Full-automatic control method and device for electric dust removal vehicle, electronic equipment and storage medium

Abstract

The application discloses a full-automatic control method, device and equipment of an electric dust removal vehicle and a storage medium. The method comprises the following steps: acquiring current operation data of the dust removal vehicle in real time; analyzing dust filtration pressure of each filter element; if the dust filtration pressure of each filter element is greater than a set threshold, sending corresponding control signals to the vibrating valves of each filter element according to the dust filtration pressure to perform vibrating work until the dust filtration pressure of each filter element is lower than the set threshold; after the vibrating work is finished, scraping the fallen dust into a dust bag; if the weight of the dust in the dust bag is greater than a set threshold, outputting a signal to remind a user to discharge dust and replace the dust bag; adjusting the height and direction of the air inlet of the air inlet assembly according to the maximum height of a tunnel operation section and other real-time conditions; and when the maximum dust concentration in each direction near the air inlet assembly is greater than a set standard, starting the fan to perform dust collection at an adaptive power until the dust concentration is less than the set standard. The application has high dust removal efficiency, low energy consumption and high automation degree.

Description

Technical Field

[0001] The present application relates to the technical field of dust removal vehicle control, and in particular, to a fully automatic control method, device, equipment and storage medium for an electric dust removal vehicle. Background Art

[0002] Tunnel excavation is accompanied by a large amount of dust. The ventilation inside the tunnel is not as effective as that outside. A large amount of dust will accumulate inside the tunnel, which will have an adverse effect on the visibility of the construction site and the health of the construction workers. In order to improve the visibility and air cleanliness in the tunnel, a common solution is to use a dust removal vehicle to remove dust after tunnel excavation and before construction.

[0003] Currently, electric dust collectors face numerous control issues. For example, when working in large-section tunnels, the suction port position cannot be effectively adjusted according to dust concentration. Alternatively, the suction port is positioned on the side of the trolley, resulting in a single dust removal direction and an inability to quickly adjust the suction port height. The control method is overly simplistic, with the dust collector fan operating at a fixed power level. This fails to account for the dynamic load variations inherent in dust removal, resulting in unnecessary power loss and insufficient energy conservation and environmental protection. Restoring a clogged filter element is inefficient and energy-intensive. Existing dust collectors are unable to fully automate the dust removal process, requiring excessive human intervention and resulting in a low degree of automation.

[0004] In summary, in view of the above problems faced in the process of tunnel dust removal, it is very necessary to study a fully automatic control method for electric dust removal vehicles. Summary of the Invention

[0005] On the one hand, the present application provides a fully automatic control method for an electric dust removal vehicle to solve the technical problems of low dust removal and filter element recovery efficiency, high energy consumption, and low degree of automation in existing electric dust removal vehicle control methods.

[0006] This application is implemented through the following scheme:

[0007] A fully automatic control method for an electric dust removal vehicle comprises the following steps:

[0008] Real-time acquisition of the current operating data of the dust removal vehicle, including the maximum height of the tunnel working section, the dust concentration in a set direction near the air suction port assembly, the dust filtration pressure of each filter element, and the dust weight in the dust bag;

[0009] Analyze the dust filtration pressure of each filter element. If the dust filtration pressure of each filter element is greater than the set threshold, send a corresponding control signal to the vibration valve of each filter element according to the size of the dust filtration pressure. Control each vibration valve to vibrate the filter element according to the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. After the vibration is completed, start the dust collection component to scrape the fallen dust into the dust bag of the dust exhaust component.

[0010] If the dust weight in the dust bag exceeds the set threshold, the dust bag is full signal will be output to remind the user to remove dust and replace the dust bag;

[0011] According to the maximum height of the tunnel working section, the current position of the air suction port component and the dust concentration in all directions near the air suction port component, the current optimal air suction port height and air suction port direction of the air suction port component are adjusted in real time;

[0012] When the maximum dust concentration in all directions near the air suction port assembly is greater than the set standard, the fan is started to vacuum. During the vacuuming process, the fan operating power is adaptively adjusted according to the changes in the real-time measured dust concentration. When the maximum dust concentration in all directions near the air suction port assembly is less than the set standard, the fan is stopped to end the vacuuming.

[0013] Furthermore, the maximum height of the tunnel working section is obtained in real time by a scanner, detector or camera, the dust concentration in a set direction near the air suction port assembly is obtained in real time by an ambient dust concentration detection sensor installed in each direction of the air suction port assembly, the dust filtration pressure of each filter element is obtained in real time by a dust filtration pressure detection sensor arranged on the filter element, and the weight of the dust in the dust bag is obtained in real time by a dust weighing sensor.

[0014] Furthermore, the analysis of the dust filtration pressure of each filter element, if the dust filtration pressure of each filter element is greater than a set threshold, sends a corresponding control signal to the vibration valve of each filter element according to the size of each dust filtration pressure, controls each vibration valve to vibrate the filter element at a corresponding vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold, specifically comprising the steps of:

[0015] Analyze the dust filtration pressure of each filter element. If the dust filtration pressure of all filter elements is F x When the pressure is ≥1500Pa, calculate the actual vibration frequency f corresponding to the vibration valve of each filter element x :

[0016] f x =α(f0) β

[0017]

[0018] Among them, α is the filter element clogging coefficient, F x The dust filtration pressure of each filter element, β is the sensitivity coefficient of the vibration force to the degree of blockage (related to the filter element material), and f0 is the default normal vibration frequency;

[0019] Send corresponding control signals to the vibration valves of each filter element, controlling each vibration valve to vibrate each filter element according to the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold.

