Urea solution control method and equipment

Abstract

The invention provides a urea solution control method and equipment, and the method comprises the steps: obtaining a corresponding relation between the temperature of a urea solution under a preset solubility and the solution density, and the detection temperature and the detection solution density of the urea solution detected in real time, judging whether the detection temperature and the detection solution density meet the corresponding relation, and if not, controlling the urea solution to be in a normal state. Determining an adjustment mode of the urea solution based on the detection temperature, the detection solution density and the corresponding relation; the urea solution is adjusted based on the adjusting mode, accurate control over the density or the temperature is achieved, the detected temperature of the adjusted urea solution and the detected solution density can meet the corresponding relation, that is, the solubility of the urea solution can be accurately controlled to be maintained at the preset solubility, and the solubility stability of the urea solution is kept; therefore, the required urea solution is obtained.

Description

Technical Field

[0001] The invention relates to the technical field of urea preparation, and in particular to a control method and equipment for a urea solution. Background Art

[0002] When thermal power plants produce NOx, they often choose to use ammonia solution. However, ammonia is harmful to the human body, and the ammonia gas volatilized from ammonia is extremely flammable and explosive. In order to avoid the above problems, some power plants use urea hydrolysis to produce ammonia.

[0003] Although the method of producing ammonia by urea hydrolysis reduces the harm of ammonia to the human body and reduces the probability of flammability and explosion, in order to maintain the stability of the solubility of the urea solution, the temperature and density of the urea solution need to be controlled more accurately. At present, there is no effective way to accurately control the temperature and density of the urea solution to maintain the stability of the solubility of the urea solution. Summary of the invention

[0004] The present invention provides a control method and device for a urea solution, which are used to solve the technical problem in the prior art that the stability of the solubility of the urea solution cannot be accurately maintained.

[0005] In one aspect, the present invention provides a method for controlling a urea solution, comprising:

[0006] Obtaining a corresponding relationship between the temperature and the solution density of the urea solution at a preset solubility, and a detected temperature and a detected solution density of the urea solution detected in real time;

[0007] Determining whether the detection temperature and the detection solution density satisfy the corresponding relationship;

[0008] If not, determining a regulation method of the urea solution based on the detected temperature, the detected solution density and the corresponding relationship;

[0009] The urea solution is adjusted based on the adjustment method.

[0010] According to a urea solution control method provided by the present invention, the adjusting mode of the urea solution is determined based on the detected temperature, the detected solution density and the corresponding relationship, including:

[0011] Based on the detected temperature and the corresponding relationship, determining a target density corresponding to the detected temperature;

[0012] Based on the magnitude relationship between the target density and the density of the detection solution, determining a density adjustment method for adjusting the density of the detection solution to the target density;

[0013] Based on the detection solution density and the corresponding relationship, determining a target temperature corresponding to the detection solution density;

[0014] Based on the magnitude relationship between the target temperature and the detected temperature, determining a temperature adjustment method for adjusting the detected temperature to the target temperature;

[0015] The density adjustment method or the temperature adjustment method is used as the adjustment method of the urea solution.

[0016] According to a control method of a urea solution provided by the present invention, the density adjustment method for adjusting the density of the detection solution to the target density based on the magnitude relationship between the target density and the detection solution density comprises:

[0017] When the target density is greater than the density of the detection solution, adding urea granules to the urea solution as the density adjustment method;

[0018] When the target density is less than the detection solution density, water is added to the urea solution as the density adjustment method.

[0019] According to a control method of a urea solution provided by the present invention, the temperature adjustment method for adjusting the detected temperature to the target temperature is determined based on the magnitude relationship between the target temperature and the detected temperature, including:

[0020] When the target temperature is greater than the detection temperature, heating the urea solution as the temperature adjustment method;

[0021] When the target temperature is lower than the detected temperature, the urea solution is cooled as the temperature adjustment method.

[0022] According to a control method of a urea solution provided by the present invention, when the temperature adjustment method is used as the adjustment method of the urea solution, after adjusting the urea solution based on the adjustment method, the method further includes:

[0023] Obtaining the density of the detection solution after the urea solution is subjected to the temperature adjustment method;

[0024] Determining whether the target temperature and the density of the detection solution after the temperature adjustment method satisfy the corresponding relationship;

[0025] If not, the urea solution is adjusted based on the density adjustment method.

