Distributor control method, device and system

Abstract

The invention provides a method, a device and a system for controlling a distributor, and relates to the technical field of computers, the method for controlling the distributor comprises the following steps: acquiring three-dimensional point cloud data of a reactor; according to the three-dimensional point cloud data of the reactor, the distributor is simulated to move so as to pass through the open hole, a target moving path is obtained, and the target moving path is a moving path which does not touch the cavity and the assembly when the distributor passes through the open hole; the distributor is controlled to pass through the hole according to the target moving path, the distributor can be automatically controlled to be inserted into and pulled out of the cavity of the reactor, the distributor can be prevented from touching the cavity and components in the cavity in the process of controlling the distributor to move, and damage to the distributor and the reactor can be avoided.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a control method, device and system for a distributor. Background Art

[0002] The field of bioengineering is an interdisciplinary subject involving biology, medicine, chemistry, and engineering. The reactor is an important device in bioengineering. It simulates the environment in the body of an organism, provides suitable nutrition and growth conditions, and promotes the growth and reproduction of microorganisms, plant cells, or animal cells. Among them, the distributor is one of the key components of the reactor. The function of the distributor is to evenly transport the substances required for the reaction into the chamber of the reactor to ensure the consistency and efficiency of the biological reaction process.

[0003] Currently, the distributor is inserted into or withdrawn from the reactor by manual operation, which has the problem of low operating efficiency. Summary of the invention

[0004] Various aspects of the present disclosure provide a method, apparatus, and system for controlling a sparger to improve the efficiency of inserting the sparger into or withdrawing it from a reactor.

[0005] A first aspect of an embodiment of the present disclosure provides a method for controlling a distributor, wherein the distributor is used to transport a substance to a reactor, wherein the reactor includes a chamber and a hole disposed in the chamber, and a side wall of the chamber is provided with an opening for the distributor to pass through. The method for controlling the distributor includes: Obtaining three-dimensional point cloud data of the reactor; According to the three-dimensional point cloud data of the reactor, the movement of the distributor is simulated to pass through the opening to obtain a target movement path, where the target movement path is a movement path in which the distributor does not touch the chamber and components when passing through the opening; Control the distributor to move through the opening according to the target movement path.

[0006] Optionally, simulating the movement of the distributor to pass through the opening according to the three-dimensional point cloud data of the reactor to obtain a target movement path includes: According to the three-dimensional point cloud data of the reactor, simulating the movement of the distributor to pass through the opening to obtain a movement path; If, during the process of simulating the moving path, the three-dimensional point cloud data of the distributor does not overlap with the three-dimensional point cloud data of the chamber and the component, the moving path is determined to be the target moving path.

[0007] Optionally, the distributor includes: a straight portion and a curved portion, and the simulating movement of the distributor to pass through the opening to obtain a movement path includes: determining a reference line, wherein the reference line is fixed; In the straight part of the distributor, the distributor is simulated to move linearly relative to the reference line to pass through the opening, and in the curved part of the distributor, the distributor is simulated to move rotationally along the reference line to pass through the opening, thereby obtaining the movement path.

[0008] Optionally, the distributor includes: a straight portion and a curved portion, and the simulating movement of the distributor to pass through the opening to obtain a movement path includes: In the straight part of the distributor, the distributor is simulated to move in a linear array to pass through the opening, and in the curved part of the distributor, the distributor is simulated to rotate and move in a circular array to pass through the opening, thereby obtaining the moving path.

[0009] Optionally, it also includes: if the target moving path cannot be obtained by simulating the movement of the distributor to pass through the opening based on the three-dimensional point cloud data of the reactor, a prompt message is output, wherein the prompt message is used to prompt that the size of the opening does not match the size of the distributor.

[0010] Optionally, there are multiple distributors, and the distributors correspond to the target moving paths one by one; and controlling the distributors to pass through the openings according to the target moving paths includes: Obtaining a movement sequence of the distributor through the opening, wherein the movement sequence is obtained by pre-simulation; According to the movement sequence, each of the distributors is controlled to pass through the opening along the corresponding target movement path, and each of the distributors will not touch other distributors during the process of passing through the opening along the corresponding target movement path.

[0011] Optionally, the target movement path is a target movement path for inserting the distributor into the chamber through the opening, or a target movement path for withdrawing the distributor from the chamber.

[0012] Optionally, controlling the distributor to pass through the opening according to the target moving path includes: The clamping tool is controlled to drive the distributor to pass through the opening according to the target moving path.

