Rescue suction unit and multi-machine cooperative control method

Abstract

The invention relates to the technical field of emergency rescue, in particular to a rescue suction unit multi-machine cooperative control method, which comprises the following steps of: determining an operation skip car at the current time period; the valve position of the reversing valve is determined according to the operation skip car, all feeding valves on the operation skip car are controlled to be completely opened, and a draught fan communicated with an exhaust port of the operation skip car is started for operation; and when the draught fan works, whether rescue objects exist in the suction areas of the suction robots or not is judged through induction probes of the suction robots, and the opening and closing state of the feeding valve and the opening and closing state of the draught fan are adjusted according to the judgment result. The suction air speed of each suction robot can be controlled by adjusting the opening and closing states of the feeding valves, and the mutual influence of the multiple suction robots during multi-point rescue is reduced; and meanwhile, the suction safety of the suction unit can be ensured in cooperation with adjustment of the opening and closing states of the draught fan, so that the purpose of safe and coordinated multi-point rescue is achieved.

Description

Technical Field

[0001] The present invention relates to the field of emergency rescue technology, and in particular to a rescue suction unit and a multi-machine coordinated control method. Background Art

[0002] Large-scale soil burial accidents caused by geological disasters such as earthquakes and mudslides often cause people to be buried. For scenes such as rescuing buried people and clearing silt after disasters, we have launched a split rescue suction unit consisting of a power vehicle, a material vehicle and a suction robot to achieve multi-point synchronous suction and improve rescue efficiency.

[0003] Because the unit equipment involves a large number of sub-vehicles, and each sub-vehicle is independently controlled, multiple people are required to cooperate in joint operations. When the sub-vehicles are far apart, they cannot communicate effectively. If there is no convenient and feasible multi-machine collaborative control method, safety hazards are likely to occur. In order to improve the mobility of the suction robot, each suction robot needs to share the fan on the power vehicle as the air source. However, each suction robot will be distributed in different suction areas for operation, and the rescue situations they face are also different, and the requirements for suction wind speed will also be different.

[0004] If each suction robot adjusts the fan speed according to its own wind speed requirements, the mutual influence between the suction robots is large, which may have an adverse effect on the suction efficiency and suction safety. If the fan speed is adjusted uniformly, it is difficult to better meet the wind speed requirements of each suction robot. Summary of the invention

[0005] The object of the present invention is to provide a rescue suction unit and a multi-machine coordinated control method. By uniformly controlling the valve positions of all reversing valves, the control steps when multiple material carts work alternately and uninterruptedly are simplified. At the same time, the present invention can control the suction wind speed of each suction robot separately without adjusting the fan speed through the opening and closing state adjustment of the feed valve, thereby reducing the mutual influence of multiple suction robots when performing multi-point rescue, so as to better meet the wind speed requirements of each suction robot and ensure higher suction efficiency; in addition, the present invention can better ensure the suction safety of the entire suction unit through the coordinated cooperation of the opening and closing state adjustment of the feed valve and the opening and closing state adjustment of the fan, so as to achieve the purpose of safe coordinated multi-point rescue.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions.

[0007] In a first aspect, the present invention provides a method for cooperatively controlling multiple machines of a suction unit, wherein the suction unit comprises a fan, multiple material carts and multiple suction robots, wherein the fan has multiple air inlets; each air inlet is connected to an exhaust port of a corresponding material cart, and the fan can be connected to one of the multiple material carts by switching the air inlet; each suction robot is connected to a corresponding reversing valve, and the valve position of the reversing valve can be switched, and the suction robot can be connected to one of the multiple material carts by switching the valve position of the reversing valve; the control method comprises: Obtain the working material vehicle of the current period, determine the valve position of the reversing valve according to the working material vehicle, so that each suction robot is connected with the working material vehicle through the corresponding feeding valve respectively; control all the feeding valves on the working material vehicle to be fully opened; Determine the air inlet of the fan according to the working material vehicle, so that the exhaust port of the working material vehicle is connected with the corresponding air inlet of the fan, and start the fan to operate; When the fan is operating, the sensor probe of the suction robot is used to determine whether there is a rescue object in the suction area of ​​each suction robot, and the opening and closing state of the feed valve and the opening and closing state of the fan are adjusted according to the determination result; If the material bin of the operating material cart in the current period is full, the valve positions of all reversing valves are controlled to switch synchronously, so that each suction robot is connected to the operating material cart in the next period, and the air inlet is switched to connect the fan to the operating material cart to continue the operation.