[0026] According to a method for controlling a urea solution provided by the present invention, the step of adding urea granules to the urea solution comprises:

[0027] The crane and the bucket elevator are controlled to cooperate to add urea granules into the urea solution.

[0028] According to a method for controlling a urea solution provided by the present invention, the density adjustment method or the temperature adjustment method is used as the adjustment method of the urea solution, comprising:

[0029] Determining a first duration required for the density adjustment method;

[0030] Determining a second time period required for the temperature adjustment method;

[0031] Determine the first duration and the second duration;

[0032] The urea solution is adjusted based on the one of the density adjustment method and the temperature adjustment method that requires a smaller time.

[0033] According to a control method of a urea solution provided by the present invention, the urea solution is located in a liquid storage tank having a circulation pipeline, and a density sensor is disposed in the circulation pipeline. The method further includes:

[0034] The density sensor is rinsed with water at preset time intervals to remove crystals attached to the density sensor.

[0035] According to a urea solution control method provided by the present invention, the corresponding relationship is:

[0036] A function constructed based on the temperatures of the urea solution at the preset solubility and the density of the solution corresponding to each temperature.

[0037] According to a method for controlling a urea solution provided by the present invention, the density adjustment method or the temperature adjustment method is used as the adjustment method of the urea solution, comprising:

[0038] Calculating the difference between the detected temperature and the two end point temperatures of the preset temperature range of the urea solution to obtain a first temperature difference and a second temperature difference, and selecting the larger one of the first temperature difference and the second temperature difference as a target temperature difference;

[0039] Calculating the difference between the two end points of the preset temperature interval to obtain a temperature interval difference;

[0040] Calculating the ratio of the target temperature difference to the temperature interval difference to obtain a temperature ratio;

[0041] Calculating the difference between the density of the detection solution and the density of two end points of the preset density range of the urea solution to obtain a first density difference and a second density difference, and selecting the larger one of the first density difference and the second density difference as a target density difference;

[0042] Calculating the difference between the densities of the two endpoints of the preset density interval to obtain the density interval difference;

[0043] Calculating the ratio of the target density difference to the density interval difference to obtain a density ratio;

[0044] comparing the temperature ratio and the density ratio;

[0045] When the temperature ratio is less than the density ratio, the density adjustment method is used as the adjustment method of the urea solution;

[0046] When the temperature ratio is greater than the density ratio, the temperature adjustment method is used as the adjustment method of the urea solution.

[0047] On the other hand, the present invention further provides 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 program, a control method for a urea solution as described above is implemented.

[0048] The control method and device of the urea solution provided by the present invention obtain the corresponding relationship between the temperature and the solution density of the urea solution at a preset solubility, and the detected temperature and the detected solution density of the urea solution detected in real time, and judge whether the detected temperature and the detected solution density satisfy the corresponding relationship. If not, the adjustment mode of the urea solution is determined based on the detected temperature, the detected solution density and the corresponding relationship; the urea solution is adjusted based on the adjustment mode to achieve precise control of the density or temperature, so that the detected temperature and the detected solution density of the adjusted urea solution satisfy the corresponding relationship, that is, the solubility of the urea solution can be relatively accurately controlled to be maintained at the preset solubility, and the solubility stability of the urea solution is maintained, thereby obtaining the desired urea solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 is a schematic flow chart of a method for controlling a urea solution provided in an embodiment of the present invention;

[0051] Figure 2 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0053] Figure 1 1 is a flow chart of a method for controlling a urea solution provided by an embodiment of the present invention. The method may be executed by a computer, a mobile phone or a smart wearable device.

[0054] See also Figure 1 The method for controlling the urea solution may include the following steps 101 to 104 .

[0055] 101. Obtain a corresponding relationship between the temperature of a urea solution at a preset solubility and the solution density, as well as a detected temperature and a detected solution density of the urea solution detected in real time.

[0056] In this step, when the temperature of the urea solution is different under a fixed preset solubility, the density of the urea solution corresponding to the temperature may also be different. Therefore, the various temperatures of the urea solution and the density of the urea solution corresponding to each temperature under a fixed preset solubility of the urea solution can be obtained through preliminary tests.