[0013] A second aspect of the embodiments of the present disclosure provides a control device for a distributor, wherein the distributor is used to deliver a reaction substance to a reactor, wherein the reactor includes a chamber and a hole disposed in the chamber, and a side wall of the chamber is provided with an opening for the distributor to pass through, and the control device for the distributor includes: An acquisition module, used for acquiring three-dimensional point cloud data of the reactor; A simulation module, for simulating the movement of the distributor to pass through the opening according to the three-dimensional point cloud data of the reactor, and obtaining a target movement path, wherein the target movement path is a movement path in which the distributor does not touch the chamber and the components when passing through the opening; The control module is used to control the distributor to pass through the opening according to the target moving path.

[0014] Optionally, the simulation module is specifically used to: simulate the movement of the distributor through the opening according to the three-dimensional point cloud data of the reactor to obtain a moving path; if in the process of simulating the moving path, the three-dimensional point cloud data of the distributor does not overlap with the three-dimensional point cloud data of the chamber and the components, then the moving path is determined to be the target moving path.

[0015] Optionally, the distributor includes: a straight part and a curved part. When the simulation module simulates the movement of the distributor to pass through the opening to obtain the moving path, it is specifically used to: determine a reference line, where the reference line is fixed; in the straight part of the distributor, simulate the distributor to move linearly relative to the reference line to pass through the opening; in the curved part of the distributor, simulate the distributor to rotate and move along the reference line to pass through the opening to obtain the moving path.

[0016] Optionally, the distributor includes: a straight part and a curved part. When the simulation module simulates the movement of the distributor to pass through the opening to obtain a moving path, it is specifically used to: in the straight part of the distributor, simulate the distributor moving in a linear array to pass through the opening; in the curved part of the distributor, simulate the distributor rotating and moving in a circular array to pass through the opening to obtain a moving path.

[0017] Optionally, it also includes: a prompt module, which is used to output a prompt message if the target moving path cannot be obtained by simulating the movement of the distributor to pass through the opening based on the three-dimensional point cloud data of the reactor, and the prompt message is used to prompt that the size of the opening does not match the size of the distributor.

[0018] Optionally, there are multiple distributors, and the distributors correspond one-to-one to the target moving paths; the control module is specifically used to: obtain the movement order of the distributors through the openings, and the movement order is obtained by pre-simulation; according to the movement order, control each distributor to pass through the openings according to the corresponding target moving path, and each distributor will not touch other distributors in the process of passing through the openings according to the corresponding target moving path.

[0019] Optionally, the target movement path is a target movement path for inserting the distributor into the chamber through the opening, or a target movement path for withdrawing the distributor from the chamber.

[0020] Optionally, the control module is specifically used to control the clamping tool to drive the distributor to pass through the opening according to the target moving path.

[0021] A third aspect of an embodiment of the present disclosure provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the control method of the distributor of the first aspect is implemented when the processor executes the computer program.

[0022] A fourth aspect of an embodiment of the present disclosure provides a control system for a distributor, comprising: a clamping tool, a distributor and a control device for the distributor of the third aspect, the clamping tool and the control device for the distributor being communicatively connected, and the clamping tool being used to clamp the distributor.

[0023] A fifth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the control method of the distributor of the first aspect.

[0024] A sixth aspect of an embodiment of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the control method of the distributor as in the first aspect.

