Control Method, Device and System of a Distributor

Abstract

The present disclosure provides a control method, device and system for a distributor, relating to the field of computer technology. The control method for the distributor includes: obtaining three-dimensional point cloud data of a reactor; simulating the movement of the distributor to pass through an 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 for the distributor to pass through the opening without touching the chamber and components; controlling the distributor to pass through the opening according to the target movement path, which can realize automatically controlling the insertion and extraction of the distributor from the chamber of the reactor, and can avoid the distributor touching the chamber and the components in the chamber during the process of controlling the movement of the distributor, thereby avoiding damage to the distributor and the reactor.

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 field involving multiple disciplines such as biology, medicine, chemistry, and engineering. A reactor is an important device in bioengineering. It simulates the environment inside a living organism, provides suitable nutrients and growth conditions, and promotes the growth and reproduction of microorganisms, plant cells, or animal cells. Among them, a distributor is one of the key components of a reactor. The function of the distributor is to uniformly 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[0003] Currently, the distributor is inserted into or withdrawn from the reactor manually, which has the problem of low operation efficiency. Summary of the Invention

[0004] Multiple aspects of the present disclosure provide a control method, device, and system for a distributor to improve the efficiency of inserting or withdrawing the distributor from the reactor.

[0005] A first aspect of an embodiment of the present disclosure provides a control method for a distributor. The distributor is used to transport substances to a reactor. The reactor includes a chamber and components disposed inside the chamber. An opening for the distributor to pass through is provided on the side wall of the chamber. The control method for the distributor includes:

[0006] Obtain three-dimensional point cloud data of the reactor;

[0007] According to 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. The target movement path is a movement path where the distributor does not touch the chamber and components when passing through the opening;

[0008] Control the distributor to pass through the opening according to the target movement path.

[0009] Optionally, the step of, 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 includes:

[0010] According to 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;

[0011] If during the process of simulating the movement path, there is no overlap between the three-dimensional point cloud data of the distributor and the three-dimensional point cloud data of the chamber and the components, determine that the movement path is the target movement path.

[0012] Optionally, the distributor includes a straight portion and a bent portion. Simulating the movement of the distributor to pass through the opening hole to obtain a movement path includes:

[0013] Determine a reference line, which is fixed;

[0014] On the straight portion of the distributor, simulate the linear movement of the distributor relative to the reference line to pass through the opening hole. On the bent portion of the distributor, simulate the rotational movement of the distributor along the reference line to pass through the opening hole to obtain the movement path.

[0015] Optionally, the distributor includes a straight portion and a bent portion. Simulating the movement of the distributor to pass through the opening hole to obtain a movement path includes:

[0016] On the straight portion of the distributor, simulate the movement of the distributor in a linear array manner to pass through the opening hole. On the bent portion of the distributor, simulate the rotational movement of the distributor in a circumferential array manner to pass through the opening hole to obtain the movement path.

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

[0018] Optionally, the number of the distributors is multiple, and the distributors correspond to the target movement paths one by one. Controlling the distributors to pass through the opening hole according to the target movement paths includes:

[0019] Obtain the movement sequence of the distributors passing through the opening hole, where the movement sequence is obtained by pre-simulation;

[0020] According to the movement sequence, control each distributor to pass through the opening hole according to the corresponding target movement path, and during the process of each distributor passing through the opening hole according to the corresponding target movement path, it will not touch other distributors.

[0021] Optionally, the target movement path is the target movement path for inserting the distributor into the chamber through the opening hole or the target movement path for extracting the distributor from the chamber.

[0022] Optionally, controlling the distributor to pass through the opening hole according to the target movement path includes:

[0023] Control the clamping tool to drive the distributor to pass through the opening hole according to the target movement path.

[0024] In a second aspect of the embodiments of the present disclosure, a control device for a distributor is provided. The distributor is used to convey reaction substances to a reactor. The reactor includes a chamber and is disposed within the chamber. An opening for the distributor to pass through is provided on the side wall of the chamber. The control device for the distributor includes:

[0025] An acquisition module for acquiring three-dimensional point cloud data of the reactor;

[0026] 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. The target movement path is a movement path where the distributor will not touch the chamber and components when passing through the opening;

[0027] A control module for controlling the distributor to pass through the opening according to the target movement path.

