Mine truck watering device and road surface dust raising control method

Abstract

The invention belongs to the technical field of mine road surface dust raising control, and particularly relates to a mine truck watering device and a road surface dust raising control method.The mine truck watering device comprises a truck body, a water tank, a first drainage pipe, a second drainage pipe, a nozzle assembly, a measuring system and a control system; an electric pressurizing device for adjusting the water flow pressure is arranged on the second drainage pipe; the nozzle assembly is used for spraying water to the rear and side faces of the vehicle body. The measuring system is used for detecting the road width in real time. The method comprises the following steps: monitoring the moisture content of a soil surface layer through a soil moisture sensor, comparing the moisture content with a preset threshold value, and then controlling a mine truck watering device to carry out watering operation according to a set watering process according to a comparison result. The water sprinkling device can be automatically and electrically controlled in the whole process, the labor intensity of workers is relieved, the working efficiency of the water sprinkling device is improved, and water sprinkling operation can be accurately carried out.

Description

Technical Field

[0001] The invention belongs to the technical field of mine road dust control, and in particular relates to a mine truck sprinkler and a road dust control method. Background Art

[0002] During the mining operation, the main work is to collect mineral resources from the mine. The dust concentration in the air of the open-pit mine (referred to as dust in this invention) is high. The operation of various large-scale engineering machinery and equipment, especially the large-scale mining trucks used to transport ore or rock, will generate eddies and cause dust to fly, resulting in low visibility in the mine, which seriously affects driving safety and mine environmental protection and greening. In order to control the dust generated during the collection of mineral resources, it is necessary to spray the surface of the mine regularly or continuously to reduce the dust pollution caused by mining operations and ensure the safety of mining operations.

[0003] At present, the soil road surface of the mining site is usually sprinkled with water by a sprinkler truck, which can reduce the dust concentration in the air and keep the working environment clean. In the cold winter, the sprinkler truck can also be used to spray salt water to accelerate the melting of the road surface water and ensure the smoothness of the road. At the same time, for the sewage source operation area, the sprinkler truck can also be used as a mobile drainage and irrigation station to provide industrial and domestic water. However, the water flow pressure of the existing sprinkler truck is uncontrollable, resulting in uncontrollable spraying distance. If the water flow pressure is too large, the water will be sprayed outside the road, affecting the working environment outside the on-site road and causing water waste. If the water flow pressure is too small, the road watering operation requirements cannot be completed, and the watering operation needs to be repeated, affecting work efficiency; and the watering amount of the existing sprinkler truck is uneven and the cost of the whole vehicle is high.

[0004] More importantly, the need for watering is currently determined by manual observation of road conditions, which is easily affected by subjective factors, and not the entire road needs to be watered at the same time. Not only is it impossible to quickly and accurately determine the need for watering, but it is also inconvenient to operate (generally requiring personnel / sprinkler truck drivers to stop and get off the vehicle to observe the surface before deciding whether to water), and it is also not easy to accurately and effectively control road dust. Summary of the invention

[0005] The purpose of the present invention is to provide a mining truck sprinkler device and a road dust control method, which can at least solve the technical problems of existing sprinkler trucks such as uncontrollable water flow pressure, uncontrollable spraying distance, low working efficiency, uneven watering volume, and high vehicle cost.

[0006] The present invention adopts the following technical solution.

[0007] A watering device for a mining truck comprises a vehicle body and a water tank, a nozzle assembly, a measuring system and a control system arranged on the vehicle body; a switch valve is arranged on the water outlet of the water tank, the water outlet of the water tank and the nozzle assembly are connected through a first drain pipe and a second drain pipe, the first drain pipe and the second drain pipe are respectively provided with a first valve and a second valve, and the second drain pipe is provided with an electric pressurizing device for adjusting the water flow pressure; the nozzle assembly is used to sprinkle water to the rear and sides of the vehicle body, and the nozzle assembly is provided with a pressure sensor and a pressure gauge for real-time monitoring of the water outlet pressure; the measuring system is used to detect the width of the road surface in real time, and the measuring system comprises a binocular camera installed on the top of the vehicle body, and the binocular camera is used to capture the road image in front of the vehicle body; the control system is at least used to start or shut down the electric pressurizing device according to the water outlet pressure of the nozzle assembly, and to adjust the water flow pressure.

[0008] Furthermore, a second valve is provided at both ends of the second drainage pipe, and an electric pressurizing device is arranged between the two second valves. The electric pressurizing device includes a centrifugal pump, a filter, a solenoid valve and a variable frequency motor for driving the centrifugal pump. The variable frequency motor is electrically connected to the control system, and the control system also adjusts the speed of the centrifugal pump by controlling the frequency converter of the variable frequency motor.