[0008] Optionally, the number of the suction robots is three, and adjusting the opening and closing state of the feed valve and the opening and closing state of the fan according to the judgment result includes: If the judgment results corresponding to the suction robots are all negative, all the inlet valves on the working material vehicle are controlled to remain fully open, and the fan is turned on and maintained at a first preset speed; If the judgment result corresponding to only one suction robot is yes, the opening of the corresponding inlet valve of the suction robot is adjusted down to the preset opening; the fan is turned on and maintains the first preset speed; If the judgment results corresponding to the two suction robots are yes, the speed of the fan is reduced to a second preset speed, and then the openings of the corresponding inlet valves of all the suction robots with the judgment results of yes are reduced to the preset openings; The first preset rotation speed is greater than the second preset rotation speed.

[0009] If the judgment results corresponding to the three suction robots are yes, turn off the fan.

[0010] Optionally, the multiple material carts include a first material cart and a second material cart, the suction unit also includes a switching switch, all the reversing valves are communicatively connected to the switching switch, and the switching switch is used to control the synchronous switching of the valve positions of all the reversing valves; the switching switch has a first switch position and a second switch position, and when the switching switch is in the first switch position, all the suction robots are connected to the first material cart; when the switching switch is in the second switch position, all the suction robots are connected to the second material cart.

[0011] Optionally, the reversing valve includes a three-way valve, the confluence end of the three-way valve is connected to the suction robot, and the two diversion ends of the three-way valve are respectively connected to corresponding inlet valves on the first material cart and the second material cart.

[0012] Optionally, the three-way valve is controlled by a cylinder, and when the cylinder is fully extended, the suction robot is connected to the feed valve on the first material cart; when the cylinder is fully retracted, the suction robot is connected to the feed valve on the second material cart.

[0013] Optionally, a valve opening control mechanism is provided on the feed valve, and the valve opening control mechanism includes a control cylinder, and the control cylinder is used for telescopic movement to adjust the opening and closing state of the feed valve.

[0014] Optionally, the suction unit further includes a power vehicle for arranging a fan, the power vehicle being provided with a first air intake valve and a second air intake valve, the first air intake valve and the second air intake valve being connected to an exhaust port of the first material vehicle and an exhaust port of the second material vehicle respectively.

[0015] In a second aspect, the present invention provides a suction unit, comprising: Fan, Multiple material carts, the exhaust port of each material cart can be connected to the fan, and each material cart is provided with multiple inlet valves; Multiple suction robots, each of which is connected to a corresponding reversing valve, the valve position of which can be switched, so that the suction robot is connected to one of the multiple material carts through the feed valve by switching the valve position of the reversing valve; The suction robot remote controller is communicatively connected with the reversing valve, the feeding valve and the fan, and the suction robot remote controller is used to control the valve position of the reversing valve, the opening and closing state of the feeding valve and the opening and closing state of the fan.

[0016] Optionally, a switching switch is provided on the remote controller of the suction robot, the switching switch is communicatively connected with all the reversing valves, the switching switch has multiple switch positions, and the valve positions of all the reversing valves can be controlled to switch synchronously by switching the switch positions of the switching switch; The suction robot remote controller is provided with a first control element, the first control element is in communication connection with the feed valve of the suction robot, and the opening and closing state of the feed valve can be controlled by adjusting the first control element; The suction robot remote controller is provided with a second control element, and the second control element is communicatively connected with the fan; the on / off state of the fan can be controlled by adjusting the second control element.

[0017] Optionally, the first control element and the second control element are dial knobs or rotary knobs.

[0018] Compared with the prior art, the present invention has the following beneficial effects: (1) The multiple suction robots of the present invention share the same fan as the suction air source, and use multiple material carts to perform suction work alternately and continuously. The valve positions of multiple reversing valves are uniformly and synchronously controlled, and all suction robots are always connected to the same material cart to perform suction operations. This simplifies the control steps, and there is no need to identify the ports of each reversing valve one by one for control.

[0019] (2) In the present invention, in view of the different rescue situations faced by different suction robots, the suction wind speed of each suction robot can be adjusted separately without adjusting the fan speed by adjusting the opening and closing state of the feed valve, thereby reducing the mutual influence between the suction robots.

[0020] (3) In the present invention, on the basis of adjusting the opening and closing state of the feed valve, the opening and closing state of the fan is further adjusted to further meet the wind speed requirements of each suction robot and ensure the rescue safety of the suction unit in different rescue situations.

