A tank cleaner and intelligent control system thereof

Abstract

The application provides a tank cleaner and an intelligent control system thereof, wherein the intelligent control system comprises: a target distance parameter set acquisition subsystem, which is used to acquire a target distance parameter set of a spray head of the tank cleaner and a target tank; a residual substance estimation information acquisition subsystem, which is used to acquire residual substance estimation information of the target tank; and an intelligent control subsystem, which is used to perform intelligent control of the tank cleaner according to the target distance parameter set and the residual substance estimation information. The tank cleaner and the intelligent control system thereof can acquire a real-time target distance parameter set of a spray head of the tank cleaner and a target tank, acquire residual substance estimation information at the same time, determine suitable working parameters of the tank cleaner according to the target distance parameter set and the residual substance estimation information, perform real-time intelligent control of the tank cleaner according to the suitable working parameters, and greatly improve the tank cleaning efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control, in particular to a tank cleaner and an intelligent control system thereof. BACKGROUND

[0002] In the chemical, food and pharmaceutical industries, the cleanliness of the inner wall of the tank directly affects the quality of the products produced. Residual dirt, bacteria or other impurities can cause the quality of the products to decline, and even pose a safety risk. Although cleaning the tank requires some investment, in the long run, by reducing equipment failures, improving production efficiency and ensuring product quality, the overall operating costs can be reduced. The traditional water pressure driven cleaner uses the pressure of water to clean the surface of the object, but the internal structure is complex, easy to crash and damage, and the stability is poor. In addition, the pressure control of the traditional water pressure driven cleaner is not sensitive, and the adjustable range is small.

[0003] The invention patent with application number 201810721727.7 discloses a water jet tank cleaning device, wherein the water jet tank cleaning device comprises a cleaning frame distributed in a fan shape, a mechanical moving part supporting the entire cleaning device and serving as a moving part, and an explosion-proof motor frame connecting the cleaning frame and the mechanical moving part. The cleaning device is connected to an external control center to control the circumferential trajectory of the cleaning frame when it rotates, and to control the longitudinal trajectory of the water jet nozzle on the cleaning frame. At the same time, the cleaning device is connected to an electro-hydraulic supply system to realize cleaning of the inner wall of the entire oil tank. The above-mentioned invention is novel in design, energy-saving and environmentally friendly, and has strong practicality, saving manpower, improving cleaning efficiency and reducing work accidents.

[0004] However, the water jet nozzle needs a jet driving device to spray water, and the water pressure is not environmentally friendly if it is too high, and the cleaning is not complete if it is too low, and a second cleaning is needed. The above-mentioned cleaning device does not consider that different attached substances require different jet water pressures, and the work efficiency is low.

[0005] Therefore, there is an urgent need for a tank cleaner and an intelligent control system thereof to at least solve the above problems. SUMMARY

[0006] One of the purposes of the present application is to provide a tank cleaner and an intelligent control system thereof, which obtains a real-time target distance parameter set of the nozzle of the tank cleaner and the target tank, at the same time, obtains residual material estimation information, determines suitable working parameters of the tank cleaner according to the target distance parameter set and the residual material estimation information, and performs real-time intelligent control of the tank cleaner according to the suitable working parameters, greatly improving the tank cleaning operation efficiency.

[0007] The intelligent control system of the tank cleaner provided by the embodiment of the present application comprises:

[0008] A target distance parameter set obtaining subsystem is configured to obtain a target distance parameter set of the tank cleaner spray head and the target tank.

[0009] A residual substance estimation information obtaining subsystem is configured to obtain residual substance estimation information of the target tank.

[0010] An intelligent control subsystem is configured to perform intelligent control of the tank cleaner according to the target distance parameter set and the residual substance estimation information.

[0011] Preferably, the target distance parameter set obtaining subsystem comprises:

[0012] A distance sensor configuration information obtaining module is configured to obtain distance sensor configuration information of the tank cleaner spray head.

[0013] A configuration result obtaining module is configured to parse the distance sensor configuration information and obtain a configuration result.

[0014] A target distance parameter set first determining module is configured to, if the configuration result is a successful configuration, determine the target distance parameter set according to distance sensor sensing information.

[0015] A target distance parameter set second determining module is configured to, if the configuration result is an unsuccessful configuration, determine a tank cleaner position setting scheme of the target tank, and determine the target distance parameter set according to the tank cleaner position setting scheme of the target tank.

