation under the water surface cannot be detected, and the submersible pump is easily damaged by touching the obstacle. Moreover, the suction height cannot be adjusted in real time according to the water level, remote control and unmanned operation cannot be realized, the working efficiency of the drainage vehicle is low, and the equipment maintenance cost is high. SUMMARY

[0006] The present application provides a submersible pump control system and control method suitable for a drainage vehicle, which can automatically avoid underwater obstacles and prevent the submersible pump from touching the bottom after the submersible pump enters the water according to the feedback detection signal, and quickly and automatically adjust the suction depth of the submersible pump according to the feedback water level signal, so as to realize remote monitoring control and unmanned operation.

[0007] Technical scheme: In a first aspect, the present application provides a submersible pump control system suitable for a drainage vehicle, comprising:

[0008] a controller, a rotation system, an arm support system, a conveying water pipe, a submersible pump, a detection system, and a liquid-electric system.

[0009] The controller is installed on the drainage vehicle and is used to control the slewing system, the jib system, the submersible pump, the hydraulic system and the detection system respectively

[0010] The slewing system is connected with the jib system to drive the jib system to rotate.

[0011] The jib system is connected with the delivery water pipe to drive the delivery water pipe to change the amplitude and lift.

[0012] One end of the delivery water pipe is communicated with the port of the submersible pump to deliver the water flow discharged by the submersible pump.

[0013] The water suction port of the submersible pump is arranged at the bottom to suck water, and the water discharge port of the submersible pump is communicated with the delivery water pipe to discharge water to the delivery water pipe.

[0014] The hydraulic system provides hydraulic power for the jib system, the slewing system and the submersible pump under the control of the controller, and provides power for the operation of the whole vehicle and the control of the vehicle action.

[0015] In a further embodiment, the ultrasonic sensor is installed at the upper end of the jib system and located at one side of the delivery water pipe to detect the height of the submersible pump from the water surface, and the sonar sensor is installed at the bottom of the submersible pump to detect the relative position of the submersible pump from the nearby obstacle.

[0016] The second aspect provides a submersible pump control method suitable for a drainage vehicle, comprising:

[0017] Ultrasonic data and sonar data are collected respectively, and a real-time target position of water suction and a preset safety distance of the submersible pump are set; wherein the preset safety distance includes a safety distance between the submersible pump and the water bottom and a safety distance between the submersible pump and the obstacle.

[0018] The collected ultrasonic data and sonar data are analyzed respectively to obtain the height of the submersible pump from the water surface, the height of the submersible pump from the water bottom, and the relative position of the submersible pump from the nearby obstacle.

[0019] The jib system is controlled in real time according to the height of the submersible pump from the water surface, the height of the submersible pump from the water bottom, the real-time target position, and the relative position of the submersible pump from the nearby obstacle, to drive the submersible pump to move upward or downward, and to select an output warning or alarm prompt according to the preset safety distance.

[0020] The position, movement direction and speed of the submersible pump are adjusted based on the movement control of the jib system, and a shutdown program is started according to the output alarm prompt.

[0021] In further embodiments, the method for real-time control of the boom system according to the submersible pump distance from the water surface height, the submersible pump distance from the water bottom height, the real-time target position, and the relative position of the submersible pump from the nearby obstacle is:

[0022] According to the ultrasonic waves, the submersible pump distance from the water surface height and the submersible pump distance from the water bottom height are obtained in real time when the submersible pump is ascending or descending; wherein during the descending process of the submersible pump:

[0023] If the submersible pump detects that it has just reached the preset distance above the water surface and does not detect a distance less than or equal to the safe distance between the submersible pump and the obstacle during the descending process, the boom system control program is triggered, wherein the boom system control program controls the boom to drive the water conveying pipe and the submersible pump into a descending deceleration state;

[0024] If the submersible pump detects the real-time target position of the water suction below the water surface and does not detect a distance less than the safe distance between the submersible pump and the obstacle during the descending process, the boom system movement is stopped and the submersible pump and the water conveying pipe are connected for drainage;

[0025] If the submersible pump detects a distance less than or equal to the safe distance between the submersible pump and the water bottom or the lower limit value of the safe distance between the submersible pump and the obstacle during the descending process, an alarm prompt is output, and a shutdown program is automatically started according to the output alarm prompt.