[0009] Furthermore, the nozzle assembly includes a first nozzle and a second nozzle, the first nozzle is installed at the rear of the vehicle body, and the first nozzle is used to spray water on the road surface behind the vehicle body, and the second nozzle is installed on one side of the first nozzle, and the second nozzle is used to spray water on the road surface on the side of the vehicle body. Such a solution is not only conducive to better water conservation, but also can be used for targeted watering, because the outside of the mine / mine road surface is usually a cliff / slope.

[0010] Furthermore, it also includes a fire-fighting component, which includes a fire-fighting water pipe connected to a water tank, on which a water monitor booster pump, a water monitor valve and a fire-fighting water monitor are sequentially arranged, and a liquid level meter for monitoring the water volume is arranged in the water tank.

[0011] Furthermore, it also includes a telescopic mechanism installed on the nozzle assembly support frame, the telescopic mechanism includes a telescopic rod that can move up and down, the lower end of the telescopic rod is provided with a detection assembly for monitoring soil moisture, the detection assembly includes a force sensor and a soil moisture sensor, the force sensor is connected to a long steel needle, the soil moisture sensor is provided with a steel needle probe, the long steel needle and the steel needle probe can be inserted into the soil under the action of the telescopic mechanism, and the lower end of the long steel needle is lower than the lower end of the steel needle probe. Adopting such a scheme can not only quickly and accurately determine the need for watering, but also is very convenient to operate (no need for personnel / sprinkler drivers to stop and get off the vehicle to observe the ground surface before deciding whether to water), which is convenient for accurately and effectively controlling road dust.

[0012] Preferably, the length of the steel needle probe is 1-1.5 cm, and the height difference between the steel needle probe and the lower end of the long steel needle is 0.8-2 cm. This parameter is very critical, not only facilitating the rapid and accurate determination of road dust, but also enabling smooth determination.

[0013] A method for controlling road dust using the above-mentioned mining truck sprinkler device comprises the following steps: Step A, controlling the mining truck to travel at a preset speed on a dirt road; Step B, when the mining truck drives to the target area, the mining truck is first controlled to stop, and then the telescopic mechanism is controlled to operate to extend the telescopic rod, and the insertion status of the long steel needle and the steel needle probe is detected. When the long steel needle and the steel needle probe are both inserted into the soil surface, the soil moisture sensor feeds back the sensed information to the control system; Step C, when the moisture content corresponding to the information monitored by the soil moisture sensor is less than a preset threshold, first control the telescopic mechanism to reset, then control the mining truck to travel at a preset speed on the dirt road, and control the mining truck sprinkler to perform a sprinkler operation according to a set sprinkler process; When the moisture content corresponding to the information monitored by the soil moisture sensor is greater than or equal to a preset threshold, the telescopic mechanism is first controlled to reset, and then the mining truck is controlled to travel at a preset speed on the dirt road. Step D: According to step BC, the moisture content of each target area on the entire dirt road is monitored and corresponding watering operations are performed.

[0014] Preferably, the step of detecting the insertion status of the long steel needle and the steel needle probe comprises: Read the force value fed back by the force sensor in real time. If the force value fed back by the force sensor continues to increase at a slope of one within the set time period, it means that the long steel needle has been inserted into the soil, and the telescopic rod is controlled to continue to extend until the steel needle probe of the soil moisture sensor is also inserted into the soil; If the force value fed back by the force sensor continues to increase at slope two within the set time period, it means that the long steel needle is inserted into the stone surface. The telescopic rod of the telescopic mechanism is immediately controlled to retract, and the insertion status of the long steel needle and the steel needle probe is rechecked after the detection position is changed with the vehicle; among them, slope one is smaller than slope two.

[0015] Furthermore, setting the watering process includes the following steps: Step S1: obtaining the width of the road surface on which the sprinkler truck is traveling in real time; Step S2: determining the minimum working pressure required for spraying water on the road surface according to the obtained road surface width; Step S3: obtaining the water pressure in the water tank in real time, and determining the spraying mode according to the water pressure; Step S4: If the obtained water pressure is ≥ the minimum working pressure, the automatic water spraying mode is turned on; if the obtained water pressure is < the minimum working pressure, the pressurized water spraying mode is turned on.

[0016] Further, the control system includes a PID control system. In step S4, a whale optimization algorithm (WOA) is used to optimize the proportional coefficient, integral gain and differential gain in the PID control system; the PID control system dynamically adjusts the speed of the centrifugal pump according to the road width detected in step S1, and then adjusts the water flow pressure to ensure that the spraying distance can adapt to different road widths; Specifically: Step S41, initializing parameters, determining the value ranges of three parameters of the PID controller, namely, the proportional coefficient, integral gain, and differential gain, as the search space of the algorithm, initializing the population size and the number of iterations t; Step S42, generating an initial whale population, randomly generating N whale individuals in the search space, each of which represents a set of PID controller parameters, and these N whale individuals will be used as the initial population for optimization, and then iterative optimization will be performed to find the required optimal solution; Step S43, determine whether the current number of iterations t is less than the maximum number of iterations. If so, return to step S52 to continue iterating to find the optimal solution. If it is equal to or greater than the maximum number of iterations t, end the iteration and output the current optimal solution as the three control parameters of the PID controller.