[0028] Optionally, the simulation module is specifically configured to: simulate the movement of the distributor to pass through the opening according to the three-dimensional point cloud data of the reactor, and obtain a movement path; if there is no overlap between the three-dimensional point cloud data of the distributor and the three-dimensional point cloud data of the chamber and components during the simulation of obtaining the movement path, determine the movement path as the target movement path.

[0029] Optionally, the distributor includes a straight part and a bent part. When the simulation module simulates the movement of the distributor to pass through the opening and obtains a movement path, it is specifically configured to: determine a reference line, and the reference line is fixed; in the straight part of the distributor, simulate the linear movement of the distributor relative to the reference line to pass through the opening, and in the bent part of the distributor, simulate the rotational movement of the distributor along the reference line to pass through the opening, and obtain a movement path.

[0030] Optionally, the distributor includes a straight part and a bent part. When the simulation module simulates the movement of the distributor to pass through the opening and obtains a movement path, it is specifically configured to: in the straight part of the distributor, simulate the movement of the distributor in a linear array manner to pass through the opening, and in the bent part of the distributor, simulate the rotational movement of the distributor in a circular array manner to pass through the opening, and obtain a movement path.

[0031] Optionally, it further includes a prompt module for outputting a prompt message 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. The prompt message is used to prompt that the size of the opening does not match the size of the distributor.

[0032] Optionally, the number of distributors is multiple, and the distributors correspond to the target movement paths one by one; the control module is specifically configured to: acquire the movement sequence of the distributors passing through the openings, and the movement sequence is obtained by pre-simulation; according to the movement sequence, control each distributor to pass through the opening according to the corresponding target movement path, and each distributor will not touch other distributors during the process of passing through the opening according to the corresponding target movement path.

[0033] 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.

[0034] Optionally, the control module is specifically configured to: control the clamping tool to drive the distributor to pass through the opening along the target movement path.

[0035] A third aspect of the embodiments of the present disclosure provides an electronic device, including: a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the control method of the distributor in the first aspect is implemented.

[0036] A fourth aspect of the embodiments of the present disclosure provides a control system for a distributor, including: a clamping tool, a distributor, and a control device for the distributor in the third aspect. The clamping tool is communicatively connected to the control device for the distributor, and the clamping tool is used to clamp the distributor.

[0037] A fifth aspect of the embodiments 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, the control method of the distributor in the first aspect is implemented.

[0038] A sixth aspect of the embodiments of the present disclosure provides a computer program product, including a computer program. When the computer program is executed by a processor, the control method of the distributor in the first aspect is implemented.

[0039] The embodiments of the present disclosure are applied to the scenario of inserting or withdrawing a distributor in a reactor. By 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, where the target movement path is a movement path for the distributor to pass through the opening without touching the chamber and components; controlling the distributor to pass through the opening along the target movement path, it is possible to automatically control the insertion and withdrawal of the distributor from the chamber of the reactor, and avoid the distributor touching the chamber and the components in the chamber during the process of controlling the movement of the distributor, thereby avoiding damage to the distributor and the reactor. Description of the Drawings

[0040] The drawings described herein are used to provide a further understanding of the present disclosure, and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute an improper limitation to the present disclosure. In the drawings:

[0041] Figure 1 It is an application scenario diagram of a control method for a distributor provided by an exemplary embodiment of the present disclosure;

[0042] Figure 2Flowchart of steps of a control method for a distributor provided by an exemplary embodiment of the present disclosure;

[0043] Figure 3 Schematic diagram of a target movement path of a distributor provided by an exemplary embodiment of the present disclosure;

[0044] Figure 4 Flowchart of steps of another control method for a distributor provided by an exemplary embodiment of the present disclosure;

[0045] Figure 5 Schematic diagram of a distributor provided by an exemplary embodiment of the present disclosure;

[0046] Figure 6 Block diagram of the structure of a control device for a distributor provided by an exemplary embodiment of the present disclosure;

[0047] Figure 7 Schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. Detailed implementation manners

[0048] To make the objectives, technical solutions and advantages of the present disclosure clearer, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with the specific embodiments of the present disclosure and the corresponding drawings. Apparently, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0049] The design of the bioreactor directly affects the efficiency and effect in the biological reaction 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 biological reaction process. Therefore, the structural design of the distributor has a crucial impact on the performance of the bioreactor. In the related art, the extraction or insertion of the distributor from the chamber of the reactor is mainly through 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 damages the distributor, affecting the service life of the reactor.