[0026] In further embodiments, the method for driving the submersible pump to ascend or descend and selecting an output pre-warning or alarm prompt according to a preset safe distance is:

[0027] During the ascending or descending movement of the submersible pump, the submersible pump distance from the water bottom height, the safe distance between the submersible pump and the water bottom, and the safe distance between the submersible pump and the obstacle are selected to output an alarm prompt;

[0028] During the ascending or descending movement of the submersible pump, the relative position of the submersible pump from the nearby obstacle underwater, the safe distance between the submersible pump and the obstacle, and the safe distance between the submersible pump and the obstacle are selected to output a pre-warning or alarm prompt.

[0029] In further embodiments, the method for selecting an output alarm prompt according to the submersible pump distance from the water bottom height, the safe distance between the submersible pump and the water bottom, and the safe distance between the submersible pump and the obstacle during the ascending or descending movement of the submersible pump is:

[0030] According to the collected ultrasonic waves, the submersible pump distance from the water bottom height and the relative position of the submersible pump from the water obstacle are obtained in real time;

[0031] The submersible pump distance from the water bottom height is compared with the safe distance between the submersible pump and the water bottom, and if the submersible pump distance from the water bottom height is less than or equal to the lower limit value of the safe distance between the submersible pump and the water bottom, an alarm prompt is output;

[0032] The relative position of the submersible pump to the water surface obstacle is compared with the safe distance between the submersible pump and the obstacle, and if the relative position of the submersible pump to the water surface obstacle is less than or equal to the lower limit value of the safe distance between the submersible pump and the obstacle, an alarm prompt is output.

[0033] In a further embodiment, when the submersible pump is ascending or descending, the method for outputting a pre-warning or an alarm prompt is selected according to the relative position of the submersible pump to the underwater obstacle nearby, and the safe distance between the submersible pump and the obstacle.

[0034] The relative position of the submersible pump to the underwater obstacle nearby is obtained in real time according to the collected sonar.

[0035] The relative position of the submersible pump to the underwater obstacle nearby is compared with the safe distance between the submersible pump and the obstacle, and if the relative position of the submersible pump to the underwater obstacle nearby is less than or equal to the lower limit value of the safe distance between the submersible pump and the obstacle, a pre-warning prompt is output.

[0036] If the relative position of the submersible pump to the obstacle nearby is less than or equal to the upper limit value of the safe distance between the submersible pump and the obstacle, an alarm prompt is output, and a shutdown program is started.

[0037] In a further embodiment, the method for setting the real-time target position is as follows:

[0038] The target position adjustment period is preset according to the power and working condition of the submersible pump, and the height of the submersible pump from the water surface is continuously collected in the adjustment period.

[0039] The height of the submersible pump from the water surface collected in the adjustment period is subjected to difference calculation to obtain the water level drop height value in the adjustment period.

[0040] The target position is updated in real time according to the water level drop height value in the adjustment period, wherein the arm system is controlled to drive the delivery pipe to extend to a certain length, and the submersible pump is lowered to the updated target position.

[0041] The third aspect of the present application provides a processing device, which comprises a memory and a processor, and the memory stores a control program which is executed by the processor to realize the submersible pump control method.

[0042] The fourth aspect of the present application provides a readable storage medium, which stores a control program, and the program is executed by a processor to realize the steps of the above method.

[0043] Advantages: Compared with the prior art, the present application has the following advantages:

[0044] The submersible pump control system obtains the position and obstacles of the submersible pump movement process through the ultrasonic sensor and the sonar sensor in the system, and automatically controls the process of the arm support system to avoid the process according to the position and obstacles, adjusts the position and posture of the submersible pump in real time, and can automatically avoid underwater obstacles according to the detection signal feedback after the submersible pump enters the water, and can automatically adjust the submersible pump suction depth according to the water level signal feedback, so that remote monitoring control and unmanned operation can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 It is a structural schematic diagram of the submersible pump control system suitable for the drainage vehicle of the application;

[0046] Figure 2 It is an embodiment diagram of the submersible pump control system suitable for the drainage vehicle of the application;

[0047] Figure 3 It is a flowchart of the submersible pump control method suitable for the drainage vehicle of the application;

[0048] Figure 4 It is an embodiment diagram of controlling the submersible pump to different submersion depths;

[0049] Figure 5 It is an embodiment diagram of controlling the submersible pump to avoid underwater obstacles.