[0057] The corresponding relationship may be: a function constructed based on each temperature of the urea solution at a preset solubility and the solution density corresponding to each temperature. That is to say, the above corresponding relationship may be obtained by obtaining a function constructed by temperature and solution density. Of course, the corresponding relationship may also be established in other ways, for example, a temperature column and a solution density column are established in a table, the temperature column includes a plurality of different temperatures, the solution density column includes a plurality of different solution densities, and the temperatures in the temperature column and the solution densities in the solution density column correspond one to one. Then the above table is obtained to obtain the corresponding relationship between the temperature and the solution density. The temperature of the urea solution may be detected by a temperature sensor as the detection temperature. The density of the urea solution may be detected by a density sensor as the detection solution density.

[0058] 102. Determine whether the detection temperature and the density of the detection solution satisfy a corresponding relationship.

[0059] In this step, the detection temperature can be brought into the above-mentioned corresponding relationship to detect whether the detection solution density can be obtained according to the corresponding relationship; or, the detection solution density can be brought into the above-mentioned corresponding relationship to detect whether the detection temperature can be obtained according to the corresponding relationship; if it can be obtained, it is determined that the above-mentioned corresponding relationship is satisfied; if not, it is determined that the above-mentioned corresponding relationship is not satisfied.

[0060] 103. If not, determine the adjustment method of the urea solution based on the detected temperature, the detected solution density and the corresponding relationship. When the above corresponding relationship is not satisfied, return to step 101.

[0061] In this step, determining the adjustment method of the urea solution based on the detected temperature, the detected solution density and the corresponding relationship may include:

[0062] Based on the detected temperature and the corresponding relationship, determining a target density corresponding to the detected temperature;

[0063] Based on the magnitude relationship between the target density and the density of the detection solution, determining a density adjustment method for adjusting the density of the detection solution to the target density;

[0064] Based on the detection solution density and the corresponding relationship, determining a target temperature corresponding to the detection solution density;

[0065] Based on the magnitude relationship between the target temperature and the detected temperature, determining a temperature adjustment method for adjusting the detected temperature to the target temperature;

[0066] The density adjustment method or the temperature adjustment method is used as the adjustment method of the urea solution.

[0067] In this step, the density or temperature of the urea solution is precisely controlled by using a density adjustment method or a temperature adjustment method as the adjustment method of the urea solution, so that the detection temperature of the adjusted urea solution and the detection solution density can satisfy a corresponding relationship, that is, the solubility of the urea solution can be more accurately controlled to be maintained at a preset solubility, thereby obtaining the desired urea solution.

[0068] 104. Adjust the urea solution based on the adjustment method.

[0069] In this embodiment, the corresponding relationship between the temperature of the urea solution at a preset solubility and the solution density, as well as the detected temperature and the detected solution density of the urea solution detected in real time are obtained, and it is determined whether the detected temperature and the detected solution density satisfy the corresponding relationship. If not, the adjustment method of the urea solution is determined based on the detected temperature, the detected solution density and the corresponding relationship; the urea solution is adjusted based on the adjustment method to achieve precise control of the density or temperature, so that the detected temperature and the detected solution density of the adjusted urea solution satisfy the corresponding relationship, that is, the solubility of the urea solution can be relatively accurately controlled to be maintained at the preset solubility, and the solubility stability of the urea solution is maintained, thereby obtaining the desired urea solution.

[0070] In one embodiment of the present specification, the density adjustment method for adjusting the density of the detection solution to the target density based on the magnitude relationship between the target density and the density of the detection solution may include:

[0071] When the target density is greater than the density of the detection solution, adding urea granules to the urea solution as the density adjustment method;

[0072] When the target density is less than the detection solution density, water is added to the urea solution as the density adjustment method.

[0073] In this embodiment, the adding of urea granules to the urea solution may include: controlling the crane and the bucket elevator to cooperate to add the urea granules to the urea solution. Specifically, the crane is controlled to transport the urea granules to the liquid storage tank where the urea solution is located, and the bucket elevator is controlled to load the urea granules into the crane or lift the urea granules from the crane and place them in the urea solution. Compared with manual handling of about 50 kilograms of urea granules each time, the crane can carry 1 ton of urea granules each time, which can significantly improve the efficiency of adding urea granules to the urea solution and reduce the probability of personal accidents.

[0074] In an embodiment of the present specification, determining the temperature adjustment method for adjusting the detected temperature to the target temperature based on the magnitude relationship between the target temperature and the detected temperature may include:

[0075] When the target temperature is greater than the detection temperature, heating the urea solution as the temperature adjustment method;

[0076] When the target temperature is lower than the detected temperature, the urea solution is cooled as the temperature adjustment method.