[0016] Preferably, the target distance parameter set second determining module comprises:

[0017] An initial distance parameter set determining submodule is configured to determine an initial distance parameter set of the tank cleaner spray head and the inner wall of the target tank according to the tank cleaner position setting scheme.

[0018] A target distance parameter set determining submodule is configured to determine the target distance parameter set according to a current telescopic amount of the tank cleaner spray head and the initial distance parameter set.

[0019] Preferably, the residual substance estimation information obtaining subsystem comprises:

[0020] A storage information obtaining module is configured to obtain storage information of the target tank.

[0021] A residual substance estimation information determining module is configured to determine residual substance estimation information of an object in the target tank according to the storage information, the residual substance estimation information comprising a residual substance type and a residual substance distribution.

[0022] Preferably, the residual substance estimation information determining module comprises:

[0023] A target substance type set determining submodule is configured to determine a target substance type set according to the storage information.

[0024] The wall-hanging analysis substance determination submodule is configured to sequentially traverse a target substance category in a target substance category set, and take a target substance corresponding to a target substance category being currently traversed as a wall-hanging analysis substance.

[0025] The wall-hanging analysis model acquisition submodule is configured to acquire a wall-hanging analysis model of the wall-hanging analysis substance.

[0026] The in-tank structure acquisition submodule is configured to acquire an in-tank structure of the target tank.

[0027] The wall-hanging analysis determination submodule is configured to perform wall-hanging analysis on the wall-hanging analysis substance according to the wall-hanging analysis model and the in-tank structure, and obtain a wall-hanging analysis result.

[0028] The residual substance estimation information determination submodule is configured to collectively take all wall-hanging analysis results as residual substance estimation information when traversal of all target substances in the target substance category set is completed.

[0029] Preferably, the intelligent control subsystem comprises:

[0030] The working parameter information determination module is configured to determine working parameter information of the tank cleaner spray head according to the target distance parameter set and the residual substance estimation information, the working parameter information comprising: a target extension amount and a target pressure.

[0031] The control module is configured to perform corresponding control of the tank cleaner according to the working parameter information.

[0032] Preferably, the working parameter information determination module comprises:

[0033] The current impact pressure acquisition submodule is configured to acquire a current impact pressure.

[0034] The future target distance parameter set determination submodule is configured to determine a future target distance parameter set according to the target extension amount and the target distance parameter set.

[0035] The bottom arrival contact pressure determination submodule is configured to determine a contact pressure of the tank cleaner spray head when reaching the bottom of the target tank according to the current impact pressure and the future target distance parameter set.

[0036] The first required impact pressure determination submodule is configured to determine a first required impact pressure according to the residual substance estimation information, the first required impact pressure comprising: a required impact pressure of a side wall of the target tank and a required impact pressure of the bottom of the target tank.

[0037] The time migration characteristic acquisition submodule is configured to acquire a time migration characteristic of the residual substance and a residual time.

[0038] The time migration characteristic determination submodule is configured to determine the time migration characteristic of the residual substance according to the time migration characteristic and the residual time.

[0039] The second required impact pressure determination submodule is configured to adjust the first required impact pressure according to the time migration characteristic of each residual substance to obtain a second required impact pressure.

[0040] The time migration pressure determination submodule is configured to parse the second required impact pressure to obtain an adjusted target tank bottom required impact pressure.

[0041] The pressure difference acquisition submodule is configured to compare the adjusted target tank bottom required impact pressure with a contact pressure of the tank cleaner nozzle to the target tank bottom to obtain a pressure difference.

[0042] The working parameter information determination submodule is configured to determine working parameter information according to the pressure difference.

[0043] Preferably, the working parameter information determination submodule comprises:

[0044] The working parameter information first determination unit is configured to increase the current impact pressure to determine the working parameter information if the pressure difference is greater than 0.

[0045] The working parameter information second determination unit is configured to decrease the current impact pressure to determine the working parameter information if the pressure difference is less than or equal to 0.

[0046] Preferably, the working parameter information first determination unit comprises:

[0047] The bottom arrival distance determination unit is configured to determine a bottom arrival distance according to a future target distance parameter set.

[0048] The target pressure determination unit is configured to determine a pressure increase expectation value according to the bottom arrival distance and the pressure difference.