[0021] (4) During the alternating and uninterrupted operation of the suction unit of the present invention, multiple shift valves can be synchronously controlled to simplify the control steps of switching the material cart. As for the control of the suction wind speed, the rescue personnel only need to control the feed valve and the fan. In addition, based on the different rescue situations that different suction robots may face, the present invention sets the corresponding feed valve control method and fan control method to carry out multi-point coordinated rescue under the premise of ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a flow chart of a control method of a rescue suction unit of the present invention; Figure 2 It is a connection diagram of the rescue suction unit of the present invention; Figure 3 A communication topology diagram of a unit sub-vehicle of a rescue suction unit of the present invention; Figure 4 This is a schematic diagram of the control of the unit sub-vehicle of the present invention; Figure 5 The figure is a schematic diagram of the arrangement of the remote control of the suction robot of the present invention. DETAILED DESCRIPTION

[0023] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0024] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship. Example 1

[0025] This embodiment introduces a multi-machine collaborative control method for a rescue suction unit. Figure 2 The suction unit includes a fan, multiple material carts and multiple suction robots, the fan has multiple air inlets; each air inlet is connected to the exhaust port of the corresponding material cart, and the fan can be connected to one of the multiple material carts by switching the air inlet; each suction robot is connected to a corresponding reversing valve, the valve position of the reversing valve can be switched, and the suction robot can be connected to one of the multiple material carts by switching the valve position of the reversing valve; combined with Figure 1 , the control method is applied when the suction unit is in an uninterrupted alternating operation mode, the uninterrupted alternating operation mode means: the material carts connected to the suction robot are switched alternately, and the suction robot operates uninterruptedly through the fan; The control method comprises: Step S1, obtaining the operating material truck of the current period, where the operating material truck is determined from multiple material trucks of the suction unit; the determination method here can be arbitrarily determined or predetermined, for example, if the suction unit has two material trucks, the first and second material trucks are alternated. The operating material truck only needs to be determined when the rescue operation starts, and the subsequent operation can be automatically alternated.

[0026] Step S2, determining the valve position of the reversing valve according to the working material cart, so that each suction robot is connected to the working material cart through the corresponding feeding valve respectively; controlling all the feeding valves on the working material cart to be fully opened.

[0027] Specifically, in this embodiment, the valve positions of multiple reversing valves are synchronously controlled according to the working material cart, and within a certain period of time, all suction robots are connected to the same material cart to perform suction operations. This simplifies the control steps and eliminates the need to identify the ports of each reversing valve one by one for control.

[0028] In a specific embodiment, the reversing valve has a converging end and a plurality of diverting ends, the converging end of the reversing valve is connected to the suction robot, and the plurality of diverting ends of the three-way valve are respectively connected to each material cart.

[0029] In a specific embodiment, the suction unit further includes a switching switch, all reversing valves are connected to the switching switch, and the switching switch has multiple switch positions, and the valve positions of all reversing valves can be controlled to switch synchronously by switching the switch positions. Based on the above control method, the valve positions of each reversing valve are uniformly controlled, and all suction robots will be connected to the same material truck during the rescue process, rather than being connected to multiple material trucks. However, each suction robot will work independently in different rescue areas to suck out obstacles and find people who may be buried to be rescued, and different rescue situations will occur in different rescue areas.

[0030] When an emergency occurs in a rescue area, such as when a rescue object is found, it may be necessary to reduce the suction wind speed or turn off the fan to avoid personal injury. However, directly reducing the fan speed or turning off the fan may have an adverse effect on the normal operation of other rescue areas. Therefore, during the operation, this embodiment adopts the following steps to reduce the mutual influence between the suction robots: Step S3, determine the air inlet of the fan according to the operating material cart, so that the exhaust port of the operating material cart is connected to the corresponding air inlet of the fan, and start the fan to operate; To ensure the efficiency of the rescue, the feed valve is first fully opened, and the fan is set to operate at a higher speed that can be used in the current rescue environment according to the actual situation. At this time, the suction wind speeds of multiple suction robots are exactly the same. Depending on the actual situation, a single fan or the combined power of two fans can be used.

[0031] The suction unit also includes a power car for arranging a fan, and the power car is provided with multiple fan air inlets, and the multiple air inlets are respectively connected to the corresponding exhaust ports on each material car. The material sucked by the suction robot enters the material car through the reversing valve and the feed valve, and the fan in the power car provides suction force for the exhaust port of the material car through the air inlet.