[0025] The disclosed embodiment is applied in the scenario of inserting or withdrawing a distributor from a reactor, by acquiring three-dimensional point cloud data of the reactor; based on the three-dimensional point cloud data of the reactor, simulating the movement of the distributor to pass through the opening, and obtaining a target movement path, the target movement path is a movement path in which the distributor will not touch the chamber and components when passing through the opening; controlling the distributor to pass through the opening according to the target movement path, the distributor can be automatically controlled to be inserted and withdrawn from the chamber of the reactor, and in the process of controlling the movement of the distributor, the distributor can be prevented from touching the chamber and components in the chamber, thereby avoiding damage to the distributor and the reactor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings: Figure 1 An application scenario diagram of a control method for a distributor provided by an exemplary embodiment of the present disclosure; Figure 2 A flow chart of steps of a control method of a distributor provided for an exemplary embodiment of the present disclosure; Figure 3 A schematic diagram of a target moving path of a distributor provided for an exemplary embodiment of the present disclosure; Figure 4 A flowchart of another method for controlling a distributor provided by an exemplary embodiment of the present disclosure; Figure 5 A schematic diagram of a distributor provided for an exemplary embodiment of the present disclosure; Figure 6 A structural block diagram of a control device for a distributor provided for an exemplary embodiment of the present disclosure; Figure 7 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions of the present disclosure will be clearly and completely described below in combination with the specific embodiments of the present disclosure and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0028] The design of the bioreactor directly affects the efficiency and effect of the bioreaction process. Among them, the distributor evenly distributes nutrients, gases or other substances in the chamber of the bioreactor to ensure the consistency and efficiency of the bioreaction process. Therefore, the structural design of the distributor has a crucial impact on the performance of the bioreactor. In the related art, the distributor is mainly extracted or inserted into the chamber of the reactor by manual operation. Specifically, the operator needs to extract the distributor from the chamber and then clean it, or insert the distributor into the chamber to transport substances. Although this method is simple, it is inefficient and easily causes damage to the distributor, affecting the service life of the reactor.

[0029] Among them, based on the above problems, the present invention simulates the movement of the distributor to obtain the target movement path of the distributor through the opening, and applies the simulated target movement path to the actual withdrawal and insertion of the distributor from the chamber, thereby realizing automatic control of the insertion and withdrawal of the distributor from the chamber of the reactor, and in the process of controlling the movement of the distributor, it can prevent the distributor from touching the chamber and components in the chamber, thereby avoiding damage to the distributor and the reactor.

[0030] In addition, an application scenario of the embodiment of the present disclosure is as follows Figure 1 , which is a view of a reactor 10, wherein the reactor includes: a chamber 11, a distributor 12 and components arranged in the chamber, such as a baffle 13 and a stirring blade 14. An opening 15 for the distributor 12 to pass through is arranged on the side wall of the chamber 11, and the distributor 12 can be inserted into the chamber 11 through the opening 15, or pulled out from the chamber 11.

[0031] in, Figure 1 This is just an exemplary application scenario, and the embodiment of the present disclosure can be applied to the control scenario of the distributor in any reactor. The embodiment of the present disclosure does not limit the specific application scenario.

[0032] Figure 2 A flow chart of a control method for a distributor provided by an exemplary embodiment of the present disclosure. Specifically, the following steps are included: S201, obtaining three-dimensional point cloud data of the reactor.

[0033] The three-dimensional point cloud data includes: the three-dimensional coordinates of multiple points of the reactor. In the embodiment of the present application, the reactor includes: a chamber, a distributor, and components in the chamber, and the three-dimensional point cloud data of the reactor includes: the three-dimensional point cloud data of the chamber, the three-dimensional point cloud data of the distributor, and the three-dimensional point cloud data of each component.

[0034] Furthermore, the component includes at least one of a baffle, a stirring blade, a thermometer, a liquid level sensor, a pressure sensor, a PH (Pondus Hydrogenii, acidity and alkalinity) meter or an electrode.

[0035] In the embodiment of the present application, the three-dimensional point cloud data of the reactor may be pre-designed or acquired by other means, which is not limited.

[0036] S202, based on the three-dimensional point cloud data of the reactor, simulate the movement of the distributor to pass through the opening to obtain a target movement path.

[0037] In one embodiment, a three-dimensional model of the reactor can be simulated based on the three-dimensional point cloud data of the reactor. Specifically, the three-dimensional model is composed of a grid and a texture, and the grid is drawn by multiple point clouds. The present application can simulate the three-dimensional model of the reactor through a commonly used three-dimensional simulator, which is not limited here. After the three-dimensional model of the reactor is simulated, the three-dimensional model of the reactor can be displayed in the three-dimensional simulator.

[0038] In another embodiment, the three-dimensional point cloud of the reactor can also be displayed based on the three-dimensional point cloud data. Specifically, a coordinate system can be drawn in a three-dimensional simulator, and each point can be drawn in the three-dimensional simulator according to the three-dimensional coordinates of each point in the three-dimensional point cloud data, and multiple points constitute the three-dimensional point cloud of the reactor. It can be understood that the present application can use a variety of methods to simulate the reactor.

[0039] Further, after simulating the reactor, the distributor is simulated to move through the opening, wherein the movement direction of the distributor includes: moving into the chamber or moving out of the chamber, wherein moving into the chamber means inserting into the chamber through the opening, and moving out of the chamber means withdrawing from the chamber through the opening.