[0050] Among them, based on the above problems, the present disclosure obtains the target movement path of the distributor passing through the opening by simulating the movement of the distributor, and applies the simulated target movement path to the actual extraction and insertion of the distributor from the chamber, so as to realize the automatic control of the extraction and insertion of the distributor from the chamber of the reactor, and avoid the distributor touching the chamber and the components in the chamber during the process of controlling the movement of the distributor, thereby avoiding damage to the distributor and the reactor.

[0051] In addition, an application scenario of an embodiment of the present disclosure is as follows Figure 1 , which is a view of the reactor 10, where the reactor includes: a chamber 11, a distributor 12, and components disposed in the chamber, such as a baffle 13 and a stirring paddle 14. An opening 15 for the distributor 12 to pass through is provided on the side wall of the chamber 11, and the distributor 12 can be inserted into the chamber 11 through the opening 15 or withdrawn from the chamber 11.

[0052] Among them, Figure 1 This is just an exemplary application scenario. The embodiments of the present disclosure can be applied to the control scenario of the distributor in any reactor. The embodiments of the present disclosure do not limit the specific application scenario.

[0053] Figure 2 FIG. is a step flowchart of a method for controlling a distributor provided by an exemplary embodiment of the present disclosure. Specifically, it includes the following steps:

[0054] S201, Obtain the three-dimensional point cloud data of the reactor.

[0055] Among them, the three-dimensional point cloud data includes: the three-dimensional coordinates of multiple points of the reactor. In the embodiments of the present application, the reactor includes: a chamber, a distributor, and components in the chamber. Then, 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.

[0056] Furthermore, the components include at least one of a baffle, a stirring paddle, a thermometer, a liquid level sensor, a pressure sensor, a PH (Pondus Hydrogenii) meter, or an electrode.

[0057] In the embodiments of the present application, the three-dimensional point cloud data of the reactor can be pre-designed or obtained by other means, and this is not limited.

[0058] S202, According to the three-dimensional point cloud data of the reactor, simulate the movement of the distributor to pass through the opening to obtain the target movement path.

[0059] In one embodiment, the three-dimensional model of the reactor can be simulated according to the three-dimensional point cloud data of the reactor. Specifically, the three-dimensional model is composed of a mesh and a texture, and the mesh is drawn by multiple point clouds. The three-dimensional model of the reactor can be simulated by a common three-dimensional simulator in the present application, and this is not limited. 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.

[0060] 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 the 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. Multiple points form the three-dimensional point cloud of the reactor. It can be understood that the present application can simulate the reactor in various ways.

[0061] Further, after the reactor is simulated, the distributor is simulated to move through the opening. Among them, the moving direction of the distributor includes: moving into the chamber or moving out of the chamber. Among them, moving into the chamber means inserting into the chamber through the opening, and moving out of the chamber means extracting from the chamber through the opening.

[0062] In the embodiment of the present application, referring to Figure 1 , the opening is a through hole provided on the side wall of the chamber, and the shape of the opening can be circular, rectangular or other shapes, which are not limited herein.

[0063] Among them, the target movement path is the movement path when the distributor passes through the opening without touching the chamber and components. It can be understood that during the simulation process, if the simulated distributor does not touch the simulated chamber (such as not touching the inner wall of the chamber and the wall of the opening) and the simulated components, then this target movement path is applied to the actual movement process of the distributor, and the actual distributor will not touch the actual chamber and actual components, thereby avoiding damage to the reactor and increasing the service life of the reactor.

[0064] In the embodiment of the present application, the target movement path is the target movement path for inserting the distributor into the chamber through the opening or the target movement path for extracting the distributor from the chamber.

[0065] In one embodiment, the target movement path can be represented by the change order of the three-dimensional point cloud data of the distributor. For example, referring to Figure 3 , for the target movement path of simulating the extraction of the distributor from the chamber, the distributor moves from (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 have all changed relative to (a1), realizing the simulation of the movement of the distributor. It can be understood Figure 3 that in (ai), the three-dimensional point cloud data of the distributor is Ai, where i takes 1 to 10, then the target movement path can be represented by the three-dimensional point cloud data A1 to A10 of the distributor.