[0017] During the operation of the sprinkler device, the water outlet pressure of the nozzle assembly is monitored in real time through the pressure sensor, the road width is measured in real time through the measurement system, and the pressure information and road width information are transmitted to the control system; when the water volume in the water tank is sufficient and the water flow pressure itself can meet the spraying operation requirements, the electric pressurizing device does not work, and the water flow is transported to the nozzle assembly through the first drain pipe for automatic (self-flowing) sprinkler operation; when the pressure sensor detects that the water flow pressure itself cannot meet the operation requirements, the control system drives the electric pressurizing device to work, and the water flow is pressurized to the working pressure through the electric pressurizing device from the second drain pipe, and after maintaining stability, it is transported to the nozzle assembly for pressurized sprinkler operation; at the same time, the control system controls the electric pressurizing device to adjust the water flow pressure according to the road width measured by the measurement system, and adjusts the water flow pressure to meet the operation requirements to adapt to the spraying distance requirements of different road widths.

[0018] The present invention can effectively adjust the water flow pressure and stabilize the output water flow pressure, so that the water spraying amount of the nozzle assembly is uniform and the spraying distance is controllable, thereby improving the working efficiency of the sprinkler device; and the vehicle body of the present invention can be directly transformed using an idle mining truck, the large box of the mining truck is transformed into a water tank, and the first drainage pipe, the second drainage pipe and other equipment are correspondingly arranged, which is conducive to reducing manufacturing costs and saving expenses.

[0019] In the pressurized sprinkler operation mode, the centrifugal pump inlet pressure will gradually decrease as the water level in the water tank drops. When the water flow pressure cannot meet the operation requirements, the control system adjusts the speed of the centrifugal pump by controlling the frequency converter of the variable frequency motor to adjust the water flow pressure and stabilize the output water flow pressure. The control performance of the control system can be optimized, thereby achieving the purpose of outputting stable water flow pressure, completing the sprinkler operation in one go, and improving sprinkler work efficiency.

[0020] The present invention can detect the moisture of the surface layer of the road surface by setting a detection component with a specific structure. The humidity of the soil surface layer that generates dust and the soil surface layer that does not generate dust are different. The moisture content of the two has a critical value. When the moisture sensor monitors that the moisture content of the soil surface layer is lower than the critical value (threshold), it can be determined that the area where the soil layer is located will generate dust and watering can be carried out. Otherwise, watering is not required. During the detection process of the detection component, the telescopic rod of the telescopic mechanism drives the long steel needle on the force sensor to insert into the ground. If the force value fed back by the force sensor continues to increase with a slope of one within a set time period, it means that the long steel needle is inserted into the soil. The telescopic rod continues to extend, so that the steel needle probe of the soil moisture sensor is inserted into the soil to collect moisture data of the soil surface layer. If the force value fed back by the force sensor continues to increase with a slope of two within a set time period, it means that the long steel needle is inserted into the stone surface. The telescopic rod of the telescopic mechanism is timely controlled to retract, and the data is collected after the position is changed with the vehicle to prevent damage to the steel needle probe of the soil moisture sensor.

[0021] The adoption of the scheme of the present invention can not only quickly and accurately determine the need for watering, but also is very convenient to operate. There is no need for personnel / sprinkler truck drivers to stop and get off the vehicle to observe the ground surface before deciding whether to sprinkle water. This greatly reduces the operating intensity, facilitates accurate and effective control of road dust, and can effectively avoid water waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a top view of the local structure of the first embodiment; Figure 2 It is a structural schematic diagram of the fire protection assembly of the first embodiment; Figure 3 Flowcharts for the measurement system, PID control system, and whale optimization algorithm; Figure 4 It is a top view of the local structure of the second embodiment; Figure 5 This is a schematic diagram of the initial state of the detection component of Example 2; Figure 6 It is a schematic diagram of the detection state of the detection component of the second embodiment; The reference numerals in the drawings include: water tank 1, switch valve 11, liquid level gauge 12, first drain pipe 2, first valve 21, second drain pipe 3, second valve 31, electric pressurizing device 4, centrifugal pump 41, filter 42, solenoid valve 43, nozzle assembly 5, first nozzle 51, second nozzle 52, pressure sensor 53, pressure gauge 54, fire fighting assembly 6, fire fighting water pipe 61, water cannon booster pump 62, water cannon valve 63, fire fighting water cannon 64, telescopic mechanism 7, telescopic rod 71, detection assembly 8, force sensor 81, long steel needle 82, mounting plate 83, soil moisture sensor 84, steel needle probe 85, dirt road surface 9. DETAILED DESCRIPTION