[0077] In this embodiment, when cooling the urea solution, a cooling device can be used to cool the urea solution. For example, a cooling coil is placed in the urea solution, and the cold water in the cooling coil is used to exchange heat with the urea solution, thereby cooling the urea solution. Of course, other methods can also be used to cool the urea solution. For example, an exhaust fan is set on the liquid storage tank, and the exhaust fan promotes the circulation of air in the liquid storage tank, and the circulation of air in the liquid storage tank and external air can also be promoted to adjust the temperature in the liquid storage tank. The urea solution can also be cooled by a cooling water circulation system, or by a cooling tower. The urea solution can be located in the liquid storage tank, and the liquid storage tank is provided with an intake heating valve. The opening of the intake heating valve can control the flow of heated gas entering the liquid storage tank, and then the heat is transferred to the urea solution by heat conduction and convection to increase its temperature. The opening of the intake heating valve can be controlled according to the target temperature and the detected temperature, thereby controlling the amount of heated gas entering the liquid storage tank.

[0078] In an embodiment of the present specification, when the temperature adjustment method is used as the adjustment method of the urea solution, after adjusting the urea solution based on the adjustment method, the following method may be further included:

[0079] Obtaining the density of the detection solution after the urea solution is subjected to the temperature adjustment method;

[0080] Determining whether the target temperature and the density of the detection solution after the temperature adjustment method satisfy the corresponding relationship;

[0081] If not, the urea solution is adjusted based on the density adjustment method.

[0082] In this embodiment, considering the correspondence between the temperature and density of the urea solution, after the urea solution is adjusted based on the adjustment method, the change in temperature may also lead to a change in density, and the temperature and density may still not satisfy the correspondence. Therefore, in order to further ensure that the solubility of the urea solution is maintained at the preset solubility, it is possible to judge again whether the target temperature and the density of the detected solution after the temperature adjustment method satisfy the correspondence. If not, the urea solution is adjusted based on the density adjustment method, and no longer based on the temperature adjustment method, to avoid the density changing again after the temperature changes.

[0083] This embodiment is equivalent to using the density adjustment method and the temperature adjustment method together as the adjustment method of the urea solution. When the second time required by the temperature adjustment method is less than the first time required by the density adjustment method, the density adjustment method and the temperature adjustment method can generally be used as the adjustment method of the urea solution. Although adjusting the temperature of the urea solution first will also affect the density of the urea solution, the temperature adjustment method is often simpler. Therefore, priority can be given to adjusting according to the temperature adjustment method, and then adjusting according to the density method.

[0084] In an embodiment of the present specification, the method of using the density adjustment method or the temperature adjustment method as the adjustment method of the urea solution may include:

[0085] Determining a first duration required for the density adjustment method;

[0086] Determining a second time period required for the temperature adjustment method;

[0087] Determine the first duration and the second duration;

[0088] The urea solution is adjusted based on the one of the density adjustment method and the temperature adjustment method that requires a smaller time.

[0089] In the present embodiment, the urea solution is located in a liquid storage tank. The capacity of the liquid storage tank is known in advance. The volume of the urea solution in the liquid storage tank can be measured. The transportation speed of the urea granules can also be known in advance. The amount of water added per unit time in the liquid storage tank can also be known in advance. The density difference can be obtained according to the density of the detection solution and the target density, so that the amount of urea granules added can be obtained according to the density difference, or the amount of water added can be obtained. According to the above-mentioned known conditions, the first time required to adjust the density of the detection solution to the target density can be estimated. The amount of heat generated by the urea solution per unit time can be known in advance, the amount of heat dissipated by the urea solution per unit time can be known in advance, and the volume of the urea solution is known in advance. Therefore, according to the above-mentioned known conditions, the second time required to adjust the detection temperature to the target temperature can be estimated.

[0090] When the detection temperature and the detection solution density do not satisfy the corresponding relationship, the density of the urea solution can generally be adjusted, or the temperature of the urea solution can be adjusted, or the density and temperature of the urea solution can be adjusted, so that the detection temperature and the detection solution density of the adjusted urea solution satisfy the above corresponding relationship. However, in order to further improve the adjustment efficiency and obtain a urea solution that meets the preset solubility as soon as possible to improve production efficiency, it is necessary to determine the first time required for the density adjustment method, determine the second time required for the temperature adjustment method, compare the first time and the second time, and adjust the urea solution based on the smaller time required between the density adjustment method and the temperature adjustment method.