[0020] Furthermore, the analysis of the dust filtration pressure of each filter element, if the dust filtration pressure of each filter element is greater than a set threshold, sends a corresponding control signal to the vibration valve of each filter element according to the size of each dust filtration pressure, controls each vibration valve to vibrate the filter element at a corresponding vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold, specifically comprising the steps of:

[0021] Analyze the dust filtration pressure of each filter element. If the dust filtration pressure F x When the number of filter elements with a pressure greater than 1500Pa is greater than the set value, calculate the dust filtration pressure F for each filter element. x Actual vibration frequency f of the vibration valve of the filter element ≥1500Pa x :

[0022] f x =α(f0) β

[0023]

[0024] Among them, α is the filter element clogging coefficient, F x The dust filtration pressure of each filter element, β is the sensitivity coefficient of the vibration force to the degree of blockage (related to the filter element material), and f0 is the default normal vibration frequency;

[0025] Send corresponding control signals to the vibrating valves of each filter element to control only the dust filtering pressure F x The vibration valve of each filter element ≥1500Pa vibrates the filter element according to the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold.

[0026] Furthermore, the analysis of the dust filtration pressure of each filter element, if the dust filtration pressure of each filter element is greater than a set threshold, sends a corresponding control signal to the vibration valve of each filter element according to the size of each dust filtration pressure, controls each vibration valve to vibrate the filter element at a corresponding vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold, specifically comprising the steps of:

[0027] Analyze the dust filtration pressure of each filter element. If the dust filtration pressure F x When the number of filter elements with a pressure greater than 1500Pa is greater than the set value, calculate the dust filtration pressure F x Actual vibration frequency f of the vibration valve of the filter element ≥1500Pa x :

[0028] f x =α(f0) β

[0029]

[0030] Among them, α is the filter element clogging coefficient, F xThe dust filtration pressure of each filter element, β is the sensitivity coefficient of the vibration force to the degree of blockage (related to the filter element material), and f0 is the default normal vibration frequency;

[0031] Send corresponding control signals to the vibrating valves of each filter element to control the dust filtration pressure F x The vibrating valves of each filter element with a pressure ≥1500Pa vibrate each filter element at the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. The vibrating valves of the remaining filter elements vibrate the filter elements at the default normal vibration frequency f0 and the set time.

[0032] Furthermore, after the vibration is completed, the dust collection component is started to scrape the fallen dust into the dust bag of the dust exhaust component, which specifically includes the steps of:

[0033] When the vibration end control signal is received, the control signal is output to start the scraper motor in the dust collection component and open the electric dust collection door. The scraper motor drives the scraper blade to scrape the dust at the bottom of the dust collection component into the dust bag of the dust discharge component.

[0034] When the scraper motor runs for a set time or detects in real time that the dust weight in the dust bag is greater than a set threshold, a control signal is output to control the scraper motor to stop and close the electric dust collection door.

[0035] Furthermore, the method of adjusting the current optimal air suction port height of the air suction port assembly in real time according to the maximum height of the tunnel working section, the current position of the air suction port assembly and the dust concentration in all directions near the air suction port assembly specifically includes the following steps:

[0036] Obtain the dust deposition diffusion coefficient k and dust removal time t;

[0037] The current optimal air intake height of the air intake assembly is calculated in real time based on the maximum height H of the tunnel working section, the dust settling diffusion coefficient k, and the dust removal time t:

[0038] D = H - kt;

[0039] The dust deposition diffusion coefficient k is based on the dust diffusion test and experience after tunnel blasting, and is calculated based on the different dust particle sizes d p Calculation yields:

[0040]

[0041] Furthermore, the method of adjusting the current air suction direction of the air suction port assembly in real time according to the maximum height of the tunnel working section, the current position of the air suction port assembly and the dust concentration in various directions near the air suction port assembly specifically includes the following steps:

[0042] Analyze the dust concentration in all directions near the air inlet component and calculate the direction of the maximum dust concentration;

[0043] A control signal is sent according to the direction of the maximum dust concentration to adjust the current suction port direction of the suction port component in real time.

[0044] Furthermore, during the dust collection process, the fan operating power is adaptively adjusted according to the change in the dust concentration measured in real time, specifically comprising the steps of:

[0045] According to the changes in dust concentration measured in real time at the current optimal suction port height and suction port direction, the axial flow fan control electric power is continuously adjusted using a model predictive control algorithm or a PID algorithm, and the dynamically changing control electric power is output to achieve adaptive regulation of the fan operating power.

[0046] On the other hand, the present application also provides a fully automatic control device for an electric dust removal vehicle, comprising:

[0047] An operation data acquisition module is used to obtain the current operation data of the dust removal vehicle in real time. The operation data includes the maximum height of the tunnel working section, the dust concentration in a set direction near the air suction port assembly, the dust filtration pressure of each filter element, and the dust weight in the dust bag;

[0048] The filter element vibration control module is used to analyze the dust filtration pressure of each filter element. If the dust filtration pressure of each filter element is greater than the set threshold, a corresponding control signal is sent to the vibration valve of each filter element according to the size of the dust filtration pressure. Each vibration valve is controlled to vibrate the filter element according to the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. After the vibration is completed, the dust collection component is started to scrape the fallen dust into the dust bag of the dust exhaust component;

[0049] The dust weight reminder module is used to output a dust bag full signal to remind the user to remove dust and replace the dust bag if the dust weight in the dust bag exceeds the set threshold;

[0050] The suction height and direction adjustment module is used to adjust the current optimal suction height and direction of the suction port assembly in real time according to the maximum height of the tunnel working section, the current position of the suction port assembly, and the dust concentration in all directions near the suction port assembly;

[0051] The fan control module is used to start the fan for dust collection when the maximum dust concentration in all directions near the air suction port component is greater than the set standard. During the dust collection process, the fan operating power is adaptively adjusted according to the changes in the real-time measured dust concentration. When the maximum dust concentration in all directions near the air suction port component is less than the set standard, the fan is stopped to end the dust collection.

