A sprinkler truck operation control system and method based on intelligent networking

Abstract

The invention discloses a sprinkler truck operation control system and method based on intelligent networking, and specifically relates to the technical field of intelligent control of sprinkler trucks. A pedestrian avoidance operation unit is provided, and the position coordinates of pedestrians within the sprinkler truck range are obtained based on a millimeter wave radar to determine whether the pedestrians are within the spraying range. When the pedestrians are within the spraying range, a nozzle adjustment instruction is generated and executed to prevent the pedestrians from being within the spraying range. The nozzle adjustment instruction includes nozzle angle adjustment and sprinkler truck nozzle horizontal flow rate adjustment, which solves the problem in the prior art that the sprinkler truck cannot be intelligently controlled and sprays pedestrians. The angle is adjusted to prevent pedestrians from being within the spraying range, and the adjusted angle is obtained. The nozzle horizontal flow rate is adjusted to enable the sprinkler truck to cover the road area, which solves the problem in the prior art that when the sprinkler truck encounters pedestrians or other obstacles, the sprinkler truck stops spraying and reduces the spraying range, resulting in a low road surface spraying coverage area.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of sprinkler trucks, and more specifically, to an intelligent network-based sprinkler truck operation control system and method. Background Art

[0002] The operating principle of a sprinkler truck mainly depends on its internal structure and mechanical power. When the sprinkler truck engine is started, the power is transmitted to the water pump through the power take-off, causing the impeller of the water pump to start rotating. As the impeller rotates, the surrounding water is sucked into the impeller cavity and forms a high-pressure water flow. This water flow passes through the outlet pipe and flows to the nozzle through the regulating valve, and is finally sprayed out in the form of mist, spray or water curtain.

[0003] The patent application number is CN117826811A, and its name is a sprinkler truck operation control system and method based on intelligent networking, which relates to the field of sprinkler truck control technology, including: data storage module, positioning module, intelligent networking control module, path planning module, surrounding environment detection module, and watering module; when the present invention encounters pedestrians during the watering operation, it automatically performs watering to avoid pedestrians, thereby achieving the purpose of scientific management and avoiding the problem of conflicts caused by improper or untimely operation of the driver resulting in water spraying on pedestrians. It can also monitor the driving status, water usage and environmental data of the sprinkler truck in real time to ensure the accuracy and efficiency of the watering operation. The intelligent networked sprinkler truck performs intelligent scheduling based on real-time environmental data, rationally utilizes water resources and reduces waste.

[0004] However, in actual use, the existing sprinkler truck operation control system still has many shortcomings. For example, when the distance between the sprinkler truck and pedestrians reaches a preset threshold, the sprinkler truck will brake safely and send a signal to alert the staff and other people around; it does not solve the problem of water spraying on pedestrians from a practical point of view, and when the sprinkler truck encounters pedestrians or other obstacles, it stops spraying and reduces the spraying range, resulting in a low road spraying coverage area. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a sprinkler truck operation control system based on intelligent networking to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above purpose, the present invention provides the following technical solution: a sprinkler truck operation control system based on intelligent networking, comprising:

[0007] The sprinkler truck operation execution module is used to receive the sprinkler truck operation instruction and execute the sprinkler truck operation instruction according to the sprinkler truck operation process;

[0008] The watering truck operation execution module includes a pedestrian avoidance operation unit, which is used to identify the position coordinates of pedestrians and adjust the spraying range and spraying speed based on the position coordinates to avoid spraying water on pedestrians;

[0009] A performance index analysis module is used to obtain and output the performance index of the sprinkler truck, the performance index of the sprinkler truck includes: water loss rate, water spraying accuracy and avoidance reliability parameters; the performance index analysis module includes a water loss rate analysis unit, a water spraying accuracy analysis unit and a pedestrian avoidance performance analysis unit;

[0010] The performance monitoring control module is used to receive the performance indicators of the sprinkler truck and perform monitoring and early warning, compare the performance indicators of the sprinkler truck with the corresponding preset values, and take measures based on the comparison results.

[0011] Preferably, the sprinkler truck operation instructions include the nozzle water flow cross-sectional area of ​​the sprinkler section, the water demand per unit road area, the road surface width, the nozzle water flow velocity, the sprinkler truck driving speed, the spraying angle and the horizontal flow velocity of the sprinkler truck nozzle; the sprinkler truck operation process is: install a sprinkler nozzle in front of the sprinkler truck, spray water on the road surface through the sprinkler nozzle, with the sprinkler truck's forward direction as the Y axis, and the spraying angle of the sprinkler nozzle sprinkling edge relative to the Y axis is θ0; the horizontal flow velocity of the sprinkler truck nozzle is v0; when the sprinkler truck is stationary, the sprinkler truck's spraying range is a sector with the sprinkler nozzle as the center and a radius of PL, and the chord length of the sector is equal to the road surface width.