[0066] In another embodiment, the target movement path can be represented by the change order of the moving distance, moving direction, rotation direction, and rotation angle of the target area of the distributor. For example, referring toFigure 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 movement path. For example, in Figure 3 , from (a1) to (a2), the target area M moves 3 cm in the negative X direction, from (a2) to (a3), the target area M rotates 30° in the negative Z direction, from (a3) to (a4), the target area M moves 4 cm in the negative X direction, from (a4) to (a5), the target area M rotates 45° in the positive Z direction, from (a5) to (a6), the target area M moves 5 cm in the negative X direction, from (a6) to (a7), the target area M rotates 30° in the positive Z direction, from (a7) to (a8), the target area M rotates 10° about the positive Z axis and moves 3 cm in the direction of 45° offset from the negative X axis along the positive Z axis, from (a8) to (a9), the target area M rotates 10° about the positive Z axis and moves 3 cm in the positive Z axis direction, from (a9) to (a10), the target area M moves 2 cm along the negative X axis, and the distributor is completely withdrawn from the opening of the chamber.

[0067] In the embodiment of the present application, the determination method of the target movement path of the distributor inserted into the chamber can refer to the target movement path of the distributor withdrawn from the chamber, which will not be elaborated here.

[0068] In the embodiment of the present application, the simulation method of the target movement path of the distributor is not limited, and any method can be selected to implement it.

[0069] It can be understood that the target movement path obtained in the present application is simulated, and when the distributor is moved along the target movement path, it will not touch the chamber and the components in the chamber, and the simulation process is simple and efficient.

[0070] S203, control the distributor to pass through the opening according to the target movement path.

[0071] It can be understood that the distributor passes through the opening according to the target movement path simulated above.

[0072] In one embodiment, controlling the distributor to pass through the opening according to the target movement path includes: controlling the clamping tool to drive the distributor to pass through the opening according to the target movement path. Among them, the clamping tool can drive the distributor to move step by step according to the target movement path.

[0073] Specifically, after the target movement path is simulated, the clamping tool can be used to clamp the distributor and drive the distributor to be withdrawn from or inserted into the chamber. For example, referring to Figure 3 , the clamping tool clamps one end of the distributor (such as the target area M), and then according to the target movement path, the distributor is withdrawn from the chamber by moving or rotating the distributor.

[0074] In one embodiment, the process of passing the distributor through the opening along the target movement path can also be recorded by video, and the displayed video can be used as a reference for manual operation. The distributor can be manually withdrawn or inserted without colliding with the inner wall of the reactor, the northern stirrer, or other components, thereby improving the movement efficiency of the distributor and the service life of the reactor.

[0075] In the embodiments of the present application, the clamping tool can be a commonly used clamping tool, and the present application does not limit the clamping tool.

[0076] In the embodiments of the present application, the target movement path of the distributor is obtained through simulation. During the actual use of the reactor, the distributor can be controlled to be withdrawn from or inserted into the chamber along the target movement path, thereby realizing the automatic control of the distributor, improving the movement efficiency of the distributor, and avoiding the contact between the distributor and the chamber and components, avoiding damage to the reactor, and increasing the service life of the reactor.

[0077] Figure 4 It is a step flowchart of another control method for a distributor provided by an exemplary embodiment of the present disclosure. Specifically, it includes the following steps:

[0078] S401, obtain the three-dimensional point cloud data of the reactor.

[0079] For the specific implementation process of this step, refer to S201, which is not limited herein.

[0080] S402, according to the three-dimensional point cloud data of the reactor, simulate the movement of the distributor to pass through the opening to obtain the movement path.

[0081] In the embodiments of the present application, the simulation movement mode of the distributor can be preset, such as the distance and direction of each movement, the direction and angle of each rotation. These parameters are recorded to obtain the simulated movement path of the distributor. Then, during the simulation of the distributor movement, the movement paths where the recorded distributor touches the chamber, components, or other distributors are removed, and the remaining movement paths are analyzed to obtain the target movement path.

[0082] For example, referring to Figure 3 , during the process from (a1) to (a2), if the target area M moves step by step in the negative X direction, it can be sampled once every 0.5 cm of movement. If the movement is 3.5 cm and the distributor touches any one of the chamber, other components, or other distributors, the target movement path includes: the distributor moves 3 cm in the negative X direction from (a1) to (a2) for the target area M, where the movement path of the target area M moving 3 cm to 3.5 cm in the negative X direction does not belong to the target movement path.