[0032] Step S4, when the fan is operating, using the sensing probe of the suction robot to determine whether there is a rescue object in the suction area of ​​each suction robot, and adjusting the opening and closing state of the feed valve and the opening and closing state of the fan according to the determination result; In this embodiment, in order to meet the rescue safety requirements, the suction wind speed of each suction robot needs to be adjusted according to whether there is a rescue object in the suction area. When a rescue object appears, the suction wind speed of the corresponding suction robot needs to be reduced or even returned to zero to ensure rescue safety. This embodiment is specifically divided into four situations: 1. If the judgment results corresponding to each of the suction robots are all negative, all the inlet valves on the operating material vehicle are controlled to remain fully open, and the fan is turned on and maintained at a first preset speed; When it is determined that no rescue object appears in each suction area, in order to ensure efficient rescue, the fan can maintain a relatively high first preset speed, and each suction robot can maintain normal operation. Here, whether a rescue object appears is determined based on the detection signal of the suction robot's sensor probe. If a detection signal of a rescuer is detected, it is determined that a rescue object appears. The sensor probe can be an existing device such as a thermal infrared life detector or a radar detector.

[0033] 2. If the judgment result corresponding to only one suction robot is yes, the opening of the corresponding inlet valve of the suction robot is adjusted down to the preset opening; the fan is turned on and maintains the first preset speed; In this embodiment, when a suction area is judged to have a rescue object, only the feed valve corresponding to the suction robot is controlled, and the opening of the feed valve is lowered to a preset opening, and the preset opening can be a determined value such as 0%, 20%, 50%, 80%, 100%, etc., and the specific value can be set according to the actual situation. By lowering the opening, the feed valve can be adjusted to a partially closed or fully closed state, and accordingly, the suction wind speed of the suction robot will be reduced or returned to zero. The fan remains on and maintains the first preset speed, and the suction wind speed of the other suction robots will be appropriately increased, so as to ensure the safety of the rescue object while not having a significant impact on the normal operation of other suction robots.

[0034] The feed valve is provided with a valve opening control mechanism. In a specific embodiment, the valve opening control mechanism includes a control cylinder, and the telescopic movement of the control cylinder is used to adjust the opening and closing state of the feed valve to achieve the opening adjustment of the feed valve.

[0035] The partial closure or full closure of the feed valve can be determined based on the distance to the rescue object. If there is still a certain safe distance from the rescue object, the feed valve can be partially closed to speed up the rescue. If the minimum safe distance has been reached, the feed valve needs to be completely closed to avoid secondary damage to the rescue object. The judgment of the distance can be combined with the feedback of detection instruments such as radar and life detectors. The distance is based on the closest distance between the suction vent of the suction robot and the rescue object, and can also be based on the estimated distance directly observed by the rescue personnel.

[0036] It can be understood that the feed valve in this embodiment: First, it can cooperate with the valve position switching of the reversing valve to realize the alternating switching of the operating material vehicle; Secondly, in order to avoid causing harm to the rescue object, the suction wind speed of the corresponding suction robot can be reduced by controlling its own opening; and the speed of the fan itself does not need to be adjusted at this time to reduce the adverse effects on the normal operation of other suction robots.

[0037] Due to the limited maximum suction force that the fan can provide, as well as the control difficulty and wind speed coordination risk caused by too many suction robots, three suction robots are determined in this embodiment. With the following control method, the rescue process is safer and the risk is controllable. Specifically: 3. If rescue personnel appear in the suction area of ​​the two suction robots, the speed of the fan will be reduced to the second preset speed, and then the opening of the corresponding feed valve of all suction robots with a judgment result of yes will be reduced to the preset opening; the second preset speed here can be determined according to actual conditions, and the second preset speed is less than the first preset speed.

[0038] Since the inlet valves corresponding to the two suction robots need to be partially or completely closed, the suction wind speed of the remaining suction robot will be greatly increased, and there may be some uncontrollable risks. Excessive wind speed may cause damage to the suction port of the suction robot or cause harm to the buried and undiscovered rescue object. At this time, it is necessary to reduce the fan speed in time. After reducing the fan speed to the second preset speed, the opening of the inlet valve is adjusted down to ensure safety. 4. If rescuers appear in the suction area of ​​the three suction robots, turn off the fan. Because of the appearance of rescuers, the corresponding inlet valves of the three suction robots need to be partially or completely closed. This can be regarded as an emergency, and relevant personnel need to be involved in rescue work in time. Therefore, the fan is directly turned off to avoid accidents when the suction robots are working.