[0012] Preferably, the operation process of the pedestrian avoidance operation unit includes the following steps:

[0013] Step S11, obtaining the position coordinates of pedestrians within the watering range based on the millimeter wave radar;

[0014] Description: When a pedestrian appears, the position of the sprinkler head is taken as the origin, the sprinkler forward direction is the Y axis, and the horizontal and vertical directions of the forward direction are the X axis to output the coordinates of the pedestrian position, marked as (x, y);

[0015] Step S12: Based on the position coordinates of the pedestrian, obtain the distance XL between the sprinkler head and the pedestrian, take the forward direction of the sprinkler truck as the Y axis, take the sprinkler head as the origin, and the spraying angle of the pedestrian relative to the Y axis as θ x ;

[0016] Step S13: When θ x ≥θ0, indicating that the pedestrian will not be sprayed; no measures are taken; otherwise, the performance index analysis module is entered;

[0017] Step S14, obtaining the spraying radius PL of the sprinkler truck, when XL≥PL, no nozzle distance adjustment instruction is generated; when XL<PL, a nozzle adjustment instruction is generated;

[0018] It is necessary to further explain in the embodiment of the present invention that the spraying radius PL satisfies the formula Among them, h represents the height of the sprinkler nozzle from the ground, and g represents the acceleration of gravity;

[0019] Step S15, executing the nozzle adjustment instruction, the nozzle adjustment instruction includes nozzle angle adjustment and horizontal flow rate adjustment of the sprinkler nozzle;

[0020] Step S16, until the pedestrian's position satisfies θ x <θ0 or XL≥PL, the sprinkler truck continues to move forward while maintaining the horizontal flow velocity of the sprinkler nozzle at v0 and the spraying angle at θ0.

[0021] Preferably, after the nozzle angle is adjusted, the spraying angle of the sprinkler nozzle watering edge relative to the Y axis is recorded as θ t , the horizontal flow velocity of the sprinkler nozzle after the nozzle is adjusted is recorded as v t ; or dynamically adjust θ x ≥θ t ; or dynamically adjust

[0022] Preferably, in the pedestrian avoidance operation unit, after the nozzle angle is adjusted, the spraying angle of the sprinkler nozzle watering edge relative to the Y axis is recorded as θ t , the horizontal flow velocity of the sprinkler nozzle after the nozzle is adjusted is recorded as v t , after dynamic adjustment, θx ≥ θ t , the flow rate value after the nozzle is adjusted is recorded as v t , satisfying the formula

[0023] Preferably, the water loss rate analysis unit is used to obtain the water loss rate during the operation of the sprinkler truck, and comprises the following steps:

[0024] Step S21, calculate the theoretical water consumption of the sprinkler: when the water flow rate of the sprinkler head is constant, the formula V 洒 =SA*SV*t to calculate the theoretical water consumption of the sprinkler truck, where SV represents the water flow velocity of the sprinkler head, SA represents the water flow cross-sectional area of ​​the sprinkler head, t represents the spraying time, V 洒 It represents the theoretical water consumption of the sprinkler truck. When the nozzle water flow velocity is not constant, the nozzle water flow velocity at each time point is obtained to obtain the nozzle water flow velocity over time curve. Suppose there are S time points, the nozzle water flow velocity at the kth time point is sv_k, and the formula Calculate the theoretical water consumption of the sprinkler truck;

[0025] Step S22, obtaining the actual water consumption of the sprinkler truck: obtaining the actual water consumption Vs of the sprinkler truck through a water level sensor or a water tank weight sensor in the water tank of the sprinkler truck;

[0026] Step S23, calculate the water loss rate: by formula The water loss rate wsl is calculated.

[0027] Preferably, the watering amount accuracy analysis unit is used to obtain the watering amount accuracy during the operation of the sprinkler truck, including the following contents:

[0028] Step S31, calculate the actual water consumption per unit area: within the time t, the sprinkler truck travels a distance of Xs, LK represents the road width, Xs*LK represents the surface area of ​​the road surface, and the actual water consumption of the sprinkler truck Vs is calculated by the formula Calculate the actual water consumption per unit road area h m ;

[0029] Step S32: Obtain the water demand per unit road area x from the database m ;

[0030] Step S33: by formula The watering accuracy psl is calculated.

[0031] Preferably, the pedestrian avoidance performance analysis unit is used to obtain the avoidance reliability parameter of the sprinkler truck during operation, and comprises the following steps:

[0032] Step S41: Calculate the horizontal velocity control accuracy kv, using the formula The horizontal flow velocity control accuracy kv is calculated, where zvl represents the horizontal direction command flow velocity, and svl represents the horizontal direction actual flow velocity;

[0033] Step S42: Calculate the spraying angle control accuracy ka, using the formula The spraying angle control accuracy is calculated, where zal represents the nozzle command angle and sal represents the actual nozzle angle;

[0034] Step S43: Calculate the avoidance reliability parameter Bnx using the formula Bnx=kv*ka.

[0035] Preferably, when the water loss rate exceeds the preset value, it indicates that the sprinkler truck is operating abnormally and there is water leakage, and the user is warned to check the water tank device, water outlet and pump head controller of the sprinkler truck; when the water spraying accuracy rate exceeds the preset value, it indicates that the sprinkler truck is operating abnormally and there is abnormal actual water consumption per unit area, and the user is warned to check the water pump, water outlet and pump head controller of the sprinkler truck; when the avoidance reliability parameter exceeds the preset value, it indicates that the sprinkler truck is operating abnormally and cannot avoid pedestrians in time, and the user is warned to check the water pump, water outlet and pump head controller of the sprinkler truck.