[0049] The first side wall expected pressure value determination unit is configured to determine a first side wall expected pressure value according to the current impact pressure, the pressure increase expectation value and the future target distance parameter set.

[0050] The target pressure first determination unit is configured to determine a target pressure according to the current impact pressure and the pressure increase expectation value if the first side wall expected pressure value is greater than or equal to the target tank side wall required impact pressure.

[0051] The subsequent pressure increase expectation value determination unit is configured to determine a subsequent pressure increase expectation value according to the target tank side wall required impact pressure, the first side wall expected pressure value and the future target distance parameter set if the first side wall expected pressure value is less than the target tank side wall required impact pressure.

[0052] The target pressure second determining unit is configured to determine the target pressure according to the current impact pressure, the pressure increase expected value and the subsequent pressure increase expected value.

[0053] Preferably, the working parameter information second determining unit comprises:

[0054] The pressure decrease expected value determining unit is configured to determine the pressure decrease expected value according to the pressure difference and the future target distance parameter set.

[0055] The second sidewall expected pressure value determining unit is configured to determine the second sidewall expected pressure value according to the current impact pressure, the pressure decrease expected value and the future target distance parameter set.

[0056] The target pressure third determining unit is configured to determine the target pressure according to the current impact pressure and the pressure decrease expected value if the second sidewall expected pressure value is greater than or equal to the target tank sidewall required impact pressure.

[0057] The pressure decrease expected value adjusting unit is configured to adjust the pressure decrease expected value until the second sidewall expected pressure value is equal to the target tank sidewall required impact pressure if the second sidewall expected pressure value is less than the target tank sidewall required impact pressure.

[0058] The target pressure fourth determining unit is configured to determine the target pressure based on the current impact pressure and the adjusted pressure decrease expected value.

[0059] The embodiment of the present application provides a tank cleaner which is applied to any one of the intelligent control systems.

[0060] The present application has the following advantages:

[0061] The present application obtains the real-time target distance parameter set of the tank cleaner nozzle and the target tank, simultaneously obtains the residual material estimation information, determines the suitable working parameter of the tank cleaner according to the target distance parameter set and the residual material estimation information, and performs the real-time intelligent control of the tank cleaner according to the suitable working parameter, so that the tank cleaning operation efficiency is greatly improved.

[0062] Other features and advantages of the present application will be further described in the following description, and will become apparent from the description, or will be learned through practice of the present application. The objects and other advantages of the present application will be realized and achieved by particularly pointed out in the specification.

[0063] The technical solutions of the present application will be further described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0064] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0065] Figure 1 This is a schematic diagram of an intelligent control system for a tank cleaner according to an embodiment of the present invention;

[0066] Figure 2 This is a schematic diagram of a tank cleaner in an intelligent control system of a tank cleaner according to an embodiment of the present invention. Detailed Implementation

[0067] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0068] This invention provides an intelligent control system for a tank cleaner, such as... Figure 1 As shown, it includes:

[0069] Target distance parameter set acquisition subsystem 1 is used to acquire the target distance parameter set between the tank cleaner nozzle and the target tank; wherein, the tank cleaner is as follows: Figure 2 As shown, a waterproof and explosion-proof motor drive device provides stable and high-impact output. The motor drive can be pneumatic or electric. The drive device is located outside the tank, away from corrosion sources. The connection adopts a telescopic structure with a telescopic range of 100mm-3m. The installation method can be selected according to the size of the tank opening, using flange, ASME raised face, or sanitary union. The tank cleaner nozzle has two nozzles. When the nozzle rotates, it achieves 360° cleaning of the target tank. The target tank is the tank that needs to be cleaned. The target distance parameter set is a dataset of real-time distances between the tank cleaner nozzle and the bottom and side walls of the target tank.

[0070] The residual substance estimation information acquisition subsystem 2 is used to acquire residual substance estimation information of the target tank; wherein, the residual substance estimation information is: the residual substances that may exist in the target tank and the characteristics of the residual substances, including but not limited to the residual amount, residual area and residual duration;

[0071] The intelligent control subsystem 3 is used to intelligently control the tank cleaner based on the target distance parameter set and residual substance estimation information. Specifically, during intelligent control of the tank cleaner, the appropriate operating parameters for the tank cleaner are determined in real time based on the target distance parameter set and residual substance estimation information, and cleaning operations are performed on the target tank based on these appropriate operating parameters.