[0083] In the embodiments of the present application, the distributor includes a straight portion and a bent portion. Wherein, the distributor may include at least one straight portion and at least one bent portion. Referring to Figure 5 the distributor in, which includes a straight portion L1, a straight portion L2, a straight portion L3, and a bent portion W. The straight portion of the distributor is used to connect the feed port and the discharge port of the distributor, and the bent portion of the distributor is used to change the flow direction of the distributor to achieve uniform delivery of substances into the chamber. Further, the distributor is tubular, and a number of pores are uniformly arranged on the surface of the distributor. Substances, such as some gases or liquids, are placed inside the distributor, and then the distributor is inserted into the chamber of the reactor, so that the distributor can uniformly supply substances to the biological reaction in the chamber. After the reaction is completed, the distributor is withdrawn from the chamber, and the distributor can be cleaned.

[0084] Further, referring to Figure 3 , the straight portion of the distributor can move linearly through the opening, and the bent portion of the distributor can move rotationally through the opening.

[0085] Simulating the movement of the distributor to pass through the opening to obtain the movement path includes: determining a reference line, where the reference line is fixed; in the straight portion of the distributor, simulating the linear movement of the distributor relative to the reference line to pass through the opening to obtain the movement path of the straight portion; in the bent portion of the distributor, simulating the rotational movement of the distributor along the reference line to pass through the opening to obtain the movement path of the bent portion.

[0086] In the embodiments of the present application, the reference line can be a pre-set fixed line, such as Figure 3 shown. A reference line C can be determined at the opening 15.

[0087] For example, referring to Figure 5 , at the opening, the movement direction T of the straight portion is perpendicular to the reference line C. Referring to Figure 3 , the movement direction T of each straight portion of the distributor is perpendicular to the reference line C. Between adjacent straight portions, the distributor can be rotated so that the straight portion to be passed is perpendicular to the reference line. For example, first, the straight portion L1 is perpendicular to the reference line and moves out of the opening in the movement direction T, then the distributor is rotated so that the straight portion L2 is perpendicular to the reference line, and continues to move out of the opening in the movement direction T, then the distributor is rotated so that the straight portion L3 is perpendicular to the reference line, and continues to move out of the opening in the movement direction, and then in the bent portion of the distributor, continuous cyclic rotation and movement are performed until all the bent portions move out of the opening. Further, when rotating and moving the bent portion, the tangential direction of the bent portion is kept at a fixed angle with the reference line, such as 90°.

[0088] In another embodiment, the simulated distributor moves through the opening holes to obtain a movement path, including: in the straight part of the distributor, the simulated distributor moves in a linear array manner to pass through the opening holes to obtain the movement path of the straight part; in the bent part of the distributor, the simulated distributor rotates and moves in a circular array manner to pass through the opening holes to obtain the movement path of the bent part.

[0089] It can be understood that the spacing distance of the linear array can be set as needed. For example, if it moves 2 cm each time, then refer to Figure 5 , in the straight part, move 2 cm in the moving direction first, and confirm whether it touches the chamber, components or other distributors. If not, continue to move 2 cm in the moving direction and confirm whether it touches the chamber, components or other distributors. If not, then after continuing to move 2 cm in the moving direction, if it touches the chamber, components or other distributors, then move 2 cm in the opposite direction of the moving direction and then rotate the distributor. After rotating the distributor, if it is still the straight part of the distributor passing through the opening hole, continue to move in a linear array manner. If it is the bent part, move through the opening hole in a circular array manner. Among them, the interval angle of the circular array can also be preset, such as rotating 10° each time. For example, in the bent part, rotate 10° first, move the bent part 1 cm, then rotate 10° again, and then move the bent part 1 cm until the bent part passes through the opening hole.

[0090] In the embodiments of the present application, the moving distributor can be simulated in various ways to obtain multiple simulated movement paths for the distributor to pass through the opening holes.

[0091] S403, if during the process of simulating the movement path, the three-dimensional point cloud data of the distributor does not overlap with the three-dimensional point cloud data of the chamber and components, then determine the movement path as the target movement path.