[0052] On the other hand, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the fully automatic control method of the electric dust removal vehicle are implemented.

[0053] On the other hand, the present application further provides a storage medium, which includes a stored program, and when the program is run, controls the device where the storage medium is located to execute the steps of the fully automatic control method of the electric dust removal vehicle.

[0054] Compared with the existing technology, this application has the following beneficial effects:

[0055] The present application provides a fully automatic control method, device, electronic device and storage medium for an electric dust collector. The fully automatic control method for the electric dust collector can, based on the current operating data of the dust collector such as the maximum height of the tunnel operating section, the dust concentration in the set direction near the air suction port assembly, the dust filtration pressure of each filter element, the dust weight in the dust bag, etc., send corresponding vibration frequencies to different blockage states to perform personalized vibration operations on the filter element, which not only improves the filter element recovery efficiency, but also reduces the energy consumption and cost required for filter element recovery filtration, and extends the service life of the filter element; the present application can adjust the current optimal air suction port height, air suction port direction and fan operating power of the air suction port assembly in real time according to the current operating data of the dust collector before and during the air suction process, thereby greatly improving the dust suction volume and dust removal efficiency while reducing the overall energy consumption and operating cost of the dust removal operation; the entire control process of the present application does not require excessive human intervention, and realizes full-process automated control of the dust collector with a high degree of automation.

[0056] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings that constitute a part of this application are used to provide further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0058] Figure 1 This is a schematic diagram of the overall structure of the electric dust removal vehicle proposed in this application.

[0059] Figure 2 This is a schematic diagram of the air suction port device structure of an electric dust removal vehicle.

[0060] Figure 3 This is a schematic diagram of the dust collection component structure of an electric dust removal vehicle.

[0061] Figure 4 This is a schematic diagram of the dust removal component structure of an electric dust removal vehicle.

[0062] Figure 5 This is the block diagram of the full-process automatic control system of the electric dust removal vehicle.

[0063] Figure 6It is a flow chart of the fully automatic control method of the electric dust removal vehicle in the preferred embodiment of the present application.

[0064] Figure 7 It is a schematic diagram of the module of the fully automatic control device of the electric dust removal vehicle in the preferred embodiment of the present application.

[0065] Figure 8 This is a schematic block diagram of an electronic device entity according to a preferred embodiment of the present application.

[0066] Figure 9 It is a diagram of the internal structure of a computer device according to a preferred embodiment of the present application. DETAILED DESCRIPTION

[0067] The embodiments of the present application are described in detail below with reference to the accompanying drawings, but the present application can be implemented in a variety of different ways defined and covered below.

[0068] like Figure 1 As shown, an electric dust removal vehicle includes: a cab 1, a power battery 2, a frame 3, an air suction component 4, a dust removal device 5, and a tunnel section detection device 6.

[0069] An operable human-machine interface device is provided in the cab 1. The human-machine interface device uses a display screen that can input signals and displays the dust removal vehicle's working status, operating data, and related warning prompts in real time. Optionally, the dust removal vehicle's operating process can be manually controlled by inputting relevant parameter information through the display screen: dust suction, dust collection, and dust exhaust.

[0070] Power battery 2 uses a 210kWh lithium iron phosphate battery to provide power for driving and dust removal. Other battery options include lithium batteries, lead-acid batteries, and sodium-sulfur batteries. Power battery 2 is mounted on the vehicle frame 3 behind the cab 1. The two are secured together using a mounting plate and screws. A protective structure is located above power battery 2.

[0071] The frame 3 is used to connect the driving 1 and carry the power battery 2, the frame 3, the suction component 4, and the dust removal device 5. It is made of high-strength alloy material and can stably carry the upper structure.

[0072] The air suction assembly 4 is used to suck the dust-laden gas in the tunnel and deliver it to the dust removal device 5. The air suction assembly 4 is integrally mounted above the vehicle frame 3, between the cab 1 and the dust removal device 5.

[0073] The suction assembly 4 includes: an air suction port device 41, a transition air duct 42, a dust removal fan 43, and an environmental dust concentration detection sensor 44. The transition air duct 42 is a flexible connection structure made of a highly waterproof, lightweight, soft material, and is used to connect the air suction port device 41 and the dust removal fan 43. The dust removal fan 43 uses two 75kW variable frequency axial flow fans to generate suction pressure, allowing dust-laden air to enter the dust removal device 5. The dust removal fan 43 can be started or stopped by a control signal. There are multiple environmental dust concentration detection sensors 44, which are arranged on the upper and lower sides of the air suction port device 41, and can detect the dust concentration in multiple directions of the air suction port in real time.