[0036] Preferably, the sprinkler truck operation control system further includes:

[0037] A sprinkler truck operation data acquisition module is used to collect and transmit the operation data of the sprinkler truck, wherein the operation data includes theoretical water consumption of the sprinkler truck, actual water consumption of the sprinkler truck, water demand per unit road area, actual water consumption per unit road area, horizontal flow velocity control accuracy, and spraying angle control accuracy;

[0038] The time zone division module is used to divide the sprinkler truck operation data into time zones and number them, i represents the time zone number, and N represents the number of time zones;

[0039] The sprinkler truck operation data analysis module receives and analyzes the operation data of the sprinkler truck to obtain the water loss rate, watering accuracy and avoidance reliability parameters in each time zone; the water loss rate of the i-th time zone is recorded as wsl i , the accuracy of watering in the i-th time zone is recorded as psl i ; The avoidance reliability parameter of the i-th time zone is recorded as Bnx i ;

[0040] The abnormal operation section screening module inputs the water loss rate and watering accuracy of the i-th time zone into the watering operation quality assessment model, and outputs the watering operation quality assessment index Sqz of the i-th time zone. i ; The watering operation quality assessment model satisfies the formula Sqz i =psl i *wsl i ;

[0041] Abnormal operation section management module, when the watering operation quality evaluation index Sqz in the i-th time zone i If the preset value is not met, it is marked as an abnormal operation time area, and the road sections corresponding to the abnormal operation time area are counted to obtain the abnormal operation sections, and the management personnel are warned to restart the watering operation and the quality inspection of the watering truck;

[0042] Operation control capability evaluation module, used to obtain the operation control capability coefficient Z kz Based on the proportion of abnormal operation sections, watering stability index and watering accuracy index Sz, the operation control capability coefficient Z is obtained by joint analysis. kz .

[0043] Preferably, the operation process of the operation control capability evaluation module includes the following steps:

[0044] Step S51: Obtain the abnormal operation section YZL and the total operation section ZLD, and use the formula Calculate the proportion of abnormal operation sections yz;

[0045] Step S52, obtaining the water loss rate, watering accuracy and avoidance reliability parameters of all time zones, wherein the fluctuation variances of the water loss rate, watering accuracy and avoidance reliability parameters over time are recorded as va1, va2 and va3; and calculating the watering stability index Sw by the formula Sw=va1+va2+va3;

[0046] Step S52: Obtain the degree of deviation of the water loss rate, watering accuracy and avoidance reliability parameters relative to the corresponding preset values, and record the degree of deviation in the i-th time zone as pa1 i ,pa2 i and pa3 i , pa10 represents the allowable error of the water loss rate deviation, pa20 represents the allowable error of the water loss rate deviation, and pa30 represents the allowable error of the avoidance reliability parameter deviation. The watering accuracy index Sz is calculated; wherein α1 represents the water loss rate weight factor, α2 represents the watering amount accuracy weight factor, α3 represents the avoidance reliability parameter weight factor, 0<α1<1, 0<α2<1, 0<α3<1, α1+α2+α3=1;

[0047] Step S53: Perform linear normalization on the watering stability index and the watering accuracy index and record them as Sw" and Sz" respectively. Calculate the operation control capability coefficient Z by the formula: kz , the specific formula is:

[0048] Step S54: The operation control capability coefficient is transmitted to the management end, and the management personnel kz Take corresponding measures.

[0049] To achieve the above object, the present invention provides the following technical solution: a sprinkler truck operation control method based on intelligent networking, comprising the following steps:

[0050] Step S001, for receiving a sprinkler truck operation instruction, and executing the sprinkler truck operation instruction according to the sprinkler truck operation process; when a pedestrian appears within the spraying range, a sprinkler head adjustment instruction is generated, and the sprinkler head adjustment instruction includes a sprinkler head angle adjustment and a sprinkler truck sprinkler head horizontal flow rate adjustment;

[0051] Step S002, collecting the operation data of the sprinkler truck, the operation data including theoretical water consumption of the sprinkler truck, actual water consumption of the sprinkler truck, water demand per unit road area, actual water consumption per unit road area, horizontal flow velocity control accuracy and spraying angle control accuracy;

[0052] Step S003, for dividing the sprinkler truck operation data according to time zones and numbering them;

[0053] Step S004, analyzing the performance index of the sprinkler truck, comparing the performance index of the sprinkler truck with the corresponding preset value, and taking measures based on the comparison result; obtaining the water loss rate, watering accuracy and avoidance reliability parameters of each time zone;

[0054] Step S005, jointly analyzing the water loss rate and watering accuracy of each time zone to obtain a watering operation quality evaluation index; based on the watering operation quality evaluation index, screen out abnormal operation time zones, count the road sections corresponding to the abnormal operation time zones, and obtain abnormal operation sections;

[0055] Step S006: Based on the abnormal operation section ratio, the watering stability index and the watering accuracy index Sz, a joint analysis is performed to obtain the operation control capability coefficient;

[0056] Step S007: taking measures based on the operation control capability coefficient.

[0057] Technical effects and advantages of the present invention:

[0058] (1) The sprinkler truck control system based on intelligent networking provided by the present invention provides a pedestrian avoidance operation unit, which obtains the position coordinates of pedestrians within the sprinkler range based on millimeter wave radar to determine whether the pedestrian is within the spraying range; when the pedestrian is within the spraying range, a nozzle adjustment instruction is generated and executed to make the pedestrian not within the spraying range, and the nozzle adjustment instruction includes nozzle angle adjustment and sprinkler truck nozzle horizontal flow rate adjustment; the problem of the prior art that the sprinkler nozzle cannot be intelligently controlled to spray pedestrians is solved; by adjusting the angle so that the pedestrian is not within the spraying range, the adjusted angle is obtained, and at the same time, based on the constraint function of the spraying angle θ0 and the horizontal flow rate v0 of the sprinkler truck nozzle, the horizontal flow rate of the nozzle is adjusted so that the sprinkler truck can cover the road area, thereby solving the problem of the prior art that when the sprinkler truck encounters pedestrians or other obstacles, the sprinkler truck stops spraying and reduces the spraying range, resulting in a low road spraying coverage area.