[0050] The figure mark: drainage vehicle chassis 1, controller 2, rotation system 3, arm support system 4, conveying water pipe 5, submersible pump 6, sonar sensor 7, ultrasonic sensor 8, liquid-electric system 9. DETAILED DESCRIPTION

[0051] In order to more fully understand the technical content of the application, the technical solutions of the application will be further introduced and described below in combination with specific embodiments, but not limited thereto.

[0052] Embodiment 1:

[0053] As Figures 1 to 2 shown, this embodiment further illustrates the submersible pump 6 control system suitable for the drainage vehicle, and the control system comprises: a controller 2, a rotation system 3, an arm support system 4, a conveying water pipe 5, a submersible pump 6, a detection system, and a liquid-electric system 9.

[0054] The controller 2 is installed on the drainage vehicle chassis 1 and is respectively used for controlling the rotation system 3, the arm support system 4, the submersible pump 6, the liquid-electric system 9, and the detection system.

[0055] The rotation system 3 is connected with the arm support system 4 and is used for driving the arm support system 4 to rotate.

[0056] The arm support system 4 is connected with the conveying water pipe 5 and is used for the amplitude and lifting action of the conveying water pipe 5.

[0057] One end of the delivery water pipe 5 is in communication with a port of the submersible pump 6 for delivering water flow discharged by the submersible pump 6;

[0058] The water suction port of the submersible pump 6 is arranged away from one end of the delivery water pipe 5 for water suction, and the water discharge port of the submersible pump 6 is in communication with the delivery water pipe 5 for water discharge to the delivery water pipe 5;

[0059] The electro-hydraulic system 9 provides hydraulic power for the boom system 4, the slewing system 3, and the submersible pump 6 under the control of the controller 2, and power for vehicle operation or vehicle action control;

[0060] The detection system is integrated with the ultrasonic sensor 8 and the sonar sensor 7 for feeding back ultrasonic waves and sonar to the controller 2, respectively.

[0061] Optionally, the ultrasonic sensor 8 is installed on the upper end of the boom system 4 and located on one side of the delivery water pipe 5 for detecting the height of the submersible pump 6 from the water surface and the height of the submersible pump 6 from the water bottom; and the sonar sensor 7 is installed on the bottom of the submersible pump 6 for detecting the relative position of the submersible pump 6 from the nearby obstacles.

[0062] Embodiment 2:

[0063] In combination with Figure 3 the submersible pump 6 control method suitable for the drainage vehicle in this embodiment is further illustrated, which comprises:

[0064] ultrasonic data and sonar data are collected respectively, and a real-time target position of water suction and a preset safe distance of the submersible pump 6 are set; wherein the preset safe distance comprises a safe distance of the submersible pump 6 from the water bottom and a safe distance of the submersible pump 6 from the obstacles;

[0065] ultrasonic data and sonar data are collected respectively, and a real-time target position of water suction and a preset safe distance of the submersible pump 6 are set; wherein the preset safe distance comprises a safe distance of the submersible pump 6 from the water bottom and a safe distance of the submersible pump 6 from the obstacles;

[0066] According to the height of the submersible pump 6 from the water surface, the height of the submersible pump 6 from the water bottom, and the real-time target position, the boom system 4 is controlled in real time for driving the submersible pump 6 to move upward or downward and selecting an output of a pre-warning or an alarm prompt according to the preset safe distance;

[0067] Based on the motion control of the boom system 4, the position, the motion direction, and the speed of the submersible pump 6 are adjusted, and a shutdown program is started according to the output of the alarm prompt.