[0072] The working principle and beneficial effects of the above technical solution are as follows:

[0073] The application obtains a real-time target distance parameter set of a tank cleaner spray head and a target tank, simultaneously obtains residual material estimation information, determines suitable working parameters of the tank cleaner according to the target distance parameter set and the residual material estimation information, and performs real-time intelligent control of the tank cleaner according to the suitable working parameters, thereby greatly improving tank cleaning efficiency.

[0074] In one embodiment, the target distance parameter set obtaining subsystem comprises:

[0075] The distance sensor configuration information obtaining module is configured to obtain distance sensor configuration information of the tank cleaner spray head, wherein the distance sensor configuration information is whether a distance sensor is configured on the tank cleaner spray head and what the sensing parameter is;

[0076] The configuration result obtaining module is configured to parse the distance sensor configuration information and obtain a configuration result;

[0077] The target distance parameter set first determining module is configured to, if the configuration result is a successful configuration, determine the target distance parameter set according to distance sensor sensing information;

[0078] The target distance parameter set second determining module is configured to, if the configuration result is an unsuccessful configuration, determine a cleaner position setting scheme of the target tank, and determine the target distance parameter set according to the cleaner position setting scheme of the target tank, wherein the cleaner position setting scheme is how to set the position of the tank cleaner relative to the target tank;

[0079] The working principle and beneficial effects of the above technical solution are as follows:

[0080] The application introduces distance sensor configuration information and parses a configuration result, and when there is a distance sensor configuration, the target distance parameter set is directly determined according to distance sensor sensing information, otherwise, the target distance parameter set is determined according to a cleaner position setting scheme, and the determination of the target distance parameter set is more reasonable.

[0081] In one embodiment, the target distance parameter set second determining module comprises:

[0082] The initial distance parameter set determining submodule is configured to determine an initial distance parameter set of the tank cleaner spray head and the inner wall of the target tank according to the cleaner position setting scheme, wherein the initial distance parameter set is a set of distance data from the spray head to the inner wall of the target tank when the tank cleaner is not extended or retracted;

[0083] The target distance parameter set determining submodule is configured to determine the target distance parameter set according to a current extension amount of the tank cleaner spray head and the initial distance parameter set, wherein the current extension amount is the extension length of the current tank cleaner spray head.

[0084] The working principle and beneficial effects of the above technical solutions are:

[0085] In the case where there is no distance sensor, the distance from the cleaning nozzle to the inner wall of the target tank is calculated according to the setting position of the cleaner. Since the length of the tank cleaner nozzle is fixed when it is not extended, the initial distance parameter set is first determined according to the cleaner position setting scheme and the fixed length part. At the same time, considering the extension data of the cleaning nozzle, the target distance parameter set is determined according to the initial distance parameter set and the extension data.

[0086] In one embodiment, the residual substance estimation information acquisition subsystem includes:

[0087] The storage information acquisition module is configured to acquire storage information of the target tank. The storage information includes the type of the stored substance in the target tank and the storage volume of the target tank, and other storage-related information.

[0088] The residual substance estimation information determination module is configured to determine residual substance estimation information of the tank object in the target tank according to the storage information. The residual substance estimation information includes the type of the residual substance and the distribution of the residual substance. The tank object is the stored substance in the target tank.

[0089] The working principle and beneficial effects of the above technical solutions are:

[0090] The present application acquires the storage information of the target tank and determines the residual substance estimation information according to the storage information, thereby improving the rationality of the residual substance estimation information acquisition.

[0091] In one embodiment, the residual substance estimation information determination module includes:

[0092] The target substance type set determination submodule is configured to determine a target substance type set according to the storage information. The target substance type set is a collection of storage substance type data determined according to the storage information.

[0093] The wall-hung analysis substance determination submodule is configured to sequentially traverse the target substance types in the target substance type set and take the target substance corresponding to the target substance type being currently traversed as the wall-hung analysis substance.

[0094] The wall-hung analysis model acquisition submodule is configured to acquire a wall-hung analysis model of the wall-hung analysis substance. The wall-hung analysis model is a flowability analysis model of the wall-hung analysis substance.

[0095] The tank structure acquisition submodule is configured to acquire the tank structure of the target tank. The tank structure is three-dimensional information of the target tank.