[0059] (2) The sprinkler truck operation control system based on intelligent networking provided by the present invention provides a performance index analysis module. Through the water loss rate analysis unit, the water sprinkling accuracy rate analysis unit and the pedestrian avoidance performance analysis unit in the performance index analysis module, the water loss rate, water sprinkling accuracy rate and avoidance reliability parameters of the sprinkler truck are obtained, which can help management personnel to timely understand the performance status of the sprinkler truck. Based on the relationship between the water loss rate, water sprinkling accuracy rate and avoidance reliability parameters and the corresponding preset values, measures can be taken to timely handle the abnormality of the sprinkler truck, which helps to solve the problem of the prior art that the performance abnormality of the sprinkler truck cannot be discovered in time.

[0060] (3) The sprinkler truck operation control system based on intelligent networking provided by the present invention provides a sprinkler operation quality control module, which divides the sprinkler truck operation data according to time to obtain a sprinkler operation quality evaluation index for each time zone, and obtains abnormal operation time zones based on the relationship between the sprinkler operation quality evaluation index and a preset value. The road sections corresponding to the abnormal operation time zones are counted, and warnings are given to management personnel to prompt them to re-do the sprinkler operation and conduct quality inspections on the sprinkler truck, thereby helping management personnel to complete the sprinkler operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a structural block diagram of the sprinkler truck operation control system of the present invention.

[0062] Figure 2 It is a schematic diagram of the pedestrian avoidance operation process of the present invention.

[0063] Figure 3 This is a structural block diagram of the sprinkler truck operation control system based on operation control capability evaluation of the present invention. DETAILED DESCRIPTION

[0064] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0065] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0066] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0067] Example 1

[0068] See also Figure 1 The present invention provides a structural block diagram of a water sprinkler operation control system. Figure 1 A sprinkler truck operation control system based on intelligent networking is shown, comprising:

[0069] The sprinkler truck operation execution module is used to receive the sprinkler truck operation instruction and execute the sprinkler truck operation instruction according to the sprinkler truck operation process;

[0070] The watering truck operation execution module includes a pedestrian avoidance operation unit, which is used to identify the position coordinates of pedestrians and adjust the spraying range and spraying speed based on the position coordinates to avoid spraying water on pedestrians;

[0071] A performance index analysis module is used to obtain and output the performance index of the sprinkler truck, the performance index of the sprinkler truck includes: water loss rate, water spraying accuracy and avoidance reliability parameters; the performance index analysis module includes a water loss rate analysis unit, a water spraying accuracy analysis unit and a pedestrian avoidance performance analysis unit;

[0072] The performance monitoring control module is used to receive the performance indicators of the sprinkler truck and perform monitoring and early warning, compare the performance indicators of the sprinkler truck with the corresponding preset values, and take measures based on the comparison results.

[0073] What needs to be further explained in the embodiments of the present invention is that the sprinkler truck operation instructions include the nozzle water flow cross-sectional area of ​​the sprinkler section, the water demand per unit road area, the road surface width, the nozzle water flow velocity, the sprinkler truck driving speed, the spraying angle and the horizontal flow velocity of the sprinkler truck nozzle; the sprinkler truck operation process is: install a sprinkler nozzle in front of the sprinkler truck, spray water on the road surface through the sprinkler nozzle, with the sprinkler truck's forward direction as the Y axis, and the spraying angle of the sprinkler nozzle sprinkling edge relative to the Y axis is θ0; the horizontal flow velocity of the sprinkler truck nozzle is v0; when the sprinkler truck is stationary, the sprinkler truck's spraying range is a sector with the sprinkler nozzle as the center and a radius of PL, and the chord length of the sector is equal to the road surface width.

[0074] See also Figure 2 The operation process of the pedestrian avoidance operation unit includes the following steps:

[0075] Step S11, obtaining the position coordinates of pedestrians within the watering range based on the millimeter wave radar;

[0076] Description: When a pedestrian appears, the position of the sprinkler head is taken as the origin, the sprinkler forward direction is the Y axis, and the horizontal and vertical directions of the forward direction are the X axis to output the coordinates of the pedestrian position, marked as (x, y);

[0077] Step S12: Based on the position coordinates of the pedestrian, obtain the distance XL between the sprinkler head and the pedestrian, take the forward direction of the sprinkler truck as the Y axis, take the sprinkler head as the origin, and the spraying angle of the pedestrian relative to the Y axis as θ x ;

[0078] Step S13: When θ x ≥θ0, indicating that the pedestrian will not be sprayed; no measures are taken; otherwise, the performance index analysis module is entered;

[0079] Step S14, obtaining the spraying radius PL of the sprinkler truck, when XL≥PL, no nozzle distance adjustment instruction is generated; when XL<PL, a nozzle adjustment instruction is generated;

[0080] It is necessary to further explain in the embodiment of the present invention that the spraying radius PL satisfies the formula Among them, h represents the height of the sprinkler nozzle from the ground, and g represents the acceleration of gravity;

[0081] Step S15, executing the nozzle adjustment instruction, the nozzle adjustment instruction includes nozzle angle adjustment and horizontal flow rate adjustment of the sprinkler nozzle;

[0082] Step S16, until the pedestrian's position satisfies θ x <θ0 or XL≥PL, the sprinkler truck continues to move forward while maintaining the horizontal flow velocity of the sprinkler nozzle at v0 and the spraying angle at θ0.