[0039] Step S5: If the material bin of the working material cart is full, control the valve positions of all reversing valves to switch synchronously, so that each suction robot is connected to the working material cart of the next period, and switch the air inlet to connect the fan to the working material cart, and continue the operation using the fan.

[0040] In this embodiment, a working material cart is used in each period to uniformly store the materials sucked by each suction robot. When the material bin is full, the working material cart can be automatically switched. During the entire operation process, it is only necessary to determine the initial material cart at the start-up, and it can be automatically switched each time the material bin is full. After the working material cart is switched, the material cart with a full material bin needs to be unloaded to prepare for the next operation. Example 2

[0041] The present embodiment provides a suction unit, including: a fan; multiple material carts, the exhaust port of each material cart is the same as the air inlet of the fan, and each material cart is provided with multiple feed valves; multiple suction robots, each suction robot is connected to a corresponding reversing valve, the valve position of the reversing valve is switchable, and by switching the valve position of the reversing valve, the suction robot is connected to the feed valve of one of the multiple material carts; a suction robot remote control, which is communicatively connected with the reversing valve, the feed valve and the fan, and the suction robot remote control is used to control the valve position of the reversing valve, the opening and closing state of the feed valve and the opening and closing state of the fan.

[0042] In a specific embodiment, there are two material carts, hereinafter referred to as material cart A and material cart B, and three suction robots, hereinafter referred to as suction robots A, B, and C, which are respectively connected to reversing valves A, B, and C. Material cart A is provided with feed valve A1, feed valve A2, and feed valve A3; material cart B is provided with feed valve B1, feed valve B2, and feed valve B3; there is one power cart, which is used to arrange a fan, and is provided with air inlet 1 and air inlet 2.

[0043] Combination Figure 2 The rescue suction unit consists of six sub-vehicles. The air inlet 1 of the power vehicle is connected to the exhaust port of the material vehicle A, the air inlet 2 of the power vehicle is connected to the exhaust port of the material vehicle B, and the suction robots A, B, and C are respectively connected to the confluence ports of the reversing valves A, B, and C. The two diversion ports of the reversing valves are respectively connected to the corresponding feed valves on the material vehicles A and B through hoses. Only one material vehicle is put into work at the same time. By alternating the operation of the material vehicles A and B, the suction robots A, B, and C can operate continuously.

[0044] Each sub-vehicle is independently controlled and has an independent controller, including the power vehicle controller, material vehicle A controller, material vehicle B controller, suction robot A controller, suction robot B controller, and suction robot C controller. Each controller has multiple CAN communication interfaces.

[0045] According to the pipeline layout of each sub-workshop and the operation mechanism of the suction system, in a specific embodiment, the power car controller is connected to the CAN1 channel of the material car A controller through the CAN1 channel, and is connected to the CAN1 channel of the material car B controller through the CAN2 channel; the material car A controller is connected to the CAN1 channel of the suction robot A controller through the CAN2 channel, and the CAN3 channel is connected to the CAN1 channel of the suction robot B controller, and the material car B controller is connected to the CAN1 channel of the suction robot C controller through the CAN2 channel, thereby establishing a unit network communication loop and realizing sub-workshop information transmission. The connection between the controllers can be wired or wireless using the CANWIFI module. Figure 3 shown.

[0046] This bus topology uses the controller's multi-channel CAN to connect the sub-carriages, avoiding the problem of a single bus line being too long and too much data, which is beneficial to reducing the bus load rate and data loss. When there are more suction robots in the sub-carriage, or when the CAN number of the material car controller is more, there can be multiple combinations of the connection between the material car and the suction robot, which will not be repeated here.

[0047] The control involved in each sub-vehicle is as follows Figure 4 As shown: The control objects of the power car include the fan speed and vent valve for controlling the fan speed, and the air intake valve for controlling the air intake of the power car, which are controlled by the power car controller port; The control objects of the material cart include the movement of the material cart, the lifting of the material bin related to unloading and the control of the material bin door, the inlet valve 1-3, and the reversing valve 1-3, which are controlled by the port of the material cart controller; The control objects of the suction robot include robot walking, boom rotation, boom amplitude adjustment, and suction head rotation, which are controlled by the suction robot controller port. The above control processes are existing operations in the prior art and will not be repeated here.