[0092] 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 movement path. Among them, if the three-dimensional point cloud data of the distributor does not overlap with the three-dimensional point cloud data of the chamber and components, it can indicate that when the distributor passes through the opening hole according to the target movement path, it does not touch the opening chamber and components.

[0093] In another embodiment, if according to the three-dimensional point cloud data of the reactor, simulating the movement of the distributor to pass through the opening hole fails to obtain the target movement path, then an error message is output. The error message is used to prompt that the size of the opening hole does not match the size of the distributor. It can be understood that during the process of simulating the distributor passing through the opening hole, if the distributor always touches the chamber, components or other distributors, it can indicate that the size of the distributor does not match the size of the opening hole. The error message can prompt to redesign the size of the opening hole and / or the size of the distributor. After redesigning, continue to execute the above steps until the target movement path is obtained.

[0094] Among them, in the related art, the design of the distributor did not consider the matching problem with the opening. If the size of the distributor does not match the size of the opening, it will cause the distributor to not pass through the opening smoothly, further increasing the difficulty of extraction or insertion. In the simulation process of this application, if the distributor cannot pass through the opening, the size design of the distributor and / or the opening can be optimized to make the size of the distributor match 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 bent part of the distributor can be modified.

[0095] S404. Obtain the movement sequence of the distributor passing through the opening, and the movement sequence is obtained by pre-simulation.

[0096] In the embodiment of this application, if there are multiple distributors, the movement paths of each distributor can be simulated in sequence to obtain the target movement path and movement sequence of each distributor. For example, it includes distributor Q1, distributor Q2, and distributor Q3. When distributor Q1, distributor Q2, and distributor Q3 are all in the chamber, first simulate the movement path of distributor Q1 being extracted from the chamber to obtain the target movement path P1 of distributor Q1. Among them, when distributor Q1 is extracted from the chamber according to the target movement path P1, it will not touch the chamber, components, distributor Q2, and distributor Q3. Then simulate the movement path of distributor Q2 being extracted from the chamber to obtain the target movement path P2 of distributor Q2. Among them, when distributor Q2 is extracted from the chamber according to the target movement path P2, it will not touch the chamber, components, and distributor Q3. Finally, simulate the movement path of distributor Q3 being extracted from the chamber to obtain the target movement path P3 of distributor Q3. Among them, when distributor Q3 is extracted from the chamber according to the target movement path P3, it will not touch the chamber and components.

[0097] S405. According to the movement sequence, control each distributor to pass through the opening according to the corresponding target movement path.

[0098] Among them, each distributor will not touch other distributors during the process of passing through the opening according to the corresponding target movement path.

[0099] For example, the movement sequences of each distributor from the front to the back are: distributor Q1, distributor Q2, and distributor Q3. Then during actual operation, first extract distributor Q1 from the chamber according to the target movement path P1, then extract distributor Q2 from the chamber according to the target movement path P2, and finally extract distributor Q3 from the chamber according to the target movement path P3.

[0100] In the embodiments of the present application, it is possible to automatically control the inserion and extraction of the distributor into and from the chamber of the reactor, and to avoid the distributor touching the chamber, components and other distributors during the process of controlling the movement of the distributor, thereby avoiding damage to the distributor and the reactor.

[0101] Referring Figure 6 , a structural block diagram of a control device 60 for a distributor provided by the present disclosure. The distributor is used to convey reaction substances to the reactor. The reactor includes a chamber and is provided in the chamber. An opening for the distributor to pass through is provided on the side wall of the chamber. The control device 60 for the distributor includes: an acquisition module 61, a simulation module 62, and a control module 63, where:

[0102] The acquisition module 61 is configured to acquire three-dimensional point cloud data of the reactor;

[0103] The simulation module 62 is configured to simulate the movement of the distributor to pass through the opening according to the three-dimensional point cloud data of the reactor, and obtain a target movement path, where the target movement path is a movement path where the distributor does not touch the chamber and components when passing through the opening;

[0104] The control module 63 is configured to control the distributor to pass through the opening according to the target movement path.

[0105] In an alternative embodiment, the simulation module 62 is specifically configured to simulate the movement of the distributor to pass through the opening according to the three-dimensional point cloud data of the reactor, and obtain a movement path; if there is no overlap between the three-dimensional point cloud data of the distributor and the three-dimensional point cloud data of the chamber and components during the simulation of the movement path, it is determined that the movement path is the target movement path.