[0083] It is necessary to further explain in the embodiment of the present invention that after the nozzle angle is adjusted, the spraying angle of the sprinkler nozzle watering edge relative to the Y axis is recorded as θ t , the horizontal flow velocity of the sprinkler nozzle after the nozzle is adjusted is recorded as v t ; or dynamically adjust θ x ≥θ t ; or dynamically adjust

[0084] In a further design, in the pedestrian avoidance operation unit, after the nozzle angle is adjusted, the spraying angle of the sprinkler nozzle spraying edge relative to the Y axis is recorded as θ t , the horizontal flow velocity of the sprinkler nozzle after the nozzle is adjusted is recorded as v t , after dynamic adjustment, θx ≥ θ t , the flow rate value after the nozzle is adjusted is recorded as v t , satisfying the formula

[0085] In the further design, the constraint function of setting the spraying angle as θ0 and the horizontal flow velocity v0 of the sprinkler nozzle is set based on the road width, and the sprinkler operation instruction is generated based on the constraint function of the nozzle water flow velocity SV and the sprinkler driving speed vc;

[0086] The constraint function of setting the spraying angle as θ0 and the horizontal flow velocity v0 of the sprinkler nozzle based on the road width is as follows:

[0087] The operation mode of the sprinkler truck is as follows: a sprinkler head is installed in front of the sprinkler truck, and water is sprayed on the road surface through the sprinkler head. The forward direction of the sprinkler truck is the Y axis, and the spraying angle of the sprinkler head spraying edge relative to the Y axis is θ0; when the sprinkler truck is stationary, the spraying range of the sprinkler truck is a sector with the sprinkler head as the center and a radius of PL, and the chord length of the sector is equal to the width of the road surface;

[0088] Obtain road information from the database, record the road width as LK, ensure that the road width and the spraying fan chord length are equal to XC, and ensure that the road is fully covered when the spraying vehicle is operating; the spraying radius PL is known, the spraying angle is 2θ0, and the road width satisfies the formula When adjusting the spraying angle, the road width is made equal to the spraying fan chord length by adjusting v0; the constraint function of the spraying angle θ0 and the horizontal flow velocity v0 of the sprinkler nozzle satisfies:

[0089]

[0090] It is necessary to further explain in the embodiment of the present invention that, when the nozzle water flow cross-sectional area, spraying time, water demand per unit road area and road width are known, the constraint functions of the nozzle water flow velocity SV and the sprinkler truck driving speed vc are set, and the corresponding derivation process is as follows:

[0091] Given the water demand, we can obtain the constraint functions of the nozzle water flow velocity SV and the sprinkler truck travel speed vc. 洒 =SA*SV*t to calculate the theoretical water consumption of the sprinkler truck, where SV represents the nozzle water flow velocity, SA represents the nozzle water flow cross-sectional area, t represents the spraying time, and Vspray represents the theoretical water consumption of the sprinkler truck. Given the water demand per unit road area xm, based on the sprinkler truck's travel speed vc, after t spraying time, the travel length is vc*t, and the road width LK, the sprinkler truck's ideal water consumption within the spraying time t is: V 洒 =SA*SV*t=x m *LK*vc*t, that is, SA*SV=x m In the *LK*vc formula, SA, xm, and LK are known, and the constraint functions of SV and vc are obtained.

[0092] In further design, based on road conditions, temperature, and dust, a water demand analysis model is established to determine the water demand per unit road area xm; for example, the water demand analysis model is a function of road water absorption rate, evaporation, and dust fixed water volume, and the water demand analysis model satisfies the formula x m =C d *Vw+Er, where Cd represents the water coverage depth required to achieve the desired dust reduction effect; Vw represents the water absorption volume per unit road area, and Er represents the evaporation volume per unit road area; the water demand per unit road area is stored in the database and transmitted to the sprinkler terminal through the communication protocol.

[0093] It needs to be further explained in the embodiment of the present invention that the water loss rate analysis unit is used to obtain the water loss rate of the sprinkler truck operation process, including the following steps:

[0094] Step S21, calculate the theoretical water consumption of the sprinkler: when the water flow rate of the sprinkler head is constant, the formula V 洒 =SA*SV*t to calculate the theoretical water consumption of the sprinkler truck, where SV represents the water flow velocity of the sprinkler head, SA represents the water flow cross-sectional area of ​​the sprinkler head, t represents the spraying time, V 洒 It represents the theoretical water consumption of the sprinkler truck. When the nozzle water flow velocity is not constant, the nozzle water flow velocity at each time point is obtained to obtain the nozzle water flow velocity over time curve. Suppose there are S time points, the nozzle water flow velocity at the kth time point is sv_k, and the formula Calculate the theoretical water consumption of the sprinkler truck;

[0095] Step S22, obtaining the actual water consumption of the sprinkler truck: obtaining the actual water consumption Vs of the sprinkler truck through a water level sensor or a water tank weight sensor in the water tank of the sprinkler truck;

[0096] Step S23, calculate the water loss rate: by formula The water loss rate wsl is calculated.

[0097] It needs to be further explained in the embodiment of the present invention that the watering amount accuracy analysis unit is used to obtain the watering amount accuracy during the operation of the sprinkler truck, including the following contents:

[0098] Step S31, calculate the actual water consumption per unit area: within the time t, the sprinkler truck travels a distance of Xs, LK represents the road width, Xs*LK represents the surface area of ​​the road surface, and the actual water consumption of the sprinkler truck Vs is calculated by the formula Calculate the actual water consumption per unit road area h m ;

[0099] Step S32: Obtain the water demand per unit road area x from the database m ;

[0100] Step S33: by formula The watering accuracy psl is calculated.