[0048] During the rescue process, each rescue point works independently, so each suction robot is controlled by an independent remote control.

[0049] Each suction robot forms an independent suction circuit with the connected material car and power car through a reversing valve. In this embodiment, there are three suction robots, so a total of three suction circuits are involved.

[0050] For each suction circuit, based on the CAN communication network, the suction robot remote control can realize the control of the entire suction circuit, mainly including fan speed control, on-off control of the air intake valve, opening control of the material cart feeding valve, valve position control of the reversing valve, and the suction robot's own motion control, including walking, boom rotation, boom amplitude adjustment, suction head rotation, etc.

[0051] The material cart movement, silo lifting, and silo door opening and closing control all involve the material cart unloading operation, which can be operated by the material cart's independent remote control to facilitate the simultaneous unloading and suction. Because the suction robot remote control involves many operations, in order to simplify the operation interface, some operations are automatically realized by setting the mode before the operation, such as Figure 4 As shown, the steps for setting are as follows: Step 1: Select the connection mode with the power car at the material car end, and select the non-stop operation mode in which material car A and material car B operate alternately.

[0052] Step 2: Select the feed port of the material cart at the suction robot end, such as selecting feed valve 1, and then selecting the feed valve control port corresponding to the material cart controller. The material cart feed valve is a pneumatic gate valve, which is controlled by a cylinder and has a certain stroke. It takes time to open and close. Toggling it on or off for a certain time can be used to control its opening / closing degree. When it is not fully opened or closed, the first indicator light 201 and the second indicator light 202 are both off.

[0053] When the cylinder is extended, the corresponding feed valve is closed, and when the cylinder is retracted, the corresponding feed valve is opened. The corresponding solenoid valve is a two-potential two-position four-way valve. The control port includes two DO ports. The DO201 output controls the feed valve to open, and the DO202 output controls the feed valve to close. The two ports do not output at the same time. After selection, each suction robot corresponds to a unique feed valve, and only one feed valve opening / closing switch is required on the remote control at the operating end.

[0054] Step 3: Select the material car to be connected on the suction robot end. The default material car A is selected initially. This involves the control of the reversing valve and the control of the air intake valve of the power car.

[0055] The reversing valve between the suction robot and the two material carts is a three-way valve controlled by a cylinder. When the cylinder is extended, it is connected to material cart A, and when the cylinder is retracted, it is connected to material cart B. The corresponding solenoid valve is a single-potential two-position four-way valve. The control port includes one DO port. If the DO port has no output, it is connected to material cart A. If the DO port has output, it is connected to material cart B. The three reversing valves correspond to the three DO ports DO203, DO204, and DO205.

[0056] Because the port configurations of material cart A and material cart B are exactly the same, when connected, the three reversing valves can be connected to the control port of material cart A or to the controller port of material cart B at the same time.

[0057] Because the two material carts operate alternately, the three suction robots can only be connected to material cart A or material cart B at the same time, that is, the three DO ports DO203, DO204, and DO205 all have outputs (corresponding to material cart B), or none of them have outputs (corresponding to material cart A). There is no situation where one of them has output and the other two do not, or two have outputs and the other one does not. Therefore, there is no need to select the three reversing valves during the control process. In the default initial state, DO203, DO204, and DO205 have no outputs, that is, the three suction robots are all connected to material cart A. When the material bin of material cart A is full, the switching switch on the remote control of any suction robot controls the switching valve position of all reversing valves to connect all suction robots to material cart B. At this time, DO203, DO204, and DO205 all have outputs, and the three reversing valves switch to material cart B.

[0058] This operation method requires only a switch between trolley A and trolley B on the operating end remote control, which greatly simplifies the control interface and control logic of the operating end of the suction robot remote control.

[0059] The air intake valve of the power car is a pneumatic butterfly valve, and the corresponding solenoid valve is a dual-potential two-position four-way valve, which is controlled by the power car controller. The control port includes two DO ports. The DO101 output controls the air intake valve to open, and the D1O2 output controls the air intake valve to close. When connected to the material car A, the air intake valve 1 is opened and the air intake valve 2 is closed. When switched to the material car B, the air intake valve 2 is opened and the air intake valve 1 is closed. The control switch of this operation can share a switch with the switching switch of the material car A and the material car B mentioned above.

[0060] After the above operations, the control interface of the suction robot remote control is as follows: Figure 5 It includes a mode selection dial 11 for switching between walking and suction modes; in walking mode, the up and down movement of the cross handle 14 corresponds to the forward and backward movement of the left crawler of the suction robot, and the up and down movement of the cross handle 15 corresponds to the forward and backward movement of the right crawler, and the left and right movement is invalid.