[0023] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example 1

[0024] like Figure 1-2 As shown, a watering device for a mining truck comprises a body (i.e., the body of the mining truck) and a water tank 1, a nozzle assembly 5, a measuring system and a PID control system arranged on the body; a liquid level gauge 12 for monitoring the water volume in the water tank 1 is arranged in the water tank 1, a switch valve 11 is arranged on the water outlet of the water tank 1, the water outlet of the water tank 1 and the nozzle assembly 5 are connected through a first drain pipe 2 and a second drain pipe 3, a first valve 21 and a second valve 31 are respectively arranged on the first drain pipe 2 and the second drain pipe 3, an electric pressurizing device 4 for adjusting the water flow pressure is installed on the second drain pipe 3 in a soft connection manner, and second valves 31 are arranged at both ends of the second drain pipe 3. The electric pressurizing device 4 in this embodiment includes a centrifugal pump 41, a filter 42, a solenoid valve 43 and a variable frequency motor for driving the centrifugal pump 41, which are arranged between the two second valves 31; the nozzle assembly 5 includes a first nozzle 51 and a second nozzle 52, the first nozzle 51 has a plurality of nozzles arranged side by side and at intervals, the second nozzle 52 also has a plurality of nozzles arranged side by side and at intervals, the first nozzle 51 is installed at the rear of the vehicle body, and the first nozzle 51 is used to spray water on the road surface behind the vehicle body, and the second nozzle 52 is installed on the left side of the first nozzle 51, and the second nozzle 52 is used to spray water on the road surface on the left side of the vehicle body. A pressure sensor 53 and a pressure gauge 54 for real-time monitoring of the water outlet pressure are provided on the pipeline of the nozzle assembly 5; the measuring system is used to detect the road width in real time, and the measuring system includes a binocular camera installed on the top of the vehicle body, and the binocular camera is used to take the road image in front of the vehicle body; the PID control system is used to start or shut down the electric pressurizing device 4 according to the water outlet pressure of the nozzle assembly 5, and to control the electric pressurizing device 4 to adjust the water flow pressure according to the water outlet pressure of the nozzle assembly 5 and the road width.

[0025] During the operation of the sprinkler device, the pressure sensor 53 can monitor the water flow pressure in real time and transmit the pressure information to the PID control system; when the water volume in the water tank 1 is sufficient, if the water flow pressure itself can meet the requirements of the spraying operation, the centrifugal pump 41 will not be started, and the water flow is transported to the first nozzle 51 and the second nozzle 52 through the first drain pipe 2 for gravity sprinkler operation; when the pressure sensor 53 detects that the water flow pressure itself cannot meet the operation requirements, the PID control system drives the centrifugal pump 41 to work, and the water flow is pressurized from the second drain pipe 3 through the centrifugal pump 41 to the specified working pressure and maintained stable, and then transported to the first nozzle 51 and the second nozzle 52 for pressurized sprinkler operation.

[0026] In the pressurized sprinkler operation mode, the inlet pressure of the centrifugal pump 41 will gradually decrease as the water level of the water tank 1 drops, and the water flow pressure in the second drain pipe 3 will also gradually decrease, resulting in the failure to meet the spraying operation requirements; this embodiment is based on the target water flow pressure, and controls the frequency converter of the variable frequency motor through the PID control system to change the speed of the centrifugal pump 41, so as to achieve the purpose of outputting a stable water flow pressure. At the same time, the variable speed control of the variable frequency motor is performed according to the different working pressures required for the spraying operation.

[0027] like Figure 1-2 As shown, the mine truck sprinkler device of this embodiment also includes a fire-fighting component 6, which includes a fire-fighting water pipe 61 connected to the water tank 1, and the fire-fighting water pipe 61 is provided with a water cannon booster pump 62, a water cannon valve 63 and a fire-fighting water cannon 64 in sequence; this embodiment combines the sprinkler device with the fire-fighting water cannon 64, which can simultaneously have the functions of mine water sprinkling and dust removal and long-distance water spraying for fire fighting.