[0074] The dust removal device 5 is used to filter dust-laden air, separate dust, discharge clean air, and collect and discharge absorbed dust. The dust removal device 5 is integrally mounted on the vehicle frame 3 and secured with multiple high-strength bolts. The dust removal device 5 comprises a dust filter unit 51, a dust collection assembly 52, and a dust discharge assembly 53. The dust filter unit 51 filters dust-laden air; the dust collection assembly 52 centrally conveys dust absorbed and attached to the dust filter unit 51; and the dust discharge assembly 53 collects and discharges dust. The dust filter unit 51 is equipped with multiple dry dust filter cartridges 511, multiple filter cartridge vibrating valves 512, and multiple dust filter pressure detection sensors 513. The filter cartridge vibrating valves 512 and dust filter pressure detection sensors 513 are fixedly mounted on the dry dust filter cartridges 511. The tunnel cross-section detection device 6, which utilizes a scanner to detect the tunnel's working cross-section, is mounted above the vehicle frame 3.

[0075] like Figure 2 As shown, the lower end of the air suction port device 41 is designed with a lifting structure 411 and a pitching structure 412, and is provided with an air suction port lifting drive element 413 and an air suction port pitching drive element 414. The air suction port lifting drive element 413 adopts a retractable electric push rod to adjust the suction height, and an electric motor, pneumatic cylinder, hydraulic cylinder, etc. can also be used to replace the electric push rod; the air suction port pitching drive element 414 adopts a rotatable electric motor to adjust the suction pitch angle. The front end of the air suction port device 41 is designed with a grid structure 415. The grid structure 415 is made of a low-density, high-strength alloy material, which is easy to disassemble and clean. It is used to block large floating objects in the working environment and prevent the inhalation of foreign objects from causing blockage of the air duct; the rear end of the air suction port device 41 is designed with a slot structure 416. The slots are designed to be multiple and are used to fix the soft-connected transition air duct 42. The fixing parts are made of stainless steel clamps.

[0076] like Figure 3As shown, the dust collection assembly 52 is designed with a scraper motor 521, a chain transmission structure 522, a rotary support rod 523, a scraper blade 524, and an electric dust collection door 525. There are multiple rotary support rods 523, and the scraper motor 521 and the rotary support rods 523 are connected by the chain transmission structure 522. There are multiple scraper blades 524, which are made of high-strength, lightweight acrylic plates and connected to the chain transmission structure 522 by a latch. The electric dust collection door 525 is arranged at the bottom of the rear end of the dust filter unit 51. When the electric dust collection door 525 is opened, the scraper motor 521 operates, driving the scraper blades 524 to scrape dust that falls to the bottom of the dust collection assembly to the opening of the electric dust collection door, and then transports it to the dust bag 535 of the dust exhaust assembly.

[0077] like Figure 4 As shown, the dust exhaust assembly 53 is designed with an outer frame 531, an inner plate 532, a dust exhaust port 533, an annular groove 534, a dust bag 535, and a dust weighing sensor 536. The outer frame 531 is fixed below the electric dust collection door 525 and is fixedly connected to the outer edge of the inner plate 532 at a 45° angle. The dust exhaust port 533 is a tubular structure, fixedly connected to the bottom of the inner plate 532. The outer side of the dust exhaust port 533 is designed with an annular groove 534 for connecting to the dust bag 535. The dust exhaust belt 535 is made of environmentally friendly materials, is easy to remove and replace, and is reusable. The annular groove 534 is equipped with a dust weight detection sensor 536 to weigh the dust accumulated in the dust bag 535.

[0078] like Figure 5 As shown, the fully automatic control system of the electric dust collector includes a data acquisition unit, a data transmission unit, a control unit, an execution unit, and a human-machine interface unit. The data acquisition unit includes a scanner, an ambient dust concentration detection sensor, a dust filter pressure detection sensor, and a dust weighing sensor. The data transmission unit is a data transmission-related accessory used for data exchange between the data acquisition unit, the control unit, the execution unit, and the human-machine interface unit. The control unit is a controller with data processing and control output functions. The execution unit includes an electric drive motor for lifting and lowering the air intake, an electric drive motor for pitching the air intake, an axial fan, a filter element vibrating valve, a scraper motor, an electric dust collection door, and an electric drive motor for the dust collection component shaft. The human-machine interface unit is an LED display or industrial control panel in the cab.

[0079] like Figure 6 As shown, the preferred embodiment of the present application provides a fully automatic control method for an electric dust removal vehicle, comprising the steps of:

[0080] S1. Real-time acquisition of current operating data of the dust removal vehicle, including the maximum height of the tunnel working section, the dust concentration in a set direction near the air suction port assembly, the dust filtration pressure of each filter element, and the dust weight in the dust bag;

[0081] S2. Analyze the dust filtration pressure of each filter element. If the dust filtration pressure of each filter element is greater than a set threshold, send a corresponding control signal to the vibration valve of each filter element according to the magnitude of the dust filtration pressure. Control each vibration valve to vibrate the filter element at a corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. After the vibration is completed, start the dust collection component to scrape the fallen dust into the dust bag of the dust exhaust component.

[0082] S3: If the dust weight in the dust bag exceeds the set threshold, a dust bag full signal is output to remind the user to remove dust and replace the dust bag;

[0083] S4. Adjust the current optimal air intake height and air intake direction of the air intake assembly in real time based on the maximum height of the tunnel working section, the current position of the air intake assembly, and the dust concentration in all directions near the air intake assembly;

[0084] S5. When the maximum dust concentration in all directions near the air suction port assembly is greater than the set standard (such as 4㎎ / m3), the fan is started to perform dust collection. During the dust collection process, the fan operating power is adaptively adjusted according to the change of the real-time measured dust concentration. When the maximum dust concentration in all directions near the air suction port assembly is less than the set standard, the fan is stopped to end the dust collection.