[0096] The wall-hanging analysis determination submodule is configured to perform wall-hanging analysis on the wall-hanging analysis material according to a wall-hanging analysis model and the internal structure of the tank to obtain wall-hanging analysis results, wherein the wall-hanging analysis results are data related to the residual material, such as wall-hanging amount and wall-hanging area.

[0097] The residual material estimation information determination submodule is configured to collectively use all the wall-hanging analysis results as residual material estimation information when all the target material species in the target material species set are traversed.

[0098] The working principle and beneficial effects of the above technical solution are as follows:

[0099] The material characteristics of different materials are different, and the final form left in the tank is also different. Therefore, the application determines the set of storage material species according to the storage information, and performs wall-hanging analysis on each target material in the target material species set in combination with the internal structure of the target tank to determine residual material estimation information collectively determined by all wall-hanging analysis results, thereby improving the accuracy of the material estimation information.

[0100] In one embodiment, the intelligent control subsystem includes:

[0101] The working parameter information determination module is configured to determine working parameter information of the tank cleaner nozzle according to the target distance parameter set and the residual material estimation information, wherein the working parameter information includes: a future extension amount and a target pressure; the target pressure represents the water pressure of the tank cleaner nozzle; and the future extension amount is determined according to the cleaning time length and a preset extension period.

[0102] The control module is configured to perform corresponding control of the tank cleaner according to the working parameter information.

[0103] The working principle and beneficial effects of the above technical solution are as follows:

[0104] The application determines real-time working parameter information according to the target distance parameter set and the residual material estimation information, and then performs real-time control of the tank cleaner according to the working parameter information, thereby improving the adaptability of the cleaning process.

[0105] In one embodiment, the working parameter information determination module includes:

[0106] The current impact pressure acquisition submodule is configured to acquire a current impact pressure, wherein the current impact pressure is determined according to the real-time monitored driving power of the driving device.

[0107] The future target distance parameter set determination submodule is configured to determine a future target distance parameter set according to the future extension amount and the target distance parameter set, wherein the future target distance parameter set is a data set of distances from the tank interior to the nozzle after the nozzle is extended by the future extension amount.

[0108] a bottom-arrival contact pressure determining sub-module configured to determine a contact pressure of the tank cleaner spray head to the bottom of the target tank according to the current impact pressure and the future target distance parameter set; wherein, when the bottom-arrival contact pressure is determined, the distance between the tank cleaner spray head in the extended state and the bottom of the target tank is determined according to the future target distance parameter set, and the bottom-arrival contact pressure is determined according to the current impact pressure and the loss of the future target distance parameter set;

[0109] a first required impact pressure determining sub-module configured to determine a first required impact pressure according to the residual substance estimation information, the first required impact pressure including a target tank sidewall required impact pressure and a target tank bottom required impact pressure; wherein, the target tank sidewall required impact pressure is determined according to the residual substance estimation information of the target tank sidewall, and the target tank bottom required impact pressure is determined according to the residual substance estimation information of the target tank bottom;

[0110] a time migration characteristic obtaining sub-module configured to obtain a time migration characteristic of the residual substance and a residual time; wherein, the time migration characteristic is a relationship between the flowability of the residual substance and time, and the residual time is a preset cleaning period;

[0111] a time migration characteristic determining sub-module configured to determine a time migration characteristic of the residual substance according to the time migration characteristic and the residual time; wherein, the time migration characteristic is the flowability of the residual substance determined according to the residual time;

[0112] a second required impact pressure determining sub-module configured to adjust the first required impact pressure according to the time migration characteristic to obtain a second required impact pressure; wherein, the second required impact pressure is the pressure required to flush the residual substance after the residual time;

[0113] a time migration pressure determining sub-module configured to analyze the second required impact pressure to obtain an adjusted target tank bottom required impact pressure;

[0114] a pressure difference obtaining sub-module configured to compare the adjusted target tank bottom required impact pressure with the contact pressure of the tank cleaner spray head to the bottom of the target tank to obtain a pressure difference; wherein, the pressure difference is obtained by subtracting the contact pressure of the tank cleaner spray head to the bottom of the target tank from the adjusted target tank bottom required impact pressure;

[0115] a working parameter information determining sub-module configured to determine working parameter information according to the pressure difference.