[0028] A road dust control method using the mine truck sprinkler device of this embodiment includes: Step S1: obtaining the width of the road surface on which the sprinkler truck is traveling in real time; Step S2: determining the minimum working pressure required for spraying water on the road surface according to the obtained road surface width; Step S3: obtaining the water pressure in the water tank in real time, and determining the spraying mode according to the water pressure; Step S4: If the water pressure obtained is ≥ the minimum working pressure, the automatic (self-flowing) water spraying mode is turned on; if the water pressure obtained is < the minimum working pressure, the pressurized water spraying mode is turned on. In this step, the whale optimization algorithm (WOA) is used to optimize the proportional coefficient, integral gain and differential gain in the PID control system. The PID control system dynamically adjusts the speed of the centrifugal pump according to the road width detected in step S1, and then adjusts the water flow pressure to ensure that the spraying distance can adapt to different road widths. It should be noted that before implementation, a three-dimensional model of the sprinkler pipeline needs to be established, and the water flow pressure of the sprinkler pipeline model is simulated using simulation software according to the spraying operation distance requirements. In this way, the minimum working pressure p in the waterway when different spraying operation distances x are reached can be obtained. The minimum working pressure p obtained is the stable pressure that the centrifugal pump needs to provide under the corresponding road width x conditions.

[0029] For step S1, a road width measurement system based on computer vision is installed on the top of the sprinkler truck. The image of the road ahead is captured by a binocular camera. The Deeplabv3+ algorithm is then used to segment the working road area in the image and record the two-dimensional relative coordinates of the road area boundary. The disparity map is then obtained by using the semi-global stereo matching algorithm (SGBM). The depth map is calculated in combination with the camera parameters. Finally, the road width is calculated based on the two-dimensional relative coordinates of the road boundary. Specifically: First, a pair of images of the working road in front of the vehicle is captured using a binocular camera. The working road area in the left camera image is segmented using the Deeplabv3+ algorithm, and the two-dimensional relative coordinates of the road area boundary are recorded. Then, the semi-global stereo matching algorithm (SGBM) is used to generate the initial disparity map, and the final disparity map is obtained by minimizing the global energy function E(I). The energy function is shown in formula (1): Where: I is the initial disparity map, a and b are two pixels in the image, where pixel a is the center and the surrounding eight pixels form a 3×3 size neighboring pixel range, N a That is, the neighboring pixel of pixel a, I a is the disparity value of pixel a, C(a,I a ) is the matching cost of all pixels under the initial disparity map I, I b is the disparity value of pixel b, T[] is the truncation function, which is assigned 1 or 0 depending on whether the judgment condition is met. 1 、a 2 is the penalty coefficient for the disparity between the pixel points other than point a and point a within the adjacent pixel range equal to 1 or greater than 1 under the corresponding conditions; Next, the depth map is calculated using the triangulation principle in combination with the camera parameters and disparity map, and the three-dimensional coordinates of each point in the left camera coordinate system are determined based on the two-dimensional relative coordinates; finally, the width of the road is obtained by calculating the spatial Euclidean distance of these three-dimensional coordinate points.

[0030] For step S2, the current road width has been calculated in step S1, and the minimum working pressure required for the watering operation is then determined based on this width. First, the calculation result of the road width is input into the simulation software, and the simulation software is used to simulate the pressure of the watering pipeline. By simulating and analyzing the spraying operation of the sprinkler truck under different road width conditions, the simulation software will output the water flow pressure data at the corresponding spraying distance; during the analysis process, the system will simulate the minimum pressure required for the water flow according to the width of the road to ensure that the water flow can effectively cover the entire road surface. Finally, the minimum working pressure p obtained by the simulation software is the stable pressure that the centrifugal pump needs to provide under the current road width conditions. This pressure value will be used for subsequent centrifugal pump control to ensure that the sprinkler truck can complete efficient watering operations on roads of different widths.

[0031] For step S3 and step S4, a pressure sensor is used to monitor the water flow pressure in real time, and the spraying mode is automatically adjusted according to the pressure value to ensure the stability and efficiency of the spraying effect; in order to ensure the system stability and optimal control performance during the pressurization process, the whale optimization algorithm (WOA) is used to optimize the proportional coefficient, integral gain and differential gain in the PID control system; the PID control system dynamically adjusts the speed of the centrifugal pump according to the road width detected in step S1, and then adjusts the water flow pressure to ensure that the spraying distance can adapt to different road widths; Specifically: The system selects to use gravity water spraying or pressurized water spraying mode according to the monitored pipeline water flow pressure data. When there is sufficient water in the water tank and the water flow pressure itself reaches the spraying requirements, the system will not start the centrifugal pump. At this time, the water flow is directly delivered to the sprinkler through the water pipe to realize gravity water spraying operation. In this case, the electric valve will open to allow the water flow to be sprayed through the water pipe and the nozzle to ensure that the spraying effect meets the predetermined requirements. As the water level in the water tank gradually decreases, the pressure of the water flow itself will also decrease accordingly. When the sensor detects that the water flow pressure is lower than the operation requirement, the PID control system will start the centrifugal pump for pressurization. The centrifugal pump is driven by a variable frequency motor. The PID control system will adjust the frequency of the inverter according to the target water flow pressure to control the speed of the centrifugal pump. Through this adjustment, the system can pressurize the water flow to the specified working pressure, ensuring that the water flow is stably pressurized through the nozzle to maintain the stability of the sprinkler effect.