[0085] The present embodiment provides a fully automatic control method for an electric dust collector, which can send corresponding vibration frequencies to different blockage states to perform personalized vibration operations on the filter elements according to the current operating data of the dust collector, such as the maximum height of the tunnel working section, the dust concentration in the set direction near the air suction port assembly, the dust filtration pressure of each filter element, the dust weight in the dust bag, etc., thereby improving the filter element recovery efficiency, reducing the energy consumption and cost required for filter element recovery filtration, and extending the service life of the filter element; before and during the air suction, the present embodiment can adjust the current optimal air suction port height, air suction port direction and fan operating power of the air suction port assembly in real time according to the current operating data of the dust collector, thereby greatly improving the dust suction amount and dust removal efficiency while reducing the overall energy consumption and operating cost of the dust removal operation; the entire control process of the present embodiment does not require excessive human intervention, and realizes the full-process automatic control of the dust collector, including the orderly connection and full-automatic control of the dust suction, dust collection and dust exhaust of the dust collector trolley, with a high degree of automation.

[0086] Preferably, the maximum height of the tunnel working section is obtained in real time by a scanner, detector or camera, the dust concentration in a set direction near the air suction port assembly is obtained in real time by an ambient dust concentration detection sensor installed in each direction of the air suction port assembly, the dust filtration pressure of each filter element is obtained in real time by a dust filtration pressure detection sensor arranged on the filter element, and the weight of the dust in the dust bag is obtained in real time by a dust weighing sensor.

[0087] In a preferred embodiment of the present application, the dust filtration pressure of each filter element is analyzed. If the dust filtration pressure of each filter element is greater than a set threshold, a corresponding control signal is sent to the vibration valve of each filter element according to the size of each dust filtration pressure, and each vibration valve is controlled to vibrate the filter element at a corresponding vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. Specifically, the steps include:

[0088] S21, analyze the dust filtration pressure of each filter element, if the dust filtration pressure of all filter elements F x When the pressure is ≥1500Pa, calculate the actual vibration frequency f corresponding to the vibration valve of each filter element x :

[0089] f x =α(f0) β

[0090]

[0091] Among them, α is the filter element clogging coefficient, F x The dust filtration pressure of each filter element, β is the sensitivity coefficient of the vibration force to the degree of blockage (related to the filter element material), and f0 is the default normal vibration frequency;

[0092] S22. Send a corresponding control signal to the vibration valve of each filter element to control each vibration valve to vibrate each filter element according to the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold.

[0093] In this embodiment, when the dust filtration pressure F of all filter elements is detected, x When it is ≥1500Pa, the actual vibration frequency corresponding to the vibration valve of each filter element is calculated based on the filter element blockage coefficient, the dust filtration pressure of each filter element, the sensitivity coefficient of the vibration force to the blockage degree, and the default conventional vibration frequency. The more serious the blockage, the greater the actual vibration frequency corresponding to the vibration valve, thereby ensuring that different vibration operations are performed according to the blockage conditions of each filter element. That is, this embodiment fully takes into account that the blockage degree of each filter element may be different, and performs differentiated vibration control by adaptively adjusting the vibration force, so as to achieve the purpose of energy saving and extending the service life of the filter element.

[0094] In a preferred embodiment of the present application, the dust filtration pressure of each filter element is analyzed. If the dust filtration pressure of each filter element is greater than a set threshold, a corresponding control signal is sent to the vibration valve of each filter element according to the size of each dust filtration pressure, and each vibration valve is controlled to vibrate the filter element at a corresponding vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. Specifically, the steps include:

[0095] S21, analyze the dust filtration pressure of each filter element. If the dust filtration pressure F xWhen the number of filter elements with a pressure greater than 1500Pa is greater than the set value, calculate the dust filtration pressure F for each filter element. x Actual vibration frequency f of the vibration valve of the filter element ≥1500Pa x :

[0096] f x =α(f0) β

[0097]

[0098] Among them, α is the filter element clogging coefficient, F x The dust filtration pressure of each filter element, β is the sensitivity coefficient of the vibration force to the degree of blockage (related to the filter element material), and f0 is the default normal vibration frequency;

[0099] S22, send corresponding control signals to the vibrating valves of each filter element to control only the dust filtering pressure F x The vibration valve of each filter element ≥1500Pa vibrates the filter element according to the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold.

[0100] Different from the above embodiment, this embodiment fully considers that the blockage degree of each filter element may be different, and adjusts the vibration force adaptively, only adjusting the dust filtering pressure F x The vibration valve of each filter element with a pressure of ≥1500Pa performs differential vibration control on the filter element according to the corresponding actual vibration frequency. The other dust filtration pressures F x If the filter element is not clogged and the pressure is less than 1500Pa, vibration is not required, which further saves energy and extends the service life of the filter element.