[0091] In one embodiment of the present specification, the urea solution is located in a liquid storage tank having a circulation pipeline, a density sensor is disposed in the circulation pipeline, and the method may further include:

[0092] The density sensor is rinsed with water at preset time intervals to remove crystals attached to the density sensor.

[0093] In this embodiment, the preset time interval can be set, and is not specifically limited here. Considering that the density sensor is in contact with the urea solution for a long time, the crystals of the urea solution will adhere to the density sensor, resulting in reduced measurement accuracy of the density sensor. Therefore, in order to ensure the measurement accuracy of the density sensor, the density sensor can be rinsed with water at the preset time interval.

[0094] In some other embodiments of the present specification, the method of using the density adjustment method or the temperature adjustment method as the adjustment method of the urea solution may include:

[0095] The method of using the density adjustment method or the temperature adjustment method as the adjustment method of the urea solution includes:

[0096] Calculating the difference between the detected temperature and the two end point temperatures of the preset temperature range of the urea solution to obtain a first temperature difference and a second temperature difference, and selecting the larger one of the first temperature difference and the second temperature difference as a target temperature difference;

[0097] Calculating the difference between the two end points of the preset temperature interval to obtain a temperature interval difference;

[0098] Calculating the ratio of the target temperature difference to the temperature interval difference to obtain a temperature ratio;

[0099] Calculating the difference between the density of the detection solution and the density of two end points of the preset density range of the urea solution to obtain a first density difference and a second density difference, and selecting the larger one of the first density difference and the second density difference as a target density difference;

[0100] Calculating the difference between the densities of the two endpoints of the preset density interval to obtain the density interval difference;

[0101] Calculating the ratio of the target density difference to the density interval difference to obtain a density ratio;

[0102] comparing the temperature ratio and the density ratio;

[0103] When the temperature ratio is less than the density ratio, the density adjustment method is used as the adjustment method of the urea solution;

[0104] When the temperature ratio is greater than the density ratio, the temperature adjustment method is used as the adjustment method of the urea solution.

[0105] In this embodiment, the temperature and density of the urea solution are not without restrictions on the premise that the corresponding relationship is satisfied. Similarly, the density of the urea solution is also not without restrictions. A preset temperature range and a preset density range of the urea solution can be predefined, and the detected temperature is always within the preset temperature range of the urea solution, and the detected solution density is always within the preset density range of the urea solution, so that the temperature and density of the urea solution are always maintained within a relatively stable range, which is conducive to the stable production of the urea solution.

[0106] The larger the temperature ratio is, the farther the detected temperature is from the middle temperature of the preset temperature interval (the average value of the two endpoint temperatures). The larger the density ratio is, the farther the detected solution density is from the middle density of the preset density interval (the average value of the two endpoint densities). When the temperature ratio is less than the density ratio, the density adjustment method is used as the adjustment method of the urea solution to avoid the adjusted density from deviating too much from the middle density of the preset density interval, that is, to make the adjusted density close to the middle density of the preset density interval. When the temperature ratio is greater than the density ratio, the temperature adjustment method is used as the adjustment method of the urea solution to avoid the adjusted temperature from deviating too much from the middle temperature of the preset temperature interval, that is, to make the adjusted temperature close to the middle temperature of the preset temperature interval. This embodiment is conducive to ensuring the stability of the configuration process of the urea solution.

[0107] It can be understood that the process of maintaining the density and temperature of the urea solution to satisfy the corresponding relationship in the present invention is a cyclic control process, that is, steps 101 to 104 can be repeatedly executed to maintain the dynamic balance between the density and temperature of the urea solution to satisfy the corresponding relationship.

[0108] Figure 2 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0109] like Figure 2 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the control method of the urea solution.

[0110] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. 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 codes.

[0111] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method of the urea solution provided by the above methods.

[0112] In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the control method of the urea solution provided by the above methods is implemented.