[0068] According to the height of the submersible pump 6 from the water surface, the height of the submersible pump 6 from the water bottom, and the real-time target position, the boom system 4 is controlled in real time for driving the submersible pump 6 to move upward or downward and selecting an output of a pre-warning or an alarm prompt according to the preset safe distance;

[0069] According to the ultrasonic wave, the height of the submersible pump 6 from the water surface and the height of the submersible pump 6 from the water bottom are obtained in real time when the submersible pump 6 is ascending or descending; wherein during the descending process of the submersible pump 6:

[0070] If the submersible pump 6 detects that it has just reached the range of 0.5 m above the water surface in the embodiment and does not detect that the safe distance between the submersible pump and the obstacle is less than or equal to the safe distance, the arm support system 4 control program is triggered, wherein the arm support system 4 control program controls the arm support to drive the water conveying pipe 5 and the submersible pump 6 into a descending deceleration state;

[0071] If the submersible pump 6 detects that it has reached the real-time target position of water suction below the water surface (such as the initial real-time target position is 0.5 m under the water) and does not detect that the safe distance between the submersible pump and the obstacle is less than or equal to the safe distance, the movement of the arm support system 4 is controlled to stop and the submersible pump 6 and the water conveying pipe 5 are connected to drain water;

[0072] If the submersible pump 6 detects that the lower limit value of the safe distance between the submersible pump 6 and the water bottom is less than or equal to the safe distance, an alarm prompt is output, and a shutdown program is automatically started according to the output alarm prompt.

[0073] The method for driving the submersible pump 6 to ascend or descend and selecting an early warning or alarm prompt according to the preset safe distance is:

[0074] When the submersible pump 6 ascends or descends, the height of the submersible pump 6 from the water bottom, the safe distance between the submersible pump 6 and the water bottom, and the safe distance between the submersible pump 6 and the obstacle are selected to output an alarm prompt;

[0075] And when the submersible pump 6 ascends or descends, the relative position of the submersible pump 6 to the obstacle near the water surface and the safe distance between the submersible pump 6 and the obstacle are selected to output an early warning or alarm prompt.

[0076] The method for selecting an alarm prompt according to the height of the submersible pump 6 from the water bottom, the safe distance between the submersible pump 6 and the water bottom, and the safe distance between the submersible pump 6 and the obstacle when the submersible pump 6 ascends or descends is:

[0077] The height of the submersible pump 6 from the water bottom and the relative position of the submersible pump to the obstacle above the water are obtained in real time according to the collected ultrasonic waves;

[0078] The height of the submersible pump 6 from the water bottom is compared with the safe distance between the submersible pump 6 and the water bottom, and if the height of the submersible pump 6 from the water bottom is less than or equal to the lower limit value of the safe distance between the submersible pump 6 and the water bottom, an alarm prompt is output;

[0079] The relative position of the submersible pump to the obstacle above the water is compared with the safe distance between the submersible pump and the obstacle, and if the relative position of the submersible pump to the obstacle above the water is less than or equal to the lower limit value of the safe distance between the submersible pump and the obstacle, an alarm prompt is output.

[0080] The method for outputting a pre-warning or an alarm prompt when the submersible pump 6 moves up or down is selected according to the relative position of the submersible pump 6 to the underwater nearby obstacle, and the safe distance of the submersible pump 6 to the obstacle.

[0081] The relative position of the submersible pump 6 to the underwater nearby obstacle is obtained in real time according to the collected sonar;

[0082] The relative position of the submersible pump 6 to the underwater nearby obstacle is compared with the safe distance of the submersible pump 6 to the obstacle, and if the relative position of the submersible pump 6 to the underwater nearby obstacle is less than or equal to the lower limit value of the safe distance of the submersible pump 6 to the obstacle, a pre-warning prompt is output.

[0083] If the relative position of the submersible pump 6 to the nearby obstacle is less than or equal to the upper limit value of the safe distance of the submersible pump 6 to the obstacle, an alarm prompt is output, and a shutdown program is started.

[0084] The method for setting the real-time target position is:

[0085] The target position adjustment period is preset according to the power and working condition of the submersible pump 6, and the height of the submersible pump 6 from the water surface is continuously collected in the adjustment period.

[0086] The height of the submersible pump 6 from the water surface continuously collected in the adjustment period is calculated by difference to obtain the water level drop height value in the adjustment period.