[0101] It needs to be further explained in the embodiment of the present invention that the pedestrian avoidance performance analysis unit is used to obtain the avoidance reliability parameter of the sprinkler truck operation process, including the following steps:

[0102] Step S41: Calculate the horizontal velocity control accuracy kv, using the formula The horizontal flow velocity control accuracy kv is calculated, where zvl represents the horizontal direction command flow velocity, and svl represents the horizontal direction actual flow velocity;

[0103] Step S42: Calculate the spraying angle control accuracy ka, using the formula The spraying angle control accuracy is calculated, where zal represents the nozzle command angle and sal represents the actual nozzle angle;

[0104] Step S43: Calculate the avoidance reliability parameter Bnx using the formula Bnx=kv*ka.

[0105] What needs to be further explained in the embodiments of the present invention is that when the water loss rate exceeds the preset value, it indicates that the sprinkler truck is operating abnormally and there is water leakage, and an alert is given to the user, prompting him to check the water tank device, water outlet and pump head controller of the sprinkler truck; when the water spraying accuracy rate exceeds the preset value, it indicates that the sprinkler truck is operating abnormally and there is abnormal actual water consumption per unit area, and an alert is given to the user, prompting him to check the water pump, water outlet and pump head controller of the sprinkler truck; when the avoidance reliability parameter exceeds the preset value, it indicates that the sprinkler truck is operating abnormally and cannot avoid pedestrians in time, and an alert is given to the user, prompting him to check the water pump, water outlet and pump head controller of the sprinkler truck.

[0106] Example 2

[0107] See also Figure 3 A structural block diagram of a sprinkler truck operation control system based on operation control capability evaluation is provided in an embodiment of the present invention. A sprinkler truck operation control system based on intelligent networking is provided. The sprinkler truck operation control system also includes:

[0108] A sprinkler truck operation data acquisition module is used to collect and transmit the operation data of the sprinkler truck, wherein the operation data includes theoretical water consumption of the sprinkler truck, actual water consumption of the sprinkler truck, water demand per unit road area, actual water consumption per unit road area, horizontal flow velocity control accuracy, and spraying angle control accuracy;

[0109] The time zone division module is used to divide the sprinkler truck operation data into time zones and number them, i represents the time zone number, and N represents the number of time zones;

[0110] The sprinkler truck operation data analysis module receives and analyzes the operation data of the sprinkler truck to obtain the water loss rate, watering accuracy and avoidance reliability parameters in each time zone; the water loss rate of the i-th time zone is recorded as wsl i , the accuracy of watering in the i-th time zone is recorded as psl i ; The avoidance reliability parameter of the i-th time zone is recorded as Bnx i ;

[0111] The abnormal operation section screening module inputs the water loss rate and watering accuracy of the i-th time zone into the watering operation quality assessment model, and outputs the watering operation quality assessment index Sqz of the i-th time zone. i ; The watering operation quality assessment model satisfies the formula Sqz i =psli *wsl i ;

[0112] Abnormal operation section management module, when the watering operation quality evaluation index Sqz in the i-th time zone i If the preset value is not met, it is marked as an abnormal operation time area, and the road sections corresponding to the abnormal operation time area are counted to obtain the abnormal operation sections, and the management personnel are warned to restart the watering operation and the quality inspection of the watering truck;

[0113] Operation control capability evaluation module, used to obtain the operation control capability coefficient Z kz Based on the proportion of abnormal operation sections, watering stability index and watering accuracy index Sz, the operation control capability coefficient Z is obtained by joint analysis. kz .

[0114] It needs to be further explained in the embodiment of the present invention that the operation process of the operation control capability evaluation module includes the following steps:

[0115] Step S51: Obtain the abnormal operation section YZL and the total operation section ZLD, and use the formula Calculate the proportion of abnormal operation sections yz;

[0116] Step S52, obtaining the water loss rate, watering accuracy and avoidance reliability parameters of all time zones, wherein the fluctuation variances of the water loss rate, watering accuracy and avoidance reliability parameters over time are recorded as va1, va2 and va3; and calculating the watering stability index Sw by the formula Sw=va1+va2+va3;

[0117] Step S52: Obtain the degree of deviation of the water loss rate, watering accuracy and avoidance reliability parameters relative to the corresponding preset values, and record the degree of deviation in the i-th time zone as pa1 i ,pa2 i and pa3 i , pa10 represents the allowable error of the water loss rate deviation, pa20 represents the allowable error of the water loss rate deviation, and pa30 represents the allowable error of the avoidance reliability parameter deviation. The watering accuracy index Sz is calculated; wherein α1 represents the water loss rate weight factor, α2 represents the watering amount accuracy weight factor, α3 represents the avoidance reliability parameter weight factor, 0<α1<1, 0<α2<1, 0<α3<1, α1+α2+α3=1;

[0118] Note that the inverse sine transformation is used to convert the volatility variance into an angle value. The purpose of this is to improve the symmetry of the data and reduce the skewness. After the inverse sine transformation, a new set of angle values ​​is obtained. The cumulative sum of the angle values ​​can calculate the total angle change.

[0119] Step S53: Perform linear normalization on the watering stability index and the watering accuracy index and record them as Sw" and Sz" respectively. Calculate the operation control capability coefficient Z by the formula: kz , the specific formula is:

[0120] Step S54: The operation control capability coefficient is transmitted to the management end, and the management personnel kz Take corresponding measures.