[0101] In a preferred embodiment of the present application, the dust filtration pressure of each filter element is analyzed. If the dust filtration pressure of each filter element is greater than a set threshold, a corresponding control signal is sent to the vibration valve of each filter element according to the size of each dust filtration pressure, and each vibration valve is controlled to vibrate the filter element at a corresponding vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. Specifically, the steps include:

[0102] S21, analyze the dust filtration pressure of each filter element. If the dust filtration pressure F x When the number of filter elements with a pressure greater than 1500Pa is greater than the set value, calculate the dust filtration pressure F x Actual vibration frequency f of the vibration valve of the filter element ≥1500Pa x :

[0103] f x =α(f0) β

[0104]

[0105] Among them, α is the filter element clogging coefficient, F x The dust filtration pressure of each filter element, β is the sensitivity coefficient of the vibration force to the degree of blockage (related to the filter element material), and f0 is the default normal vibration frequency;

[0106] S22, send corresponding control signals to the vibrating valves of each filter element to control the dust filtration pressure F x The vibrating valves of each filter element with a pressure ≥1500Pa vibrate each filter element at the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. The vibrating valves of the remaining filter elements vibrate the filter elements at the default normal vibration frequency f0 and the set time.

[0107] Different from the above embodiment, this embodiment fully considers that the blockage degree of each filter element may be different, and adjusts the vibration force adaptively, only adjusting the dust filtering pressure F x The vibration valve of each filter element with a pressure of ≥1500Pa performs differential vibration control on the filter element according to the corresponding actual vibration frequency, while the other dust filter pressures F x For filter elements with a pressure less than 1500Pa and no clogging, the filter element is vibrated according to the default conventional vibration frequency f0 and the set time, which can further save energy and extend the service life of the filter element, while preventing the remaining dust filtration pressure F x The filter element with a pressure less than 1500Pa is clogged, and the time when the filter element becomes clogged is delayed.

[0108] In a preferred embodiment of the present application, after the vibration is completed, the dust collection component is started to scrape the fallen dust into the dust bag of the dust exhaust component, which specifically includes the steps of:

[0109] S23, when receiving the vibration end control signal, outputting a control signal to start the scraper motor in the dust collection assembly and to open the electric dust collection door, so that the scraper motor drives the scraper blade to scrape the dust at the bottom of the dust collection assembly into the dust bag of the dust discharge assembly;

[0110] S23. When the scraper motor runs for a set time or detects in real time that the dust weight in the dust bag is greater than a set threshold, a control signal is output to control the scraper motor to stop and close the electric dust collection door.

[0111] In this embodiment, after the vibration valve of the filter element finishes vibrating, the scraper motor of the dust collecting component is automatically started to drive the scraper to scrape the dust at the bottom of the dust collecting component into the dust bag of the dust exhaust component, and the dust scraping operation is stopped and the electric dust collection door is closed when the set scraping time is completed or the dust weight in the dust bag is greater than the set threshold. The control process does not require too much human intervention, thereby realizing automatic control of the dust removal vehicle with a high degree of automation.

[0112] In a preferred embodiment of the present application, the method of adjusting the current optimal air suction port height of the air suction port assembly in real time according to the maximum height of the tunnel working section, the current position of the air suction port assembly, and the dust concentration in all directions near the air suction port assembly specifically includes the following steps:

[0113] S41, obtaining the dust deposition diffusion coefficient k and the dust removal time t;

[0114] S42. Calculate the current optimal air intake height of the air intake assembly in real time based on the maximum height H of the tunnel working section, the dust settling diffusion coefficient k, and the dust removal time t:

[0115] D = H - kt;

[0116] The dust deposition diffusion coefficient k is based on the dust diffusion test and experience after tunnel blasting, and is calculated based on the different dust particle sizes d p Calculation yields:

[0117]

[0118] In this embodiment, based on the maximum height of the tunnel working section and the current position of the air suction port assembly, considering that dust will settle over time, the optimal air suction port height is dynamically calculated in combination with the dust settling movement law, and the output signal controls the action of the electric push rod to raise and lower the air suction port to the expected height. The height position of the air suction port is continuously adjusted to ensure that the air suction port is at the spatial height where dust is most concentrated, thereby improving the dust suction volume and dust removal efficiency.

[0119] Preferably, the method of adjusting the current air suction direction of the air suction port assembly in real time according to the maximum height of the tunnel working section, the current position of the air suction port assembly and the dust concentration in various directions near the air suction port assembly specifically includes the following steps:

[0120] S43, analyzing the dust concentration in various directions near the air inlet assembly, and calculating the direction of the maximum dust concentration;

[0121] S44. Sending a control signal according to the direction of the maximum dust concentration to adjust the current air suction port direction of the air suction port assembly in real time.

[0122] In this embodiment, based on the dust concentration in different directions near the suction port assembly, the direction in which the dust-laden air is most concentrated is determined, and the direction of dust movement is predicted. The suction port pitch drive element moves to the optimal angle position to ensure that the suction port is in the optimal suction direction, thereby more effectively absorbing dust and improving the dust suction volume and dust removal efficiency.

[0123] In a preferred embodiment of the present application, the method of adjusting the current optimal air suction port height and air suction port direction of the air suction port assembly in real time according to the maximum height of the tunnel working section, the current position of the air suction port assembly, and the dust concentration in various directions near the air suction port assembly specifically includes the following steps:

[0124] S41, obtaining the dust deposition diffusion coefficient k and the dust removal time t;

[0125] S42. Calculate the current optimal air intake height of the air intake assembly in real time based on the maximum height H of the tunnel working section, the dust settling diffusion coefficient k, and the dust removal time t:

[0126] D = H - kt;

[0127] The dust deposition diffusion coefficient k is based on the dust diffusion test and experience after tunnel blasting, and is calculated based on the different dust particle sizes d p Calculation yields:

[0128]

[0129] S43, analyzing the dust concentration in various directions near the air inlet assembly, and calculating the direction of the maximum dust concentration;

[0130] S44. Sending a control signal according to the direction of the maximum dust concentration to adjust the current air suction port direction of the air suction port assembly in real time.