[0106] In an alternative embodiment, the distributor includes: a straight part and a bent part. When the simulation module 62 simulates the movement of the distributor to pass through the opening and obtains a movement path, it is specifically configured to: determine a reference line, where the reference line is fixed; in the straight part of the distributor, simulate the straight movement of the distributor relative to the reference line to pass through the opening, and in the bent part of the distributor, simulate the rotational movement of the distributor along the reference line to pass through the opening, and obtain a movement path.

[0107] In an alternative embodiment, the distributor includes: a straight part and a bent part. When the simulation module 62 simulates the movement of the distributor to pass through the opening and obtains a movement path, it is specifically configured to: in the straight part of the distributor, simulate the movement of the distributor in a linear array manner to pass through the opening, and in the bent part of the distributor, simulate the rotational movement of the distributor in a circular array manner to pass through the opening, and obtain a movement path.

[0108] In an alternative embodiment, it further includes a prompting module (not shown), configured to output a prompt message if a target movement path cannot be obtained by simulating the movement of the distributor through the opening based on the three-dimensional point cloud data of the reactor, where the prompt message is used to prompt that the size of the opening does not match the size of the distributor.

[0109] In an alternative embodiment, the number of distributors is multiple, and each distributor corresponds to a target movement path one by one; specifically, the control module 63 is configured to: obtain the movement sequence of the distributors passing through the openings, where the movement sequence is obtained by pre-simulation; and control each distributor to pass through the opening according to the corresponding target movement path in accordance with the movement sequence, and no other distributor will be touched during the process that each distributor passes through the opening according to the corresponding target movement path.

[0110] In an alternative 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 extracting the distributor from the chamber.

[0111] In an alternative embodiment, the control module 63 is specifically configured to: control the clamping tool to drive the distributor to pass through the opening according to the target movement path.

[0112] The control device for the distributor provided by the present disclosure can implement the above-mentioned control method for the distributor. For details, please refer to the above, and details will not be elaborated here.

[0113] In addition, in some processes described in the above embodiments and the accompanying drawings, a plurality of operations appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order in which they appear in this article or may be executed in parallel. They are only used to distinguish different operations, and the sequence numbers themselves do 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 such as "second" and "first" in this article are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, nor do they limit that "second" and "first" are of different types.

[0114] Figure 7 It is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. As Figure 7 shown, the electronic device 70 includes: a processor 71, and a memory 72 communicatively connected to the processor 71, where the memory 72 stores computer-executable instructions.

[0115] Wherein, the processor executes the computer-executable instructions stored in the memory to implement the control method for the distributor provided in any of the above method embodiments. The specific functions and technical effects that can be achieved are not elaborated here.

[0116] An embodiment of the present disclosure also provides a control system for a distributor, including: a clamping tool, a distributor, and the control device of the distributor described above. The clamping tool is communicatively connected to the control device of the distributor, and the clamping tool is used to clamp the distributor. Among them, the control device of the distributor can execute the control method of the distributor described above to control the clamping tool to clamp the distributor and pass through the opening along the target movement path.

[0117] An embodiment of the present disclosure also 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.

[0118] An embodiment of the present disclosure also provides a computer program product, which includes: a computer program. The computer program is stored in a readable storage medium. At least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to enable the electronic device to execute any of the above methods.

[0119] In several embodiments provided by 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 merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the system or unit can be in electrical, mechanical or other forms.

[0120] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0121] In addition, in each embodiment of the present disclosure, the functional units can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0122] The integrated unit implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units are stored in a storage medium and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the methods according to various embodiments of the present disclosure. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional module is used as an example for illustration. In actual applications, the above functions can be allocated 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 foregoing method embodiments and will not be elaborated herein.