[0040] In the embodiments of this application, refer to Figure 1 The opening is a through hole arranged on the side wall of the chamber, and the shape of the opening can be circular, rectangular or other shapes, which are not limited here.

[0041] The target moving path is the moving path of the distributor that will not touch the chamber and components when passing through the opening. It can be understood that during the simulation process, the simulated distributor will not touch the simulated chamber (such as the inner wall of the chamber and the hole wall of the opening) and the simulated components. If the target moving path is applied to the actual distributor movement process, the actual distributor will not touch the actual chamber and the actual components, thereby avoiding damage to the reactor and increasing the service life of the reactor.

[0042] In the embodiment of the present application, the target movement path is a target movement path for inserting the distributor into the chamber through the opening, or a target movement path for withdrawing the distributor from the chamber.

[0043] In one embodiment, the target moving path can be represented by the change sequence of the three-dimensional point cloud data of the distributor, for example, referring to Figure 3 , in order to simulate the target moving path of the distributor being drawn out of the chamber, the distributor moves according to (a1) to (a10) to pass through the opening. For example, in (a1), the three-dimensional point cloud data of the distributor is A1, and the three-dimensional point cloud data A1 includes: the three-dimensional coordinates of n points, where n is a positive integer. In (a2), the three-dimensional point cloud data of the distributor is A2, and the three-dimensional coordinates of the n points included in the three-dimensional point cloud data A2 are all changed relative to (a1), so as to realize the movement of the simulated distributor. It can be understood Figure 3 In (ai), the three-dimensional point cloud data of the distributor is Ai, where i is 1 to 10, and the target moving path can be represented by the three-dimensional point cloud data A1 to A10 of the distributor.

[0044] In another embodiment, the target moving path can be represented by the changing sequence of the moving distance, moving direction, rotation direction, and rotation angle of the target area of ​​the distributor. Figure 3 In (a1), one end of the distributor is taken as the target area M, and the change path of the target area M is used to represent the target moving path. Figure 3In the figure, from (a1) to (a2), the target area M moves 3 cm along the negative direction of X, from (a2) to (a3), the target area M rotates 30° in the negative direction of Z, from (a3) ​​to (a4), the target area M moves 4 cm along the negative direction of X, from (a4) to (a5), the target area M rotates 45° in the positive direction of Z, from (a5) to (a6), the target area M moves 5 cm along the negative direction of X, from (a6) to (a7), the target area M rotates 30° in the positive direction of Z, from (a7) to (a8), the target area M rotates 10° from the positive axis of Z and moves 3 cm in the direction of 45° from the negative axis to the positive axis of Z, from (a8) to (a9), the target area M rotates 10° from the positive axis of Z and moves 3 cm in the direction of 45° from the positive axis to the negative axis of Z, and from (a9) to (a10), the target area M moves 2 cm along the negative axis of X, so that the distributor is completely withdrawn from the opening of the chamber.

[0045] In the embodiment of the present application, the method for determining the target moving path of the distributor when inserted into the chamber can refer to the target moving path of the distributor when it is extracted from the chamber, which will not be repeated here.

[0046] In the embodiment of the present application, the simulation method of the target moving path of the distributor is not limited, and any method can be selected to achieve it.

[0047] It can be understood that the target moving path obtained in the present application is obtained by simulation, and it can be achieved that when the distributor is moved using the target moving path, the chamber and the components in the chamber will not be touched, and the simulation process is simple and efficient.

[0048] S203, controlling the distributor to pass through the opening according to the target moving path.

[0049] It can be understood that the distributor passes through the opening according to the target movement path obtained by the above simulation.

[0050] In one embodiment, controlling the distributor to pass through the opening according to the target moving path includes: controlling the clamping tool to drive the distributor to pass through the opening according to the target moving path. The clamping tool can drive the distributor to move step by step according to the target moving path.

[0051] Specifically, after the target moving path is obtained by simulation, the distributor can be clamped by a clamping tool to drive the distributor to be pulled out of or inserted into the chamber. Figure 3 The clamping tool clamps one end of the distributor (such as the target area M), and then extracts the distributor from the chamber by moving or rotating the distributor according to the target moving path.

[0052] In one embodiment, the process of the distributor passing through the opening through the target moving path can also be recorded by video, and the video can be used for manual reference to manually extract or insert the distributor. It will not collide with the inner wall of the reactor and the northern stirring and other components, thereby improving the movement efficiency of the distributor and the use time of the reactor.