[0032] Among them, the specific process of using the whale optimization algorithm (WOA) to optimize the proportional coefficient, integral gain and differential gain in the PID control system is as follows: Step S41, initializing parameters, determining the value ranges of three parameters of the PID controller, namely, the proportional coefficient, integral gain, and differential gain, as the search space of the algorithm, initializing the population size and the number of iterations t; Step S42, generating an initial whale population, randomly generating N whale individuals in the search space, each of which represents a set of PID controller parameters, and these N whale individuals will be used as the initial population for optimization, and then iterative optimization will be performed to find the required optimal solution; Step S43, determine whether the current number of iterations t is less than the maximum number of iterations. If so, return to step S52 to continue iterating to find the optimal solution. If it is equal to or greater than the maximum number of iterations t, end the iteration and output the current optimal solution as the three control parameters of the PID controller.

[0033] For step S42, the whale optimization algorithm finds the optimal solution through three stages: random search for prey, encirclement and predation, and bubble net attack. The individual positions of whales are updated according to formulas (2), (3), and (4), and the foraging behavior of whales is simulated. The fitness value of each whale individual is calculated according to the objective function, that is, the performance index of the PID controller, preferably the ITAE index (time multiplied by the integral of the absolute value of the error). The individual with the best fitness value, that is, the PID controller parameter combination with the best performance index, is retained. Specifically: In the random prey search stage, individual whales forage randomly in the global space. At this time, the movement range of individual whales is relatively large. The mathematical model of the whale's individual position update is shown in formula (2). Where t represents the current iteration number, X(t) vector is the position vector, and X best (t) is the position vector of the best solution obtained so far, and A and C are coefficient vectors: A = 2 × a × r 1 -a, C = 2 × r 2 ; During the entire iteration process, a linearly decreases from 2 to 0; r1 and r2 are random vectors in [0,1]. There are two main mechanisms for whale predation in the WOA algorithm: encirclement predation and bubble net predation. Therefore, bubble net predation or encirclement predation is selected according to the probability p. The position update formula is as follows: Where: B is the spiral shape parameter, L is a random number, and L∈[-1,1]; X best(t) is the current optimal whale position; D′ represents the distance between the current search individual and the optimal solution; p is the probability of the predation mechanism, a random number in the range [0,1]. As the number of iterations t increases, the parameter A and the convergence factor a gradually decrease. If |A|<1, the whale group gradually surrounds the current optimal solution and is in the local optimization stage. To ensure that all whales can fully search in the solution space, WOA updates the position according to the distance between whales to achieve the purpose of random search. Therefore, when |A|≥1, the whale optimization algorithm enters the random search stage. The individual whales no longer approach the optimal solution, but randomly select other whale individuals in the solution space and move to them, increasing the search ability for the global optimal solution through a variety of movement strategies. Where: D″ is the distance between the current search individual and the random individual, X 随机 (t) is the current position of the random individual; The fitness function uses the ITAE indicator (time multiplied by the integral of the absolute value of the error) to judge the quality of the whale's position: Example 2

[0034] A road dust control method is adopted, which adopts the mine truck sprinkler in Example 1, and adds a detection component to the mine truck sprinkler. The detection component includes a telescopic mechanism 7 installed on a nozzle assembly 5 support frame (or pipeline), the telescopic mechanism 7 includes a telescopic rod 71 that can move up and down at a uniform speed, and the lower end of the telescopic rod 71 is provided with a detection component 8 for monitoring the moisture content of the soil, and the detection component 8 includes a force sensor 81 and a soil moisture sensor 84, the force sensor 81 is connected to a long steel needle 82, and the soil moisture sensor 84 is provided with a steel needle probe 85, the long steel needle 82 and the steel needle probe 85 can be inserted into the soil under the driving action of the telescopic mechanism 7, and the lower end of the long steel needle 82 is lower than the lower end of the steel needle probe 85. Among them, the length of the steel needle probe 85 is 1 cm, and the height difference between the lower end of the steel needle probe 85 and the lower end of the long steel needle 82 is 1 cm. The steps of the method include: Step A, controlling the mining truck to travel at a preset speed on a dirt road; Step B, when the mining truck drives to the target area, the mining truck is first controlled to stop, and then the telescopic mechanism 7 is controlled to operate so that the telescopic rod 71 is extended at a uniform speed, and the insertion status of the long steel needle 82 and the steel needle probe 85 is detected. When the long steel needle 82 and the steel needle probe 85 are both inserted into the soil surface, the soil moisture sensor 84 feeds back the sensed information to the control system; Step C, when the moisture content corresponding to the information monitored by the soil moisture sensor 84 is less than the preset threshold value, the telescopic mechanism 7 is first controlled to reset, and then the mining truck is controlled to travel at a preset speed on the dirt road, and the watering device of the mining truck is controlled to perform watering operations according to a set watering process; wherein the set watering process may adopt the watering process in Example 1, or may adopt other set watering processes; When the moisture content corresponding to the information monitored by the soil moisture sensor 84 is greater than or equal to the preset threshold, the telescopic mechanism 7 is first controlled to reset, and then the mining truck is controlled to travel at a preset speed on the dirt road; Step D: According to step BC, the moisture content of each target area on the entire dirt road is monitored and corresponding watering operations are performed.