[0131] Different from the above-mentioned embodiment, this embodiment can dynamically calculate the optimal air suction port height and the optimal air suction direction based on the tunnel cross-section and dust concentration, which can more effectively absorb dust and improve the dust absorption amount and dust removal efficiency.

[0132] In a preferred embodiment of the present application, during the dust collection process, the fan operating power is adaptively adjusted according to the change in the dust concentration measured in real time, specifically comprising the steps of:

[0133] S51. Based on the changes in dust concentration measured in real time at the current optimal suction port height and suction port direction, the axial flow fan control power is continuously adjusted using a model predictive control algorithm or a PID algorithm, and the dynamically changing control power is output to achieve adaptive regulation of the fan operating power.

[0134] This embodiment can adjust the axial flow fan control electric power in real time according to the change of dust concentration, and dynamically adjust the dust removal power, which not only meets the needs of dust removal, but also achieves energy saving and consumption reduction.

[0135] like Figure 7 As shown, the present application also provides a fully automatic control device for an electric dust removal vehicle, comprising:

[0136] An operation data acquisition module is used to obtain the current operation data of the dust removal vehicle in real time. The operation data includes the maximum height of the tunnel working section, the dust concentration in a set direction near the air suction port assembly, the dust filtration pressure of each filter element, and the dust weight in the dust bag;

[0137] The filter element vibration control module is used to analyze the dust filtration pressure of each filter element. If the dust filtration pressure of each filter element is greater than the set threshold, a corresponding control signal is sent to the vibration valve of each filter element according to the size of the dust filtration pressure. Each vibration valve is controlled to vibrate the filter element according to the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. After the vibration is completed, the dust collection component is started to scrape the fallen dust into the dust bag of the dust exhaust component;

[0138] The dust weight reminder module is used to output a dust bag full signal to remind the user to remove dust and replace the dust bag if the dust weight in the dust bag exceeds the set threshold;

[0139] The suction height and direction adjustment module is used to adjust the current optimal suction height and direction of the suction port assembly in real time according to the maximum height of the tunnel working section, the current position of the suction port assembly, and the dust concentration in all directions near the suction port assembly;

[0140] The fan control module is used to start the fan for dust collection when the maximum dust concentration in all directions near the air suction port component is greater than the set standard. During the dust collection process, the fan operating power is adaptively adjusted according to the changes in the real-time measured dust concentration. When the maximum dust concentration in all directions near the air suction port component is less than the set standard, the fan is stopped to end the dust collection.

[0141] like Figure 8 As shown, a preferred embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the fully automatic control method of the electric dust removal vehicle in the above embodiment when executing the computer program.

[0142] like Figure 9 As shown, the preferred embodiment of the present application further provides a computer device, which can be a terminal or a liveness detection server, and its internal structure diagram can be as shown in FIG. Figure 9 As shown. The computer device includes a processor, memory, and network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with other external computer devices via a network connection. When the computer program is executed by the processor, the steps of the above-mentioned electric dust removal vehicle fully automatic control method are implemented.

[0143] Those skilled in the art will understand that Figure 9The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0144] A preferred embodiment of the present application further provides a storage medium, which includes a stored program. When the program is run, the device where the storage medium is located is controlled to execute the steps of the fully automatic control method of the electric dust removal vehicle in the above embodiment.

[0145] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0146] If the functions described in the method of this embodiment are implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a storage medium readable by one or more computing devices. Based on this understanding, the part of the embodiment of the present application that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computing device (which can be a personal computer, server, mobile computing device or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0147] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiment of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal translation scripting language JavaScript, etc.

[0148] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0149] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0150] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0151] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0152] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A fully automatic control method for an electric dust removal vehicle, characterized in that: Including steps: Real-time acquisition of the current operating data of the dust removal vehicle, including the maximum height of the tunnel working section, the dust concentration in a set direction near the air suction port assembly, the dust filtration pressure of each filter element, and the dust weight in the dust bag; Analyze the dust filtration pressure of each filter element. If the dust filtration pressure of each filter element is greater than the set threshold, send a corresponding control signal to the vibration valve of each filter element according to the size of the dust filtration pressure, and control each vibration valve to vibrate the filter element according to the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. After the vibration is completed, start the dust collection component to scrape the fallen dust into the dust bag of the dust exhaust component. The actual vibration frequency f x for: f x =α(f0) β Among them, α is the filter element clogging coefficient, F x The dust filtration pressure of each filter element, β is the sensitivity coefficient of the vibration force to the degree of blockage, and f0 is the default normal vibration frequency; If the dust weight in the dust bag exceeds the set threshold, the dust bag is full signal will be output to remind the user to remove dust and replace the dust bag; According to the maximum height of the tunnel working section, the current position of the air suction port component and the dust concentration in all directions near the air suction port component, the current optimal air suction port height and air suction port direction of the air suction port component are adjusted in real time. The method of adjusting the current optimal air suction port height of the air suction port component in real time according to the maximum height of the tunnel working section, the current position of the air suction port component and the dust concentration in all directions near the air suction port component specifically includes the following steps: Obtain the dust deposition diffusion coefficient k and dust removal time t; The current optimal air intake height of the air intake assembly is calculated in real time based on the maximum height H of the tunnel working section, the dust settling diffusion coefficient k, and the dust removal time t: D = H - kt; The dust deposition diffusion coefficient k is based on the dust diffusion test and experience after tunnel blasting, and is calculated based on the different dust particle sizes d p Calculation yields: When the maximum dust concentration in all directions near the air suction port assembly is greater than the set standard, the fan is started to vacuum. During the vacuuming process, the fan operating power is adaptively adjusted according to the changes in the real-time measured dust concentration. When the maximum dust concentration in all directions near the air suction port assembly is less than the set standard, the fan is stopped to end the vacuuming.