[0053] In the embodiments of the present application, the clamping tool may be a commonly used clamping tool, and the present application does not limit the clamping tool.

[0054] In an embodiment of the present application, the target moving path of the distributor is obtained through simulation. During the actual use of the reactor, the distributor can be controlled to be extracted from or inserted into the chamber according to the target moving path, thereby realizing automatic control of the distributor and improving the movement efficiency of the distributor. In addition, the contact between the distributor and the chamber and components can be avoided, thereby avoiding damage to the reactor and increasing the service life of the reactor.

[0055] Figure 4 A flow chart of another control method for a distributor provided by an exemplary embodiment of the present disclosure. Specifically, the following steps are included: S401, obtaining three-dimensional point cloud data of the reactor.

[0056] The specific implementation process of this step refers to S201 and is not limited here.

[0057] S402, based on the three-dimensional point cloud data of the reactor, simulate the movement of the distributor to pass through the opening to obtain a movement path.

[0058] In an embodiment of the present application, the simulated movement mode of the distributor can be pre-set, such as the distance and direction of each movement, the direction and angle of each rotation, and these parameters can be recorded to obtain the simulated movement path of the distributor. Then, during the simulated movement of the distributor, the recorded movement path of the distributor touching the chamber, component or other distributor is removed, and the remaining movement path is analyzed to obtain the target movement path.

[0059] For example, refer to Figure 3 , in the process from (a1) to (a2), if the target area M moves step by step along the negative direction of X, sampling can be performed every 0.5 cm. If the distributor touches any of the chambers, other components or other distributors when it moves 3.5 cm, the target movement path includes: the distributor moves 3 cm along the negative direction of X from (a1) to (a2), wherein the movement path from 3 cm to 3.5 cm of the target area M along the negative direction of X does not belong to the target movement path.

[0060] In the embodiment of the present application, the distributor includes: a straight portion and a curved portion, wherein the distributor may include at least one straight portion and at least one curved portion, referring to Figure 5 The distributor in the reactor includes a straight portion L1, a straight portion L2, a straight portion L3 and a curved portion W. The straight portion of the distributor is used to connect the feed port and the discharge port of the distributor, and the curved portion of the distributor is used to change the flow direction of the distributor to achieve uniform delivery of the substance into the chamber. Furthermore, the distributor is tubular, and some pores are evenly arranged on the surface of the distributor. Substances, such as some gases or liquids, are placed in the distributor, and then the distributor is inserted into the chamber of the reactor, so that the distributor can evenly provide substances to the biological reaction in the chamber. After the reaction is completed, the distributor is pulled out of the chamber and the distributor can be cleaned.

[0061] Further, refer to Figure 3 The straight portion of the distributor can move straight through the opening, and the curved portion of the distributor can rotate and move through the opening.

[0062] The distribution device is simulated to move through the opening to obtain a moving path, including: determining a reference line, which is fixed; in a straight portion of the distribution device, simulating the distribution device to move linearly relative to the reference line to pass through the opening to obtain a moving path of the straight portion; in a curved portion of the distribution device, simulating the distribution device to rotate along the reference line to pass through the opening to obtain a moving path of the curved portion.

[0063] In the embodiment of the present application, the reference line may be a preset fixed line, such as Figure 3 A reference line C can be determined at the opening 15 .

[0064] For example, refer to Figure 5 , the reference line is at the opening, the moving direction T of the straight part is perpendicular to the reference line C, Figure 3 , the moving direction T of each straight part of the distributor is perpendicular to the reference line C. Between adjacent straight parts, the distributor can be rotated so that the straight part to be passed is perpendicular to the reference line. For example, first, the straight part L1 is perpendicular to the reference line and moves out of the opening in the moving direction T, and then the distributor is rotated so that the straight part L2 is perpendicular to the reference line and continues to move out of the opening in the moving direction T, and then the distributor is rotated so that the straight part L3 is perpendicular to the reference line and continues to move out of the opening in the moving direction, and then in the curved part of the distributor, the rotation and movement are continued in a cycle until all the curved parts are moved out of the opening. Furthermore, when rotating and moving the curved part, the tangent direction of the curved part and the reference line are kept at a fixed angle, for example 90° In another embodiment, the simulated distributor moves to pass through the opening to obtain a moving path, including: in the straight portion of the distributor, the simulated distributor moves in a linear array to pass through the opening to obtain the moving path of the straight portion; in the curved portion of the distributor, the simulated distributor rotates and moves in a circular array to pass through the opening to obtain the moving path of the curved portion.