[0121] Example 3

[0122] The embodiment of the present invention provides a sprinkler truck operation control method based on intelligent networking, comprising the following steps:

[0123] Step S001, for receiving a sprinkler truck operation instruction, and executing the sprinkler truck operation instruction according to the sprinkler truck operation process; when a pedestrian appears within the spraying range, a sprinkler head adjustment instruction is generated, and the sprinkler head adjustment instruction includes a sprinkler head angle adjustment and a sprinkler truck sprinkler head horizontal flow rate adjustment;

[0124] Step S002, collecting the operation data of the sprinkler truck, the operation data including theoretical water consumption of the sprinkler truck, actual water consumption of the sprinkler truck, water demand per unit road area, actual water consumption per unit road area, horizontal flow velocity control accuracy and spraying angle control accuracy;

[0125] Step S003, for dividing the sprinkler truck operation data according to time zones and numbering them;

[0126] Step S004, analyzing the performance index of the sprinkler truck, comparing the performance index of the sprinkler truck with the corresponding preset value, and taking measures based on the comparison result; obtaining the water loss rate, watering accuracy and avoidance reliability parameters of each time zone;

[0127] Step S005, jointly analyzing the water loss rate and watering accuracy of each time zone to obtain a watering operation quality evaluation index; based on the watering operation quality evaluation index, screen out abnormal operation time zones, count the road sections corresponding to the abnormal operation time zones, and obtain abnormal operation sections;

[0128] Step S006: Based on the abnormal operation section ratio, the watering stability index and the watering accuracy index Sz, a joint analysis is performed to obtain the operation control capability coefficient;

[0129] Step S007: taking measures based on the operation control capability coefficient.

[0130] For example, sprinkler trucks are divided into different capability levels based on the operation control capability coefficient, so as to classify and manage sprinkler trucks of different levels; for sprinkler trucks with low operation control capability coefficient, the reasons are analyzed, which may be equipment aging, improper operation or insufficient maintenance, etc.; according to the specific reasons, corresponding improvement measures are formulated, such as replacing equipment, strengthening operation training or optimizing maintenance plans;

[0131] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A sprinkler truck operation control system based on intelligent networking, characterized in that: include: The sprinkler truck operation execution module is used to receive the sprinkler truck operation instruction and execute the sprinkler truck operation instruction according to the sprinkler truck operation process; The sprinkler truck operation instructions include the nozzle water flow cross-sectional area of ​​the sprinkler section, the water demand per unit road area, the road width, the nozzle water flow speed, the sprinkler truck driving speed, the spraying angle and the horizontal flow velocity of the sprinkler truck nozzle; the sprinkler truck operation process is: install a sprinkler nozzle in front of the sprinkler truck, spray water on the road surface through the sprinkler nozzle, take the sprinkler truck forward direction as the Y axis, and the spraying angle of the sprinkler nozzle sprinkling edge relative to the Y axis is θ0; the horizontal flow velocity of the sprinkler truck nozzle is v0; when the sprinkler truck is stationary, the sprinkler truck spray range is a sector with the sprinkler nozzle as the center and a radius of PL, the chord length of the sector is equal to the road width, and the spraying radius PL satisfies the formula Among them, h represents the height of the sprinkler nozzle from the ground, and g represents the acceleration of gravity; The watering truck operation execution module includes a pedestrian avoidance operation unit, which is used to identify the position coordinates of pedestrians and adjust the spraying range and spraying speed based on the position coordinates to avoid spraying water on pedestrians; The operation process of the pedestrian avoidance operation unit includes the following steps: Step S11, obtaining the position coordinates of pedestrians within the watering range based on the millimeter wave radar; Description: When a pedestrian appears, the position of the sprinkler head is taken as the origin, the sprinkler forward direction is the Y axis, and the horizontal and vertical directions of the forward direction are the X axis to output the coordinates of the pedestrian position, marked as (x, y); Step S12: Based on the position coordinates of the pedestrian, obtain the distance XL between the sprinkler head and the pedestrian, take the forward direction of the sprinkler truck as the Y axis, take the sprinkler head as the origin, and the spraying angle of the pedestrian relative to the Y axis as θ x ; Step S13: When θ x ≥θ0, indicating that the pedestrian will not be sprayed; no measures are taken; otherwise, the performance index analysis module is entered; Step S14, obtaining the spraying radius PL of the sprinkler truck, when XL≥PL, no nozzle distance adjustment instruction is generated; when XL<PL, a nozzle adjustment instruction is generated; Step S15, executing the nozzle adjustment instruction, the nozzle adjustment instruction includes nozzle angle adjustment and horizontal flow rate adjustment of the sprinkler nozzle; Step S16, until the pedestrian's position satisfies θ x <θ0 or XL≥PL, the sprinkler truck continues to move forward with the horizontal flow velocity of the sprinkler nozzle at v0 and the spraying angle at θ0; After adjusting the nozzle angle, the spraying angle of the sprinkler nozzle edge relative to the Y axis is recorded as θ t , the horizontal flow velocity of the sprinkler nozzle after the nozzle is adjusted is recorded as v t , after dynamic adjustment, θ x ≥θ t , after dynamic adjustment A performance index analysis module is used to obtain and output the performance index of the sprinkler truck, the performance index of the sprinkler truck includes: water loss rate, water spraying accuracy and avoidance reliability parameters; the performance index analysis module includes a water loss rate analysis unit, a water spraying accuracy analysis unit and a pedestrian avoidance performance analysis unit; The water loss rate analysis unit is used to obtain the water loss rate during the operation of the sprinkler truck, and includes the following steps: Step S21, calculate the theoretical water consumption of the sprinkler: when the water flow rate of the sprinkler head is constant, the formula V 洒 =SA*SV*t to calculate the theoretical water consumption of the sprinkler truck, where SV represents the water flow velocity of the sprinkler head, SA represents the water flow cross-sectional area of ​​the sprinkler head, t represents the spraying time, V 洒 Represents the theoretical water consumption of the sprinkler truck; when the nozzle water flow velocity is not constant, obtain the nozzle water flow velocity at each time point to obtain the nozzle water flow velocity over time curve; suppose there are S time points, the nozzle water flow velocity at the kth time point is sv_k, through the formula Calculate the theoretical water consumption of the sprinkler truck; Step S22, obtaining the actual water consumption of the sprinkler truck: obtaining the actual water consumption Vs of the sprinkler truck through a water level sensor or a water tank weight sensor in the water tank of the sprinkler truck; Step S23, calculate the water loss rate: by formula The water loss rate wsl is calculated; The watering amount accuracy analysis unit is used to obtain the watering amount accuracy during the operation of the sprinkler truck, including the following contents: Step S31, calculate the actual water consumption per unit area: within the time t, the sprinkler truck travels a distance of Xs, LK represents the road width, Xs*LK represents the surface area of ​​the road surface, and the actual water consumption of the sprinkler truck Vs is calculated by the formula Calculate the actual water consumption per unit road area h m ; Step S32: Obtain the water demand per unit road area x from the database m ; Step S33: by formula The watering accuracy psl is calculated; The pedestrian avoidance performance analysis unit is used to obtain the avoidance reliability parameter of the sprinkler truck during operation, and includes the following steps: Step S41: Calculate the horizontal velocity control accuracy kv, using the formula The horizontal flow velocity control accuracy kv is calculated, where zvl represents the horizontal direction command flow velocity, and svl represents the horizontal direction actual flow velocity; Step S42: Calculate the spraying angle control accuracy ka, using the formula The spraying angle control accuracy is calculated, where zal represents the nozzle command angle and sal represents the actual nozzle angle; Step S43, calculate the avoidance reliability parameter Bnx by the formula Bnx=kv*ka; The performance monitoring control module is used to receive the performance indicators of the sprinkler truck and perform monitoring and early warning, compare the performance indicators of the sprinkler truck with the corresponding preset values, and take measures based on the comparison results.