[0061] The walking dial 16 is used to switch between high-speed walking and low-speed walking. The suction robot has arm 1, arm 2 and arm 3 that work together. In the suction mode, the up-and-down movement of the cross handle 14 corresponds to the extension and retraction of arm 1, and the left-and-right movement corresponds to the left and right rotation of the arm frame. The up-and-down movement of the cross handle 15 corresponds to the extension and retraction of arm 2, and the left-and-right movement corresponds to the extension and retraction of arm 3.

[0062] The suction robot remote control is provided with a first control element, which is communicated with the feed valve connected to the suction robot, and the opening and closing state of the feed valve can be controlled by adjusting the first control element; the first control element includes a first dial button 20, which is a two-position self-resetting knob, which controls the opening and closing of the feed valve of the material cart connected to the suction robot. When the dial button 20 is pushed upward, the feed valve opens, and when it is fully in place, the second indicator light 202 corresponding to the open feed valve lights up; when the dial button is pushed downward, the feed valve closes, and when it is fully in place, the first indicator light 201 corresponding to the closed feed valve lights up, which is convenient for the operator to understand the situation of the feed valve.

[0063] The feed valve is a pneumatic gate valve controlled by a cylinder and has a certain stroke. It takes time to open and close. Toggling it on or off for a certain period of time can be used to control its opening / closing degree. When it is not fully opened or closed, the first indicator light 201 and the second indicator light 202 are both off.

[0064] The suction robot remote control is provided with a second control element, which is communicatively connected with the fan; the on and off state of the fan can be controlled by adjusting the second control element, and the second control element includes a first toggle switch 12 and a second toggle switch 13 for the fan speed of the power vehicle, and a third indicator light 121 and a fourth indicator light 131 for displaying whether the fan has started working. The fan operation control is as follows: the fan speed toggle switch is a 3-position self-resetting switch. When the fan speed is 0, push the fan speed + toggle 12 upward and hold it for 3s to start the fan. After the fan speed is detected, the third indicator light 121 lights up. After the toggle button is reset, continue to push the fan speed + toggle button upward to increase the fan speed. Push the fan speed - toggle button downward to reduce the fan speed. When the fan is idling, continue to push the fan speed - toggle button downward for 3s to turn off the fan, and the corresponding third indicator light 121 of the fan goes out.

[0065] The suction robot remote control is also provided with a second dial button 17, which is used for forward and reverse control of the suction head of the suction robot. It is a 3-position locking dial button, which stops rotating in the middle position, with forward rotation upward and reverse rotation downward. The third knob 18 is used to adjust the rotation speed during forward and reverse rotation. The second and third knobs 17 and 18 are invalid in walking mode.

[0066] The fourth dial button 19 is a two-position self-resetting knob, which is used to control the switching between material cart A and material cart B. When the fourth dial button 19 is moved upward, it corresponds to connecting material cart A. When it is fully in place, the corresponding indicator light 192 of material cart A lights up, and the indicator light 191 of material cart B goes out. When it is moved downward, it corresponds to connecting material cart B. When it is fully in place, the corresponding indicator light 191 of material cart B lights up, and the indicator light 192 of material cart A goes out, which is convenient for the operator to understand the operating status of the material cart.

[0067] There is a second emergency stop switch 22 on the right side of the suction robot remote control, which is used to control the emergency stop of the suction robot itself. After it is clicked, all actions of the suction robot are stopped; there is also a first emergency stop switch 21 on the left side of the remote control, which is used to control the emergency stop of the fan. After it is clicked, the fan stops running, which is used to protect the suction system in emergency situations.