[0065] It is understood that the spacing distance of the linear array can be set as needed, for example, each movement is 2 cm, then refer to Figure 5 In the straight part, first move 2cm in the moving direction to confirm whether it touches the chamber, component or other distributor. If not, continue to move 2cm in the moving direction to confirm whether it touches the chamber, component or other distributor. If not, continue to move 2cm in the moving direction. If it touches the chamber, component or other distributor, move 2cm in the opposite direction of the moving direction and then rotate the distributor. After rotating the distributor, if the straight part of the distributor still passes through the opening, continue to move in a linear array. If it is a curved part, move through the opening in a circular array, wherein the interval angle of the circular array can also be pre-set, such as rotating 10° each time. For example, in the curved part, first rotate 10°, move the curved part 1cm, then rotate 10°, and move the curved part 1cm again, until the curved part passes through the opening.

[0066] In the embodiments of the present application, the moving distributor can be simulated in a variety of ways to obtain a plurality of simulated moving paths of the distributor through the openings.

[0067] S403: If, in the process of simulating the moving path, the three-dimensional point cloud data of the distributor does not overlap with the three-dimensional point cloud data of the chamber and the component, the moving path is determined to be the target moving path.

[0068] It can be understood that the three-dimensional point cloud data of the distributor is rotated and moved at different angles inside the reactor to determine the target moving path, wherein the three-dimensional point cloud data of the distributor does not overlap with the three-dimensional point cloud data of the chamber and the components, which means that the distributor does not touch the opening chamber and the components when passing through the opening according to the target moving path.

[0069] In another embodiment, if the target moving path cannot be obtained by simulating the movement of the distributor to pass through the opening according to the three-dimensional point cloud data of the reactor, a prompt message is output, and the prompt message is used to prompt that the size of the opening does not match the size of the distributor. It can be understood that in the process of simulating the distributor passing through the opening, the distributor will always touch the chamber, component or other distributor, which can indicate that the size of the distributor does not match the size of the opening. The prompt message can prompt to redesign the size of the opening and / or the size of the distributor. After redesign, continue to perform the above steps until the target moving path is obtained.

[0070] Among them, in the related art, the design of the distributor does not take into account the matching problem with the opening. If the size of the distributor does not match the size of the opening, the distributor will not be able to pass through the opening smoothly, further increasing the difficulty of extraction or insertion. In the simulation process of the present application, if the distributor cannot pass through the opening, the size design of the distributor and / or the opening can be optimized so that the size of the distributor matches the size of the opening, thereby ensuring that the distributor can pass through the opening smoothly. In addition, it can be understood that when modifying the size of the distributor, the size of the straight part and / or the curved part of the distributor can be modified.

[0071] S404, obtaining a movement sequence of the distributor passing through the opening, where the movement sequence is obtained by pre-simulation.

[0072] In an embodiment of the present application, if there are multiple distributors, the moving path of each distributor can be simulated in order to obtain the target moving path and moving order of each distributor. For example, including distributor Q1, distributor Q2 and distributor Q3, when distributor Q1, distributor Q2 and distributor Q3 are all in the chamber, first simulate the moving path of distributor Q1 extracted from the chamber to obtain the target moving path P1 of distributor Q1, wherein distributor Q1 will not touch the chamber, components and distributor Q2 and distributor Q3 when it is extracted from the chamber according to the target moving path P1. Then simulate the moving path of distributor Q2 extracted from the chamber to obtain the target moving path P2 of distributor Q2, wherein distributor Q2 will not touch the chamber, components and distributor Q3 when it is extracted from the chamber according to the target moving path P2. Finally, simulate the moving path of distributor Q3 extracted from the chamber to obtain the target moving path P3 of distributor Q3, wherein distributor Q3 will not touch the chamber and components when it is extracted from the chamber according to the target moving path P3.

[0073] S405, according to the movement sequence, control each distributor to pass through the opening according to the corresponding target movement path.

[0074] Among them, each distributor will not touch other distributors when passing through the opening according to the corresponding target moving path.

[0075] For example, the movement order of each distributor is from first to last: distributor Q1, distributor Q2 and distributor Q3. In actual operation, distributor Q1 is firstly drawn out from the chamber according to the target movement path P1, then distributor Q2 is drawn out from the chamber according to the target movement path P2, and finally distributor Q3 is drawn out from the chamber according to the target movement path P3.