[0116] The working principle and beneficial effects of the above technical solution are as follows:

[0117] The substance in the tank changes with the change of the residual time, and the fluidity also changes, for example: before cleaning, the fluidity becomes poor as the residual time becomes longer, and the flushing pressure is larger than the initial state, and when the flushing starts, the flushing pressure gradually decreases, therefore, the application introduces the estimated information of the residual substance to determine the required impact pressure of the target tank side wall and the required impact pressure of the target tank bottom, introduces the time migration characteristics and the residual time to determine the time migration characteristics, and adjusts the required impact pressure of the target tank side wall and the required impact pressure of the target tank bottom based on the time migration characteristics, determines the target pressure based on the comparison result of the real-time adjusted required impact pressure of the target tank bottom and the bottom contact pressure, and adjusts the driving power of the cleaner more timely.

[0118] In one embodiment, the working parameter information determination submodule comprises:

[0119] The working parameter information first determination unit is configured to increase the current impact pressure if the pressure difference is greater than 0, and determine the working parameter information; wherein, if the pressure difference is greater than 0, it indicates that the nozzle flushing pressure is insufficient at this time, and the cleaning pressure needs to be increased in time;

[0120] The working parameter information second determination unit is configured to decrease the current impact pressure if the pressure difference is less than or equal to 0, and determine the working parameter information; wherein, if the pressure difference is greater than 0, it indicates that the nozzle flushing pressure is too large at this time, and the energy consumption is high, and the cleaning pressure needs to be decreased in time.

[0121] The working principle and beneficial effects of the above technical solution are:

[0122] If the flushing pressure is too large, the driving device needs to be driven with higher power, and the energy consumption is high, and if the flushing pressure is too small, the cleaning will not be clean, and subsequent secondary cleaning is required, therefore, the application introduces the pressure difference to make the target pressure close to the most suitable cleaning water pressure in real time, realizes 360° dead angle-free cleaning, and reduces the energy consumption.

[0123] In one embodiment, the working parameter information first determination unit comprises:

[0124] The bottom arrival distance determination unit is configured to determine the bottom arrival distance according to the future target distance parameter set; wherein, the bottom arrival distance is the distance between the nozzle and the tank bottom when the nozzle is in the extension amount;

[0125] The target pressure determination unit is configured to determine the pressure increase expected value according to the bottom arrival distance and the pressure difference; wherein, the pressure increase expected value is the pressure increase value when the nozzle is in the extension amount;

[0126] The first side wall expected pressure value determination unit is configured to determine a first side wall expected pressure value according to the current impact pressure, the pressure increase expected value, and the future target distance parameter set, wherein the first side wall expected pressure value is a contact water pressure of the side wall when the current impact pressure is increased by the pressure increase expected value.

[0127] The target pressure first determination unit is configured to determine a target pressure according to the current impact pressure and the pressure increase expected value if the first side wall expected pressure value is greater than or equal to a target tank side wall required impact pressure.

[0128] The subsequent pressure increase expected value determination unit is configured to determine a subsequent pressure increase expected value according to the target tank side wall required impact pressure, the first side wall expected pressure value, and the future target distance parameter set if the first side wall expected pressure value is less than the target tank side wall required impact pressure, wherein the subsequent pressure increase expected value is a pressure that needs to be continuously increased on the basis of the current impact pressure increased by the pressure increase expected value, and is determined according to a difference between the target tank side wall required impact pressure and the first side wall expected pressure value and a distance between the nozzle and the side wall in the future target distance parameter set.

[0129] The target pressure second determination unit is configured to determine a target pressure according to the current impact pressure, the pressure increase expected value, and the subsequent pressure increase expected value.

[0130] The working principle and beneficial effects of the above technical solution are as follows:

[0131] According to the future target distance parameter set, the bottom arrival distance is determined, the pressure increase expected value is determined according to the pressure difference and the loss of the bottom arrival distance, and when the bottom pressure reaches the expectation, it is further determined whether the side wall pressure meets the requirement. If the first side wall expected pressure value is greater than or equal to the target tank side wall required impact pressure, it indicates that the side wall pressure reaches the requirement, and the sum of the current impact pressure and the pressure increase expected value is taken as the target pressure. If the first side wall expected pressure value is less than the target tank side wall required impact pressure, it indicates that the side wall pressure does not meet the requirement, the difference between the target tank side wall required impact pressure and the first side wall expected pressure value is determined to be the amount that needs to be continuously increased, i.e., the subsequent pressure increase expected value, and the sum of the current impact pressure, the pressure increase expected value, and the subsequent pressure increase expected value is taken as the target pressure, thereby improving the suitability of the pressure increasing process.