[0087] The target position is updated in real time according to the water level drop height value in the adjustment period, wherein the arm support system 4 is controlled to drive the delivery water to extend the length, and then the submersible pump 6 is lowered to the updated target position. In this embodiment, the Figure 4 Further description of the delivery water pipe lowering process; Figure 4 In the embodiment, H1 is the water surface depth, L is the height of the water surface detected by the ultrasonic sensor in the delivery water pipe lowering process, Ls is the extension length of the delivery water pipe, r is the obstacle warning radius of the sonar sensor, and s is the actual distance of the pump bottom from the obstacle or the water bottom.

[0088] In the delivery water pipe lowering process, L is the height of the water surface monitored by the ultrasonic sensor in real time, when L≤L1, the pump is rapidly lowered into the water surface, when L≤L2, the pump is submerged to the appropriate depth below the water surface, at this time, the pump is in the best working position, when L≤L3, the pump approaches the bottom of the water surface, and the emergency shutdown program is triggered; L1, L2 and L3 are actual working condition measurement parameters, which are preset in the control program; the sonar sensor remains in working state during the whole process, and always detects the obstacle in the process to keep the pre-warning; the pump safety distance s0 can be set according to the actual working condition, when s-r≤s0, the alarm prompt is output, and the emergency shutdown program instruction is started.

[0089] In this embodiment,Figure 5 Further illustrate the working process of submersible pump, Figure 5 H1, H2 are the water surface depths before and after drainage, ΔH is the water surface drop depth during the drainage process, L is the water surface height value detected by the ultrasonic sensor during the drainage process, Ls is the extension length of the telescopic water pipe, r is the obstacle warning radius of the sonar sensor, and s is the actual distance from the bottom of the water pump to the obstacle or the water bottom.

[0090] During the drainage work of the submersible pump, the water surface distance parameter L measured by the ultrasonic sensor in real time, and the water surface drop height ΔH in a certain period of time (which can be adjusted according to the actual working condition) are calculated by the control program. If ΔH is greater than the preset value of the program, it indicates that the suction depth of the water pump is not in the appropriate position. The controller will automatically increase the extension length Ls of the telescopic water pipe by a certain value according to the set program, so that the water pump is repositioned at the appropriate suction depth. At the same time, the sonar sensor measures the distance s from the water surface to the water pump to the obstacle. The system will automatically determine whether the water pump exceeds the safe distance s0. When s-r≤s0, the alarm prompt is triggered, and the emergency shutdown program is started. The program will send alarm information to the monitoring platform in time, and keep the water pipe and water pump stationary or shut down according to the specific situation, to avoid water pump collision accidents. This control method is executed cyclically during the working process of the drainage vehicle, which can realize the unmanned operation and remote control of the drainage vehicle, and improve the efficiency and safety of emergency drainage operation.

[0091] Embodiment 3:

[0092] This embodiment further illustrates a processing device, which comprises a memory and a processor. The memory stores a control program which is executed by the processor to realize the following submersible pump 6 control method:

[0093] Ultrasonic data and sonar data are collected respectively, and a real-time target position of the submersible pump 6 for water suction and a preset safe distance are set. The preset safe distance includes a safe distance between the submersible pump 6 and the water bottom and a safe distance between the submersible pump 6 and the obstacle.

[0094] The collected ultrasonic data and sonar data are analyzed respectively to obtain the height of the submersible pump 6 from the water surface, the height of the submersible pump 6 from the water bottom, and the relative position of the submersible pump 6 to the nearby obstacle.

[0095] The arm support system 4 is controlled in real time according to the height of the submersible pump 6 from the water surface, the height of the submersible pump 6 from the water bottom, the real-time target position, and the relative position of the submersible pump 6 to the nearby obstacle, for driving the submersible pump 6 to move upward or downward and selecting to output a pre-warning or an alarm prompt according to the preset safe distance.

[0096] The position, moving direction and speed of the submersible pump 6 are adjusted based on the motion control of the arm support system 4, and the shutdown program is started according to the output alarm prompt.

[0097] Embodiment 4:

[0098] The embodiment further illustrates a readable storage medium, which stores a control program, and the control program is executed by a processor to implement the steps of the above method.