[0113] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0114] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a urea solution, characterized in that: include: Obtaining a corresponding relationship between the temperature and the solution density of the urea solution at a preset solubility, and a detected temperature and a detected solution density of the urea solution detected in real time; Determining whether the detection temperature and the detection solution density satisfy the corresponding relationship; If not, determining a regulation method of the urea solution based on the detected temperature, the detected solution density and the corresponding relationship; The urea solution is adjusted based on the adjustment method.

2. The method for controlling the urea solution according to claim 1, characterized in that: The determining the adjustment mode of the urea solution based on the detected temperature, the detected solution density and the corresponding relationship includes: Based on the detected temperature and the corresponding relationship, determining a target density corresponding to the detected temperature; Based on the magnitude relationship between the target density and the density of the detection solution, determining a density adjustment method for adjusting the density of the detection solution to the target density; Based on the detection solution density and the corresponding relationship, determining a target temperature corresponding to the detection solution density; Based on the magnitude relationship between the target temperature and the detected temperature, determining a temperature adjustment method for adjusting the detected temperature to the target temperature; The density adjustment method or the temperature adjustment method is used as the adjustment method of the urea solution.

3. The method for controlling the urea solution according to claim 2, characterized in that: The method of determining a density adjustment method for adjusting the density of the detection solution to the target density based on the magnitude relationship between the target density and the density of the detection solution includes: When the target density is greater than the density of the detection solution, adding urea granules to the urea solution as the density adjustment method; When the target density is less than the detection solution density, water is added to the urea solution as the density adjustment method.

4. The method for controlling the urea solution according to claim 2, characterized in that: The determining, based on the magnitude relationship between the target temperature and the detected temperature, a temperature adjustment method for adjusting the detected temperature to the target temperature includes: When the target temperature is greater than the detection temperature, heating the urea solution as the temperature adjustment method; When the target temperature is lower than the detected temperature, the urea solution is cooled as the temperature adjustment method.

5. The method for controlling the urea solution according to claim 4, characterized in that: When the temperature adjustment method is used as the adjustment method of the urea solution, after adjusting the urea solution based on the adjustment method, the method further includes: Obtaining the density of the detection solution after the urea solution is subjected to the temperature adjustment method; Determining whether the target temperature and the density of the detection solution after the temperature adjustment method satisfy the corresponding relationship; If not, the urea solution is adjusted based on the density adjustment method.

6. The method for controlling the urea solution according to claim 3, characterized in that: The adding of urea granules to the urea solution comprises: The crane and the bucket elevator are controlled to cooperate to add urea granules into the urea solution.

7. The method for controlling urea solution according to claim 2, characterized in that: The method of using the density adjustment method or the temperature adjustment method as the adjustment method of the urea solution includes: Determining a first duration required for the density adjustment method; Determining a second time period required for the temperature adjustment method; Determine the first duration and the second duration; The urea solution is adjusted based on the one of the density adjustment method and the temperature adjustment method that requires a smaller time.

8. The method for controlling urea solution according to claim 1, characterized in that: The urea solution is located in a liquid storage tank having a circulation pipeline, wherein a density sensor is disposed in the circulation pipeline, and the method further comprises: The density sensor is rinsed with water at preset time intervals to remove crystals attached to the density sensor.

9. The method for controlling urea solution according to claim 2, characterized in that: The method of using the density adjustment method or the temperature adjustment method as the adjustment method of the urea solution includes: Calculating the difference between the detected temperature and the two end point temperatures of the preset temperature range of the urea solution to obtain a first temperature difference and a second temperature difference, and selecting the larger one of the first temperature difference and the second temperature difference as a target temperature difference; Calculating the difference between the two end points of the preset temperature interval to obtain a temperature interval difference; Calculating the ratio of the target temperature difference to the temperature interval difference to obtain a temperature ratio; Calculating the difference between the density of the detection solution and the density of two end points of the preset density range of the urea solution to obtain a first density difference and a second density difference, and selecting the larger one of the first density difference and the second density difference as a target density difference; Calculating the difference between the densities of the two endpoints of the preset density interval to obtain the density interval difference; Calculating the ratio of the target density difference to the density interval difference to obtain a density ratio; comparing the temperature ratio and the density ratio; When the temperature ratio is less than the density ratio, the density adjustment method is used as the adjustment method of the urea solution; When the temperature ratio is greater than the density ratio, the temperature adjustment method is used as the adjustment method of the urea solution.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the urea solution control method as described in any one of claims 1 to 9 is implemented.

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