[0132] In one embodiment, the working parameter information second determination unit comprises:

[0133] The pressure decrease expected value determination unit is configured to determine a pressure decrease expected value according to the pressure difference and the future target distance parameter set, wherein the pressure decrease expected value is a pressure decrease value when the nozzle is in the subsequent extension and contraction amount.

[0134] The second side wall expected pressure value determination unit is configured to determine a second side wall expected pressure value according to the current impact pressure, the pressure reduction expected value and the future target distance parameter set, wherein the second side wall expected pressure value is the contact water pressure of the side wall when the current impact pressure is reduced by the pressure reduction expected value.

[0135] The target pressure third determination unit is configured to determine the target pressure according to the current impact pressure and the pressure reduction expected value if the second side wall expected pressure value is greater than or equal to the target tank side wall required impact pressure.

[0136] The pressure reduction expected value up-regulation unit is configured to up-regulate the pressure reduction expected value until the second side wall expected pressure value is equal to the target tank side wall required impact pressure if the second side wall expected pressure value is less than the target tank side wall required impact pressure, wherein the pressure, which needs to be further increased on the basis of the current impact pressure when the pressure reduction expected value is up-regulated, is determined according to the difference between the target tank side wall required impact pressure and the second side wall expected pressure value and the distance between the nozzle and the side wall in the future target distance parameter set, and the up-regulation amount of the pressure reduction expected value is determined according to the distance between the nozzle and the side wall in the future target distance parameter set.

[0137] The target pressure fourth determination unit is configured to determine the target pressure based on the current impact pressure and the up-regulated pressure reduction expected value.

[0138] The working principle and beneficial effects of the above technical solution are as follows:

[0139] The present application determines the pressure reduction value according to the pressure difference and the future target distance parameter set, then determines the contact water pressure of the side wall when the current impact pressure is reduced by the pressure reduction expected value, directly determines the target pressure based on the current impact pressure and the pressure reduction expected value if the second side wall expected pressure value is greater than or equal to the target tank side wall required impact pressure, and determines the target pressure according to the current impact pressure and the up-regulated pressure reduction expected value if the second side wall expected pressure value is less than the target tank side wall required impact pressure, so that the tank bottom and the side wall are both cleaned, and the pressure reduction process is more reasonable.

[0140] The embodiment of the present application provides a tank cleaner applied to any one of the intelligent control systems.

[0141] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and the equivalent technology thereof, the present application also intends to include these modifications and variations.

Claims

1. An intelligent control system for a tank cleaner, the system comprising: The system comprises: a target distance parameter set acquisition subsystem for acquiring a target distance parameter set of a tank cleaner spray head and a target tank; a residual substance estimation information acquisition subsystem for acquiring residual substance estimation information of the target tank; an intelligent control subsystem for intelligently controlling the tank cleaner according to the target distance parameter set and the residual substance estimation information; the intelligent control subsystem comprises: a working parameter information determination module for determining working parameter information of the tank cleaner spray head according to the target distance parameter set and the residual substance estimation information, the working parameter information comprising: a follow-up expansion amount and a target pressure; a control module for performing corresponding control of the tank cleaner according to the working parameter information; wherein the working parameter information determination module comprises: a current impact pressure acquisition submodule for acquiring a current impact pressure; a future target distance parameter set determination submodule for determining a future target distance parameter set according to the follow-up expansion amount and the target distance parameter set; a bottom contact pressure determination submodule for determining a contact pressure of the tank cleaner spray head reaching the bottom of the target tank according to the current impact pressure and the future target distance parameter set; a first required impact pressure determination submodule for determining a first required impact pressure according to the residual substance estimation information, the first required impact pressure comprising: a required impact pressure of a sidewall of the target tank and a required impact pressure of the bottom of the target tank; a time migration characteristic acquisition submodule for acquiring a time migration characteristic of the residual substance and a residual time; a time migration feature determination submodule for determining a time migration feature of the residual substance according to the time migration characteristic and the residual time; a second required impact pressure determination submodule for adjusting the first required impact pressure according to the time migration feature of each residual substance to obtain a second required impact pressure; a time migration pressure determination submodule for analyzing the second required impact pressure to acquire an adjusted required impact pressure of the bottom of the target tank; a pressure difference acquisition submodule for comparing the adjusted required impact pressure of the bottom of the target tank with the contact pressure of the tank cleaner spray head reaching the bottom of the target tank to acquire a pressure difference; a working parameter information determination submodule for determining the working parameter information according to the pressure difference.