[0035] In this embodiment, the step of detecting the insertion status of the long steel needle 82 and the steel needle probe 85 includes: The force value fed back by the force sensor 81 is read in real time; if the force value fed back by the force sensor 81 continues to increase at a slope of one within a set time period, it indicates that the long steel needle 82 is inserted into the soil, and the telescopic rod 71 is controlled to continue to extend until the steel needle probe 85 of the soil moisture sensor 84 is also inserted into the soil; if the force value fed back by the force sensor 81 continues to increase at a slope of two within a set time period, it indicates that the long steel needle 82 is inserted into the surface of the stone, and the telescopic rod 71 of the telescopic mechanism is immediately controlled to retract, and the insertion status of the long steel needle 82 and the steel needle probe 85 is rechecked after the detection position is changed with the vehicle. Among them, slope one is smaller than slope two. This is because the steel needle can be inserted smoothly and uniformly into the soil and only requires a small pressure, while when the tip of the steel needle is inserted into / touches the stone in the soil layer, a relatively larger pressure is required to press down or even fail to press down (that is, when the telescopic rod 71 is extended at the same rate, the reaction force applied by the soil to the long steel needle 82 is greater than the reaction force applied by the stone to the long steel needle 82). The specific parameter ranges of slope one and slope two are obtained by technical personnel in this field based on actual measurements and calculations based on on-site conditions.

[0036] The advantages of this embodiment also include: not only can the watering demand be determined more quickly and accurately, but it is also very easy to operate. There is no need for personnel / sprinkler truck drivers to stop and get off the vehicle to observe the ground surface before deciding whether to sprinkle water. This greatly reduces the operating intensity, facilitates accurate and effective control of road dust, and can more effectively avoid water waste.

Claims

1. A water sprinkler for a mining truck, characterized in that: The invention comprises a vehicle body, a water tank (1), a nozzle assembly (5), a measuring system and a control system; a water outlet of the water tank (1) is provided with a switch valve (11); the water outlet of the water tank (1) and the nozzle assembly (5) are connected via a first drain pipe (2) and a second drain pipe (3); the first drain pipe (2) and the second drain pipe (3) are provided with a first valve (21) and a second valve (31) respectively; the second drain pipe (3) is provided with an electric pressurizing device (4) for adjusting the water flow pressure; the nozzle assembly (5) is used for spraying water to the rear and sides of the vehicle body; the nozzle assembly (5) is provided with a pressure sensor (53) and a pressure gauge (54) for real-time monitoring of the water outlet pressure; the measuring system is used for real-time detection of the road width; the measuring system comprises a binocular camera installed on the top of the vehicle body; the binocular camera is used for capturing the road image in front of the vehicle body; the control system is used at least for starting or stopping the electric pressurizing device (4) according to the water outlet pressure of the nozzle assembly (5), and for adjusting the water flow pressure.

2. The mine truck sprinkler device according to claim 1, characterized in that: A second valve (31) is provided at both ends of the second drainage pipe (3); the electric pressurizing device (4) is arranged between the two second valves (31); the electric pressurizing device (4) comprises a centrifugal pump (41), a filter (42), a solenoid valve (43), and a variable frequency motor for driving the centrifugal pump (41); the variable frequency motor is electrically connected to a control system; the control system also adjusts the rotation speed of the centrifugal pump (41) by controlling a frequency converter of the variable frequency motor.

3. The mine truck sprinkler device according to claim 2, characterized in that: The nozzle assembly (5) comprises a first nozzle (51) and a second nozzle (52); the first nozzle (51) is mounted at the rear of the vehicle body and is used to spray water on the road surface behind the vehicle body; the second nozzle (52) is mounted on one side of the first nozzle (51) and is used to spray water on the road surface on the side of the vehicle body.

4. The mine truck sprinkler device according to claim 3, characterized in that: The invention also comprises a fire-fighting assembly (6), wherein the fire-fighting assembly (6) comprises a fire-fighting water pipe (61) connected to the water tank (1), and a water monitor booster pump (62), a water monitor valve (63) and a fire-fighting water monitor (64) are sequentially arranged on the fire-fighting water pipe (61), and a liquid level meter (12) for monitoring the water volume is arranged in the water tank (1).