2. According to claim 1, a sprinkler truck operation control system based on intelligent networking is characterized in that: The sprinkler operation control system also includes: A sprinkler truck operation data acquisition module is used to collect and transmit the operation data of the sprinkler truck, wherein the operation data includes theoretical water consumption of the sprinkler truck, actual water consumption of the sprinkler truck, water demand per unit road area, actual water consumption per unit road area, horizontal flow velocity control accuracy, and spraying angle control accuracy; The time zone division module is used to divide the sprinkler truck operation data into time zones and number them, i represents the time zone number, and N represents the number of time zones; The sprinkler truck operation data analysis module receives and analyzes the operation data of the sprinkler truck to obtain the water loss rate, watering accuracy and avoidance reliability parameters in each time zone; the water loss rate of the i-th time zone is recorded as wsl i , the accuracy of watering in the i-th time zone is recorded as psl i ; The avoidance reliability parameter of the i-th time zone is recorded as Bnx i ; The abnormal operation section screening module inputs the water loss rate and watering accuracy of the i-th time zone into the watering operation quality assessment model, and outputs the watering operation quality assessment index Sqz of the i-th time zone. i ; The watering operation quality assessment model satisfies the formula Sqz i =psl i *wsl i ; Abnormal operation section management module, when the watering operation quality evaluation index Sqz in the i-th time zone i If the preset value is not met, it is marked as an abnormal operation time area, and the road sections corresponding to the abnormal operation time area are counted to obtain the abnormal operation sections, and the management personnel are warned to restart the watering operation and the quality inspection of the watering truck; Operation control capability evaluation module, used to obtain the operation control capability coefficient Z kz Based on the proportion of abnormal operation sections, watering stability index and watering accuracy index Sz, the operation control capability coefficient Z is obtained by joint analysis. kz .

3. According to claim 2, a sprinkler truck operation control system based on intelligent networking is characterized in that: The operation process of the operation control capability evaluation module includes the following steps: Step S51: Obtain the abnormal operation section YZL and the total operation section ZLD, and use the formula Calculate the proportion of abnormal operation sections yz; Step S52, obtaining the water loss rate, watering accuracy and avoidance reliability parameters of all time zones, wherein the fluctuation variances of the water loss rate, watering accuracy and avoidance reliability parameters over time are recorded as va1, va2 and va3; and calculating the watering stability index Sw by the formula Sw=va1+va2+va3; Step S52: Obtain the degree of deviation of the water loss rate, watering accuracy and avoidance reliability parameters relative to the corresponding preset values, and record the degree of deviation in the i-th time zone as pa1 i ,pa2 i and pa3 i , pa10 represents the allowable error of the water loss rate deviation, pa20 represents the allowable error of the water loss rate deviation, and pa30 represents the allowable error of the avoidance reliability parameter deviation. The watering accuracy index Sz is calculated; wherein α1 represents the water loss rate weight factor, α2 represents the watering amount accuracy weight factor, α3 represents the avoidance reliability parameter weight factor, 0<α1<1, 0<α2<1, 0<α3<1, α1+α2+α3=1; Step S53: Perform linear normalization on the watering stability index and the watering accuracy index and record them as Sw" and Sz" respectively. Calculate the operation control capability coefficient Z by the formula: kz The specific formula is Step S54: The operation control capability coefficient is transmitted to the management end, and the management personnel kz Take corresponding measures.

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