2. The fully automatic control method of an electric dust removal vehicle according to claim 1, characterized in that: The maximum height of the tunnel working section is obtained in real time by a scanner, detector or camera, the dust concentration in a set direction near the suction port assembly is obtained in real time by an ambient dust concentration detection sensor installed in each direction of the suction port assembly, the dust filtration pressure of each filter element is obtained in real time by a dust filtration pressure detection sensor arranged on the filter element, and the weight of the dust in the dust bag is obtained in real time by a dust weighing sensor.

3. The fully automatic control method of an electric dust removal vehicle according to claim 1, characterized in that: The analysis of the dust filtration pressure of each filter element, if the dust filtration pressure of each filter element is greater than a set threshold, sends a corresponding control signal to the vibration valve of each filter element according to the size of each dust filtration pressure, controls each vibration valve to vibrate the filter element at a corresponding vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold, specifically comprising the steps of: Analyze the dust filtration pressure of each filter element. If the dust filtration pressure of all filter elements is F x When the pressure is ≥1500Pa, calculate the actual vibration frequency f corresponding to the vibration valve of each filter element x ; Send corresponding control signals to the vibration valves of each filter element, controlling each vibration valve to vibrate each filter element according to the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold.

4. The fully automatic control method of an electric dust removal vehicle according to claim 1, characterized in that: The analysis of the dust filtration pressure of each filter element, if the dust filtration pressure of each filter element is greater than a set threshold, sends a corresponding control signal to the vibration valve of each filter element according to the size of each dust filtration pressure, controls each vibration valve to vibrate the filter element at a corresponding vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold, specifically comprising the steps of: Analyze the dust filtration pressure of each filter element. If the dust filtration pressure F x When the number of filter elements with a pressure greater than 1500Pa is greater than the set value, calculate the dust filtration pressure F for each filter element. x Actual vibration frequency f of the vibration valve of the filter element ≥1500Pa x ; Send corresponding control signals to the vibrating valves of each filter element to control only the dust filtering pressure F x The vibration valve of each filter element ≥1500Pa vibrates the filter element according to the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold.

5. The fully automatic control method of an electric dust removal vehicle according to claim 1, characterized in that: The analysis of the dust filtration pressure of each filter element, if the dust filtration pressure of each filter element is greater than a set threshold, sends a corresponding control signal to the vibration valve of each filter element according to the size of each dust filtration pressure, controls each vibration valve to vibrate the filter element at a corresponding vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold, specifically comprising the steps of: Analyze the dust filtration pressure of each filter element. If the dust filtration pressure F x When the number of filter elements with a pressure greater than 1500Pa is greater than the set value, calculate the dust filtration pressure F x Actual vibration frequency f of the vibration valve of the filter element ≥1500Pa x ; Send corresponding control signals to the vibrating valves of each filter element to control the dust filtration pressure F x The vibrating valves of each filter element with a pressure ≥1500Pa vibrate each filter element at the corresponding actual vibration frequency until the dust filtration pressure of each filter element is lower than the set threshold. The vibrating valves of the remaining filter elements vibrate the filter elements at the default normal vibration frequency f0 and the set time.

6. The fully automatic control method of an electric dust removal vehicle according to claim 1, characterized in that: After the vibration is completed, the dust collection component is started to scrape the fallen dust into the dust bag of the dust exhaust component, which specifically includes the following steps: When the vibration end control signal is received, the control signal is output to start the scraper motor in the dust collection component and open the electric dust collection door. The scraper motor drives the scraper blade to scrape the dust at the bottom of the dust collection component into the dust bag of the dust discharge component. When the scraper motor runs for a set time or detects in real time that the dust weight in the dust bag is greater than a set threshold, a control signal is output to control the scraper motor to stop and close the electric dust collection door.

7. The fully automatic control method for an electric dust removal vehicle according to claim 1 or 6, characterized in that: The method of adjusting the current air suction direction of the air suction port assembly in real time according to the maximum height of the tunnel working section, the current position of the air suction port assembly, and the dust concentration in various directions near the air suction port assembly specifically includes the following steps: Analyze the dust concentration in all directions near the air inlet component and calculate the direction of the maximum dust concentration; A control signal is sent according to the direction of the maximum dust concentration to adjust the current suction port direction of the suction port component in real time.

8. The fully automatic control method of an electric dust removal vehicle according to claim 1, characterized in that: During the dust collection process, the fan operating power is adaptively adjusted according to the change in the dust concentration measured in real time, specifically including the following steps: According to the changes in dust concentration measured in real time at the current optimal suction port height and suction port direction, the axial flow fan control electric power is continuously adjusted using a model predictive control algorithm or a PID algorithm, and the dynamically changing control electric power is output to achieve adaptive regulation of the fan operating power.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the fully automatic control method of the electric dust removal vehicle as described in any one of claims 1 to 8 are implemented.

10. A storage medium comprising a stored program, which controls a device where the storage medium is located to execute the steps of the fully automatic control method for an electric dust removal vehicle according to any one of claims 1 to 8 when the program is executed.

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