2. The intelligent control system of a tank cleaner as claimed in claim 1, wherein, The target distance parameter set acquisition subsystem comprises: a distance sensor configuration information acquisition module for acquiring distance sensor configuration information of the tank cleaner spray head; a configuration result acquisition module for analyzing the distance sensor configuration information to acquire a configuration result; a target distance parameter set first determination module for determining the target distance parameter set according to distance sensor sensing information if the configuration result is a successful configuration; a target distance parameter set second determination module for determining a tank cleaner position setting scheme of the target tank and determining the target distance parameter set according to the tank cleaner position setting scheme of the target tank if the configuration result is an unsuccessful configuration.

3. An intelligent control system for a tank cleaner as claimed in claim 2, wherein, The target distance parameter set second determination module comprises: an initial distance parameter set determination submodule for determining an initial distance parameter set of the tank cleaner spray head and an inner wall of the target tank according to the tank cleaner position setting scheme; The target distance parameter set determination submodule is configured to determine a target distance parameter set according to the current telescopic amount of the tank cleaner spray head and the initial distance parameter set.

4. The intelligent control system of a tank cleaner as claimed in claim 1, wherein, The residual substance estimation information acquisition subsystem comprises: The storage information acquisition module is configured to acquire storage information of the target tank. The residual substance estimation information determination module is configured to determine residual substance estimation information of an object in the target tank according to the storage information, the residual substance estimation information comprising a residual substance type and a residual substance distribution.

5. The intelligent control system of a tank cleaner as claimed in claim 1, wherein, The working parameter information determination submodule comprises: The working parameter information first determination unit is configured to increase the current impact pressure if the pressure difference is greater than 0, and determine the working parameter information. The working parameter information second determination unit is configured to decrease the current impact pressure if the pressure difference is less than or equal to 0, and determine the working parameter information.

6. A smart control system for a tank cleaner as claimed in claim 5, wherein, The working parameter information first determination unit comprises: The bottom arrival distance determination unit is configured to determine a bottom arrival distance according to the future target distance parameter set. The target pressure determination unit is configured to determine a pressure increase expectation value according to the bottom arrival distance and the pressure difference. The first sidewall expected pressure value determination unit is configured to determine a first sidewall expected pressure value according to the current impact pressure, the pressure increase expectation value, and the future target distance parameter set. The target pressure first determination unit is configured to determine the target pressure according to the current impact pressure and the pressure increase expectation value if the first sidewall expected pressure value is greater than or equal to a required impact pressure of a sidewall of the target tank. The subsequent pressure increase expectation value determination unit is configured to determine a subsequent pressure increase expectation value according to the required impact pressure of the sidewall of the target tank, the first sidewall expected pressure value, and the future target distance parameter set if the first sidewall expected pressure value is less than the required impact pressure of the sidewall of the target tank. The target pressure second determination unit is configured to determine the target pressure according to the current impact pressure, the pressure increase expectation value, and the subsequent pressure increase expectation value.

7. A smart control system for a tank cleaner as claimed in claim 5, wherein, The working parameter information second determination unit comprises: The pressure decrease expectation value determination unit is configured to determine a pressure decrease expectation value according to the pressure difference and the future target distance parameter set. The second sidewall expected pressure value determination unit is configured to determine a second sidewall expected pressure value according to the current impact pressure, the pressure decrease expectation value, and the future target distance parameter set. The target pressure third determination unit is configured to determine the target pressure according to the current impact pressure and the pressure decrease expectation value if the second sidewall expected pressure value is greater than or equal to the required impact pressure of the sidewall of the target tank. The pressure decrease expectation value up-regulation unit is configured to up-regulate the pressure decrease expectation value until the second sidewall expected pressure value is equal to the required impact pressure of the sidewall of the target tank if the second sidewall expected pressure value is less than the required impact pressure of the sidewall of the target tank. The target pressure fourth determination unit is configured to determine the target pressure based on the current impact pressure and the up-regulated pressure decrease expectation value.

8. A tank cleaner characterized by, The intelligent control system of any one of claims 1-7.

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