[0068] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0069] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0070] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0072] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A multi-machine cooperative control method for a suction unit, the suction unit comprising a fan, a plurality of material carts and a plurality of suction robots, the fan having a plurality of air inlets; each air inlet being connected to an exhaust port of a corresponding material cart, and the fan being connected to one of the plurality of material carts by switching the air inlet; each suction robot being connected to a corresponding reversing valve, the valve position of the reversing valve being switchable, and the suction robot being connected to one of the plurality of material carts by switching the valve position of the reversing valve; characterized in that: The control method comprises: Obtain the working material vehicle of the current period, determine the valve position of the reversing valve according to the working material vehicle, so that each suction robot is connected with the working material vehicle through the corresponding feeding valve respectively; control all the feeding valves on the working material vehicle to be fully opened; Determine the air inlet of the fan according to the working material vehicle, so that the exhaust port of the working material vehicle is connected with the corresponding air inlet of the fan, and start the fan to operate; When the fan is operating, the sensor probe of the suction robot is used to determine whether there is a rescue object in the suction area of ​​each suction robot, and the opening and closing state of the feed valve and the opening and closing state of the fan are adjusted according to the determination result; If the material bin of the operating material cart in the current period is full, the valve positions of all reversing valves are controlled to switch synchronously, so that each suction robot is connected to the operating material cart in the next period, and the air inlet is switched to connect the fan to the operating material cart to continue the operation.

2. The control method according to claim 1, characterized in that: The number of the suction robots is three, and the adjusting the opening and closing state of the feed valve and the opening and closing state of the fan according to the judgment result includes: If the judgment results corresponding to the suction robots are all negative, all the inlet valves on the working material vehicle are controlled to remain fully open, and the fan is turned on and maintained at a first preset speed; If the judgment result corresponding to only one suction robot is yes, the opening of the corresponding inlet valve of the suction robot is adjusted down to the preset opening; the fan is turned on and maintained at the first preset speed; If the judgment results corresponding to the two suction robots are yes, the speed of the fan is reduced to a second preset speed, and then the openings of the corresponding inlet valves of all the suction robots with the judgment results of yes are reduced to the preset openings; If the judgment results corresponding to the three suction robots are yes, turn off the wind; The first preset rotation speed is greater than the second preset rotation speed.

3. The control method according to claim 1, characterized in that: The multiple material carts include a first material cart and a second material cart, and the suction unit also includes a switching switch, all the reversing valves are communicatively connected to the switching switch, and the switching switch is used to control the synchronous switching of the valve positions of all the reversing valves; the switching switch has a first switch position and a second switch position. When the switching switch is in the first switch position, all the suction robots are connected to the first material cart; when the switching switch is in the second switch position, all the suction robots are connected to the second material cart.

4. The control method according to claim 3, characterized in that: The reversing valve comprises a three-way valve, the confluence end of the three-way valve is connected to the suction robot, and the two diversion ends of the three-way valve are respectively connected to corresponding inlet valves on the first material cart and the second material cart.

5. The control method according to claim 4, characterized in that: The three-way valve is controlled by a cylinder. When the cylinder is fully extended, the suction robot is connected to the feed valve on the first material cart; when the cylinder is fully retracted, the suction robot is connected to the feed valve on the second material cart.

6. The control method according to claim 1, characterized in that: The feed valve is provided with a valve opening control mechanism, and the valve opening control mechanism includes a control oil cylinder, and the control oil cylinder is used for telescopic movement to adjust the opening and closing state of the feed valve.

7. The control method according to claim 5, characterized in that: The suction unit also includes a power vehicle for arranging a fan, wherein the power vehicle is provided with a first air intake valve and a second air intake valve, wherein the first air intake valve and the second air intake valve are respectively connected to an exhaust port of the first material vehicle and an exhaust port of the second material vehicle.

8. A suction unit, characterized in that: include: Fan, Multiple material carts, the exhaust port of each material cart can be connected to the fan, and each material cart is provided with multiple inlet valves; Multiple suction robots, each of which is connected to a corresponding reversing valve, the valve position of which can be switched, so that the suction robot is connected to one of the multiple material carts through the feed valve by switching the valve position of the reversing valve; The suction robot remote controller is communicatively connected with the reversing valve, the feeding valve and the fan, and the suction robot remote controller is used to control the valve position of the reversing valve, the opening and closing state of the feeding valve and the opening and closing state of the fan.

9. A suction unit according to claim 8, characterized in that: A switching switch is provided on the remote control of the suction robot, and the switching switch is connected to all the reversing valves in communication. The switching switch has multiple switch positions, and the valve positions of all the reversing valves can be controlled to switch synchronously by switching the switch positions of the switching switch; The suction robot remote controller is provided with a first control element, the first control element is in communication connection with the feed valve of the suction robot, and the opening and closing state of the feed valve can be controlled by adjusting the first control element; The suction robot remote controller is provided with a second control element, and the second control element is communicatively connected with the fan; the on / off state of the fan can be controlled by adjusting the second control element.

10. A suction unit according to claim 9, characterized in that: The first control element and the second control element are dial knobs or rotary knobs.

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