[0099] The submersible pump 6 control system of the application acquires the position and obstacles in the movement process of the submersible pump 6 through the ultrasonic sensor 8 and the sonar sensor 7 in the system, and the control method is to automatically control the process of avoiding the obstacles by the arm support system 4 according to the position and obstacles, and to real-time adjust the position and posture of the submersible pump 6, so that the submersible pump 6 can automatically avoid the underwater obstacles according to the feedback of the detection signals after entering the water, and can quickly and automatically adjust the suction depth of the submersible pump 6 according to the feedback of the water level signals, and the remote monitoring control and unmanned operation can be realized.

[0100] Those skilled in the art will appreciate that embodiments of the application can be provided as methods, systems, or control program products. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a control program product embodied in one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage media, etc.) having computer-usable program code embodied thereon.

[0101] The application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and control program products according to embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by control program instructions. These control program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable processing device produce an apparatus that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocks Figure 1 The functions specified in a flow or multiple flows and / or blocks

[0102] These control program instructions can also be stored in a computer-readable storage medium that can direct the computer or other programmable processing device to work in a specific manner, so that the instructions stored in the computer-readable storage medium produce a manufactured product including instruction apparatuses that implement the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocks Figure 1 The functions specified in a flow or multiple flows and / or blocks

[0103] These program instructions can also be loaded onto a computer or other programmable processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process such that the instructions which execute on the computer or other programmable device provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0104] The above description is merely that of the preferred embodiments of the application and modifications and variations are possible without departing from the spirit and principles of the application as discussed above.

Claims

1. A submersible pump control method suitable for a dewatering vehicle, characterized by, The application relates to a method for controlling a submersible pump and an arm support system. The method comprises the following steps: Collecting ultrasonic data and sonar data respectively, and setting a real-time target position of water suction and a preset safety distance for the submersible pump; wherein the preset safety distance comprises a safety distance between the submersible pump and the water bottom and a safety distance between the submersible pump and an obstacle; Analyzing the collected ultrasonic data and sonar data respectively to obtain the height of the submersible pump from the water surface, the height of the submersible pump from the water bottom, and the relative position of the submersible pump from the nearby obstacle; Controlling the arm support system in real time according to the height of the submersible pump from the water surface, the height of the submersible pump from the water bottom, the real-time target position, and the relative position of the submersible pump from the nearby obstacle, so as to drive the submersible pump to move upwards or downwards and select an output of a pre-warning or an alarm prompt according to the preset safety distance; Adjusting the position, moving direction and speed of the submersible pump based on the motion control of the arm support system, and starting a shutdown program according to the output alarm prompt; The method for controlling the arm support system in real time according to the height of the submersible pump from the water surface, the height of the submersible pump from the water bottom, the real-time target position, and the relative position of the submersible pump from the nearby obstacle is as follows: The height of the submersible pump from the water surface and the height of the submersible pump from the water bottom are obtained in real time according to the ultrasonic waves; wherein during the descending process of the submersible pump: If the submersible pump detects that it has just reached a preset distance above the water surface and does not detect a value less than or equal to the safety distance between the submersible pump and the obstacle, the arm support system control program is triggered, wherein the arm support system control program controls the arm support to drive the water conveying pipe and the submersible pump into a descending deceleration state; If the submersible pump detects that it has reached the real-time target position of water suction below the water surface and does not detect a value less than or equal to the safety distance between the submersible pump and the obstacle, the arm support system motion is controlled to stop and the submersible pump and the water conveying pipe are connected to drain water; 2. The submersible pump control method for a dewatering vehicle according to claim 1, characterized by, If the submersible pump detects a value less than or equal to the lower limit value of the safety distance between the submersible pump and the water bottom or the safety distance between the submersible pump and the obstacle, an alarm prompt is output, and a shutdown program is automatically started according to the output alarm prompt. The method for driving the submersible pump to move upwards or downwards and selecting an output of a pre-warning or an alarm prompt according to the preset safety distance is as follows: During the upward or downward movement of the submersible pump, an alarm prompt is selected to be output according to the height of the submersible pump from the water bottom, the safety distance between the submersible pump and the water bottom, and the safety distance between the submersible pump and the obstacle; 3. The submersible pump control method for a dewatering vehicle according to claim 2, characterized by, During the upward or downward movement of the submersible pump, a pre-warning or an alarm prompt is selected to be output according to the relative position of the submersible pump from the nearby underwater obstacle and the safety distance between the submersible pump and the obstacle. The method for selecting an alarm prompt to be output according to the height of the submersible pump from the water bottom, the safety distance between the submersible pump and the water bottom, and the safety distance between the submersible pump and the obstacle during the upward or downward movement of the submersible pump is as follows: The height of the submersible pump from the water bottom and the relative position of the submersible pump from the nearby obstacle above the water are obtained in real time according to the collected ultrasonic waves; The height of the submersible pump from the water bottom is compared with the safety distance between the submersible pump and the water bottom, and if the height of the submersible pump from the water bottom is less than or equal to the lower limit value of the safety distance between the submersible pump and the water bottom, an alarm prompt is output; The relative position of the submersible pump from the nearby obstacle above the water is compared with the safety distance between the submersible pump and the obstacle, and if the relative position of the submersible pump from the nearby obstacle above the water is less than or equal to the lower limit value of the safety distance between the submersible pump and the obstacle, an alarm prompt is output.