[0124] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present disclosure. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0125] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A control method for a distributor, characterized in that, The distributor is used to convey substances to the reactor, which includes a chamber and components disposed within the chamber. An opening is provided on the sidewall of the chamber for the distributor to pass through. The control method of the distributor includes: Obtain the three-dimensional point cloud data of the reactor; According to 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, where the target movement path is a movement path when the distributor passes through the opening without touching the chamber and the components; Control the distributor to pass through the opening according to the target movement path; Among them, 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, simulate the movement of the distributor to pass through the opening to obtain a movement path; If during the process of simulating the movement 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 determine the movement path as the target movement path; Among them, the distributor includes a straight part and a bent part. The step of simulating the movement of the distributor to pass through the opening to obtain a movement path includes: In the straight part of the distributor, move in a linear array manner to pass through the opening. In the bent part of the distributor, simulate the distributor to rotate and move in a circular array manner to pass through the opening to obtain the movement path; Among them, the step of moving in a linear array manner to pass through the opening includes: Simulate the distributor to move an interval distance in the moving direction and determine whether it touches the chamber, components or other distributors; If not, continue to move the interval distance in the moving direction; If so, move the interval distance in the opposite direction of the moving direction and rotate the distributor; After rotating the distributor, if the opening is the straight part of the distributor, continue to execute the step of simulating the distributor to move an interval distance in the moving direction; The step of simulating the distributor to rotate and move in a circular array manner to pass through the opening includes: moving the bent part each time after rotating an interval angle until the bent part passes through the opening.

2. The control method of the distributor according to claim 1, characterized in that The distributor includes a straight part and a bent part. The step of simulating the movement of the distributor to pass through the opening to obtain a movement path includes: Determine a reference line, and 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 bent part of the distributor, simulate the distributor to rotate and move along the reference line to pass through the opening to obtain the movement path.

3. The control method of the distributor according to claim 1, wherein, It further includes: If according to the three-dimensional point cloud data of the reactor, simulating the movement of the distributor to pass through the opening cannot obtain the target movement path, then output a prompt message, where the prompt message is used to prompt that the size of the opening does not match the size of the distributor.

4. The control method of the distributor according to any one of claims 1 to 3, characterized in that, The number of the distributors is multiple, and each distributor corresponds to a target movement path one by one; controlling the distributor to pass through the opening according to the target movement path includes: Obtaining the movement sequence of the distributor passing through the opening, where the movement sequence is obtained by pre-simulation; According to the movement sequence, controlling each distributor to pass through the opening according to the corresponding target movement path, and during the process of each distributor passing through the opening according to the corresponding target movement path, it will not touch other distributors.

5. The control method of the distributor according to any one of claims 1 to 3, characterized in that, The target movement path is the target movement path for inserting the distributor into the chamber through the opening or withdrawing the distributor from the chamber.

6. The control method of the distributor according to any one of claims 1 to 3, characterized in that, Controlling the distributor to pass through the opening according to the target movement path includes: Controlling the clamping tool to drive the distributor to pass through the opening according to the target movement path.

7. A control device for a distributor, characterized in that, The distributor is used to convey reaction substances to the reactor. The reactor includes a chamber and components arranged in the chamber. An opening for the distributor to pass through is provided on the side wall of the chamber. The control device of the distributor includes: An acquisition module for acquiring the 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 to obtain a target movement path, where the target movement path is the movement path when the distributor passes through the opening without touching the chamber and the components; A control module for controlling the distributor to pass through the opening according to the target movement path; Among them, the simulation module is specifically used for: 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 movement path; If during the process of simulating the movement path, there is no overlap between the three-dimensional point cloud data of the distributor and the three-dimensional point cloud data of the chamber and the components, then determine the movement path as the target movement path; The distributor includes a straight part and a bent part. Simulating the movement of the distributor to pass through the opening to obtain a movement path includes: In the straight part of the distributor, moving in a linear array manner to pass through the opening, and in the bent part of the distributor, simulating the distributor to rotate and move in a circular array manner to pass through the opening to obtain the movement path; Among them, moving in a linear array manner to pass through the opening includes: Simulating the distributor to move an interval distance in the moving direction and determining whether it touches the chamber, the components or other distributors; If not, continue to move the interval distance in the moving direction; If so, move the interval distance in the opposite direction of the moving direction and rotate the distributor; If after rotating the distributor, if the opening is in the straight part of the distributor, continue to execute the step of simulating the distributor to move an interval distance in the moving direction; Simulating the distributor to rotate and move in a circular array manner to pass through the opening includes: moving the bent part after each rotation of an interval angle until the bent part passes through the opening.

8. A control system for a distributor, characterized in that, Includes: A clamping tool, a dispenser, and a control device for the dispenser according to claim 7, wherein the clamping tool is communicatively connected to the control device of the dispenser, and the clamping tool is configured to clamp the dispenser.

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