[0076] In an embodiment of the present application, the distributor can be automatically controlled to be inserted and withdrawn from the chamber of the reactor, and in the process of controlling the movement of the distributor, the distributor can be prevented from touching the chamber, components and other distributors, thereby avoiding damage to the distributor and the reactor.

[0077] Reference Figure 6 , is a structural block diagram of a control device 60 of a distributor provided by the present disclosure, the distributor is used to transport reaction materials to a reactor, the reactor includes a chamber and a hole arranged in the chamber, and a side wall of the chamber is provided with an opening for the distributor to pass through, the control device 60 of the distributor includes: an acquisition module 61, a simulation module 62 and a control module 63, wherein: An acquisition module 61 is used to acquire three-dimensional point cloud data of the reactor; A simulation module 62 is used to simulate the movement of the distributor to pass through the opening according to the three-dimensional point cloud data of the reactor to obtain a target movement path, where the target movement path is a movement path in which the distributor does not touch the chamber and the components when passing through the opening; The control module 63 is used to control the distributor to pass through the opening according to the target movement path.

[0078] In an optional embodiment, the simulation module 62 is specifically used to simulate the movement of the distributor through the opening according to the three-dimensional point cloud data of the reactor to obtain a moving path; if in the process of simulating the moving path, the three-dimensional point cloud data of the distributor does not overlap with the three-dimensional point cloud data of the chamber and the components, then the moving path is determined to be the target moving path.

[0079] In an optional embodiment, the distributor includes: a straight portion and a curved portion. When simulating the movement of the distributor to pass through the opening to obtain a moving path, the simulation module 62 is specifically used to: determine a reference line, where the reference line is fixed; in the straight portion of the distributor, simulate the distributor to move linearly relative to the reference line to pass through the opening; in the curved portion of the distributor, simulate the distributor to rotate and move along the reference line to pass through the opening to obtain a moving path.

[0080] In an optional embodiment, the distributor includes: a straight portion and a curved portion. When the simulation module 62 simulates the movement of the distributor to pass through the opening to obtain a moving path, it is specifically used to: in the straight portion of the distributor, simulate the distributor moving in a linear array to pass through the opening; in the curved portion of the distributor, simulate the distributor rotating and moving in a circular array to pass through the opening to obtain a moving path.

[0081] An optional embodiment further includes: a prompt module (not shown), which is used to output a prompt message if the target moving path cannot be obtained by simulating the movement of the distributor to pass through the opening based on the three-dimensional point cloud data of the reactor, and the prompt message is used to prompt that the size of the opening does not match the size of the distributor.

[0082] In an optional embodiment, there are multiple distributors, and the distributors correspond one-to-one to the target moving paths; the control module 63 is specifically used to: obtain the movement order of the distributors through the openings, and the movement order is obtained by pre-simulation; according to the movement order, control each distributor to pass through the openings according to the corresponding target moving path, and each distributor will not touch other distributors during the process of passing through the openings according to the corresponding target moving path.

[0083] In an optional embodiment, the target movement path is a target movement path for inserting the distributor into the chamber through the opening, or a target movement path for withdrawing the distributor from the chamber.

[0084] In an optional embodiment, the control module 63 is specifically used to control the clamping tool to drive the distributor to pass through the opening according to the target moving path.

[0085] The control device of the distributor provided in the present disclosure can implement the control method of the above-mentioned distributor. Please refer to the above for details and will not be repeated here.

[0086] In addition, in some of the processes described in the above embodiments and the accompanying drawings, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel, and are only used to distinguish between different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "second", "first", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit "second" and "first" to be different types.

[0087] Figure 7 A schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. Figure 7 As shown, the electronic device 70 includes: a processor 71, and a memory 72 communicatively connected to the processor 71, and the memory 72 stores computer-executable instructions.

[0088] Among them, the processor executes the computer execution instructions stored in the memory to implement the control method of the distributor provided by any of the above-mentioned method embodiments, and the specific functions and technical effects that can be achieved are not repeated here.

[0089] The embodiment of the present disclosure also provides a control system for a distributor, comprising: a clamping tool, a distributor, and a control device for the distributor, wherein the clamping tool and the control device for the distributor are in communication connection, and the clamping tool is used to clamp the distributor. The control device for the distributor can execute the control method for the distributor to control the clamping tool to clamp the distributor and pass through the opening according to the target moving path.