4. The submersible pump control method for a dewatering vehicle according to claim 2, characterized by, The method for outputting a pre-warning or an alarm prompt when the submersible pump moves up or down is selected according to the relative position of the submersible pump to the underwater nearby obstacle, and the safe distance between the submersible pump and the obstacle, and the method is as follows: The relative position of the submersible pump to the underwater nearby obstacle is obtained in real time according to the collected sonar; The relative position of the submersible pump to the underwater nearby obstacle is compared with the safe distance between the submersible pump and the obstacle, if the relative position of the submersible pump to the underwater nearby obstacle is less than or equal to the lower limit value of the safe distance between the submersible pump and the obstacle, a pre-warning prompt is outputted; If the relative position of the submersible pump to the underwater nearby obstacle is less than or equal to the upper limit value of the safe distance between the submersible pump and the obstacle, an alarm prompt is outputted, and a shutdown program is started.

5. The submersible pump control method for a dewatering vehicle according to claim 1, characterized by, The setting method of the real-time target position is as follows: The target position adjustment period is preset according to the power and working condition of the submersible pump, and the height of the submersible pump from the water surface is continuously collected in the adjustment period; The height of the submersible pump from the water surface collected in the adjustment period is calculated by difference to obtain the water level drop height value in the adjustment period; The target position is updated in real time according to the water level drop height value in the adjustment period, and the arm support system is controlled to drive the delivery water pipe to extend and then drive the submersible pump to drop to the updated target position.

6. A submersible pump control system suitable for use in a dewatering vehicle, characterized by, It comprises: a controller, a rotating system, an arm support system, a delivery water pipe, a submersible pump, a detection system, and a hydraulic and electric system; the controller is installed on the drainage vehicle and is used to control the rotating system, the arm support system, the submersible pump, the hydraulic and electric system, and the detection system, and is used to execute the submersible pump control method in any one of claims 1-5; the rotating system is connected with the arm support system and is used to drive the arm support system to rotate; the arm support system is connected with the delivery water pipe and is used to drive the delivery water pipe to perform luffing and lifting actions; one end of the delivery water pipe is communicated with the port of the submersible pump and is used to deliver the water flow discharged by the submersible pump; the water suction port of the submersible pump is arranged at the bottom and is used to suck water, and the water discharge port of the submersible pump is communicated with the delivery water pipe and is used to discharge water to the delivery water pipe; the hydraulic and electric system provides hydraulic power for the arm support system, the rotating system, and the submersible pump under the control of the controller, and provides power for the whole vehicle operation or vehicle action control; the detection system is integrated with ultrasonic sensors and sonar sensors and is used to feed back ultrasonic data and sonar data to the controller.

7. The submersible pump control system suitable for use in a dewatering truck of claim 6, wherein, The ultrasonic sensors are installed on the upper end of the arm support system and are located on one side of the delivery water pipe and are used to detect the height of the submersible pump from the water surface, and the sonar sensors are installed on the bottom of the submersible pump and are used to detect the relative position of the submersible pump to the nearby obstacle.

8. A processing device comprising a memory and a processor, wherein, The memory stores a control program which is executed by the processor to realize the submersible pump control method in any one of claims 1-5.

9. A readable storage medium, on which a control program is stored, characterized in that, The program is executed by the processor to realize the steps of the method in any one of claims 1-5.

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