5. The mine truck sprinkler device according to any one of claims 1 to 4, characterized in that: The invention also comprises a telescopic mechanism (7) mounted on a support frame of the nozzle assembly (5), the telescopic mechanism (7) comprising a telescopic rod (71) capable of moving up and down, a detection assembly (8) for monitoring soil moisture being provided at the lower end of the telescopic rod (71), the detection assembly (8) comprising a force sensor (81) and a soil moisture sensor (84), the force sensor (81) being connected to a long steel needle (82), a steel needle probe (85) being provided on the soil moisture sensor (84), the long steel needle (82) and the steel needle probe (85) being capable of being inserted into the soil under the action of the telescopic mechanism (7), the lower end of the long steel needle (82) being lower than the lower end of the steel needle probe (85).

6. The mine truck sprinkler device according to claim 5, characterized in that: The length of the steel needle probe (85) is 1-1.5 cm, and the height difference between the lower end of the steel needle probe (85) and the lower end of the long steel needle (82) is 0.8-2 cm.

7. A method for controlling road dust using the mine truck sprinkler device according to claim 5 or 6, characterized in that: The following steps are involved: Step A, controlling the mining truck to travel at a preset speed on a dirt road; Step B, when the mining truck travels to the target area, the mining truck is first controlled to stop, and then the telescopic mechanism (7) is controlled to operate so that the telescopic rod (71) is extended, and the insertion status of the long steel needle (82) and the steel needle probe (85) is detected. When the long steel needle (82) and the steel needle probe (85) are both inserted into the soil surface, the soil moisture sensor (84) feeds back the sensed information to the control system; Step C, when the moisture content corresponding to the information monitored by the soil moisture sensor (84) is less than a preset threshold value, firstly control the telescopic mechanism (7) to reset, then control the mining truck to travel on the dirt road at a preset speed, and control the watering device of the mining truck to perform a watering operation according to a set watering process; When the moisture content corresponding to the information monitored by the soil moisture sensor (84) is greater than or equal to a preset threshold value, the telescopic mechanism (7) is first controlled to reset, and then the mining truck is controlled to travel on the dirt road at a preset speed; Step D: According to step BC, the moisture content of each target area on the entire dirt road is monitored and corresponding watering operations are performed.

8. The road dust control method according to claim 7, characterized in that: Setting up the watering process involves the following steps: Step S1: obtaining the width of the road surface on which the sprinkler truck is traveling in real time; Step S2: determining the minimum working pressure required for spraying water on the road surface according to the obtained road surface width; Step S3: obtaining the water pressure in the water tank in real time, and determining the spraying mode according to the water pressure; Step S4: If the obtained water pressure is ≥ the minimum working pressure, the automatic water spraying mode is turned on; if the obtained water pressure is < the minimum working pressure, the pressurized water spraying mode is turned on.

9. The road dust control method according to claim 8, characterized in that: The control system includes PID control system, In step S4, the Whale Optimization Algorithm (WOA) is used to optimize the proportional coefficient, integral gain and differential gain in the PID control system; the PID control system dynamically adjusts the speed of the centrifugal pump according to the road width detected in step S1, and then adjusts the water flow pressure to ensure that the spraying distance can adapt to different road widths; Specifically: Step S41, initializing parameters, determining the value ranges of three parameters of the PID controller, namely, the proportional coefficient, integral gain, and differential gain, as the search space of the algorithm, initializing the population size and the number of iterations t; Step S42, generating an initial whale population, randomly generating N whale individuals in the search space, each of which represents a set of PID controller parameters, and these N whale individuals will be used as the initial population for optimization, and then iterative optimization is performed to find the required optimal solution; Step S43, determine whether the current iteration number t is less than the maximum iteration number, if so, return to step S52 to continue iterating and optimizing; if equal to or greater than the maximum iteration number t, end the iteration and output the current optimal solution as the three control parameters of the PID controller.

10. The road dust control method according to claim 7, characterized in that: The step of detecting the insertion status of the long steel needle (82) and the steel needle probe (85) comprises: Read the force value fed back by the force sensor (81) in real time, If the force value fed back by the force sensor (81) continues to increase at a slope of one within a set time period, it indicates that the long steel needle (82) has been inserted into the soil, and the telescopic rod (71) is controlled to continue to extend until the steel needle probe (85) of the soil moisture sensor (84) is also inserted into the soil; If the force value fed back by the force sensor (81) continues to increase at a slope of two within a set time period, it indicates that the long steel needle (82) is inserted into the stone surface, and the telescopic rod (71) of the telescopic mechanism is immediately controlled to retract, and the insertion status of the long steel needle (82) and the steel needle probe (85) is rechecked after the detection position is changed with the vehicle; wherein the slope of one is smaller than the slope of two.

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