[0090] The embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement any of the above methods.

[0091] The embodiments of the present disclosure also provide a computer program product, which includes: a computer program, which is stored in a readable storage medium, and at least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes any of the above methods.

[0092] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0093] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0094] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0095] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform some steps of the methods of various embodiments of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0096] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0097] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0098] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A control method for a distributor, characterized in that: The distributor is used to deliver substances to the reactor. The reactor includes a chamber and a component arranged in the chamber. The side wall of the chamber is provided with an opening for the distributor to pass through. The control method of the distributor includes: Acquiring three-dimensional point cloud data of the reactor; According to the three-dimensional point cloud data of the reactor, simulating the movement of the distributor to pass through the opening to obtain a target movement path, wherein the target movement path is a movement path of the distributor that does not touch the chamber and the component when passing through the opening; The distributor is controlled to pass through the opening according to the target movement path.

2. The control method of the distributor according to claim 1, characterized in that: The step of simulating the movement of the distributor to pass through the opening according to the three-dimensional point cloud data of the reactor to obtain a target movement path includes: According to the three-dimensional point cloud data of the reactor, simulating the movement of the distributor to pass through the opening to obtain a movement path; If, during the process of simulating the moving path, the three-dimensional point cloud data of the distributor does not overlap with the three-dimensional point cloud data of the chamber and the component, the moving path is determined to be the target moving path.

3. The control method of the distributor according to claim 2, characterized in that: The distributor comprises: a straight portion and a curved portion, and the simulation of the movement of the distributor to pass through the opening to obtain a movement path comprises: determining a reference line, wherein the reference line is fixed; In the straight part of the distributor, the distributor is simulated to move linearly relative to the reference line to pass through the opening, and in the curved part of the distributor, the distributor is simulated to move rotationally along the reference line to pass through the opening, thereby obtaining the movement path.

4. The control method of the distributor according to claim 2, characterized in that: The distributor comprises: a straight portion and a curved portion, and the simulation of the movement of the distributor to pass through the opening to obtain a movement path comprises: In the straight part of the distributor, the distributor is simulated to move in a linear array to pass through the opening, and in the curved part of the distributor, the distributor is simulated to rotate and move in a circular array to pass through the opening, thereby obtaining the moving path.

5. The control method of the distributor according to claim 2, characterized in that: Also includes: If the target movement path cannot be obtained by simulating the movement of the distributor to pass through the opening according to the three-dimensional point cloud data of the reactor, a prompt message is output, wherein the prompt message is used to prompt that the size of the opening does not match the size of the distributor.

6. The control method of the distributor according to any one of claims 1 to 5, characterized in that: There are multiple distributors, and the distributors correspond to the target moving paths one by one; and controlling the distributors to pass through the openings according to the target moving paths includes: Obtaining a movement sequence of the distributor through the opening, wherein the movement sequence is obtained by pre-simulation; According to the movement sequence, each of the distributors is controlled to pass through the opening along the corresponding target movement path, and each of the distributors will not touch other distributors during the process of passing through the opening along the corresponding target movement path.

7. The control method of the distributor according to any one of claims 1 to 5, characterized in that: The target movement path is a target movement path for inserting the distributor into the chamber through the opening, or a target movement path for withdrawing the distributor from the chamber.

8. The control method of the distributor according to any one of claims 1 to 5, characterized in that: The controlling the distributor to pass through the opening according to the target moving path comprises: The clamping tool is controlled to drive the distributor to pass through the opening according to the target moving path.

9. A control device for a distributor, characterized in that: The distributor is used to deliver reaction materials to the reactor. The reactor includes a chamber and a component arranged in the chamber. The side wall of the chamber is provided with an opening for the distributor to pass through. The control device of the distributor includes: An acquisition module, used for acquiring three-dimensional point cloud data of the reactor; a simulation module, for simulating the movement of the distributor to pass through the opening according to the three-dimensional point cloud data of the reactor, and obtaining a target movement path, wherein the target movement path is a movement path of the distributor that does not touch the chamber and the component when passing through the opening; A control module is used to control the distributor to pass through the opening according to the target moving path.

10. A control system for a distributor, characterized in that: include: A clamping tool, a distributor and a control device for the distributor according to claim 9, wherein the clamping tool and the control device for the distributor are communicatively connected, and the clamping tool is used to clamp the distributor.

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