Jet flow control method, system, equipment and medium

Abstract

The invention provides a jet flow control method, system and device and a medium, and the method comprises the steps: obtaining real-time attitude data, and determining relative position data between a nozzle and a to-be-jetted surface according to the real-time attitude data based on a pre-constructed spatial model; according to the relative position data, determining the actual spraying height of the spray head in a single stroke, and calculating first energy required for lifting the slurry sprayed by the spray head to the actual spraying height; the first energy and the second energy are superposed to obtain total injection energy corresponding to the actual injection height, and the target injection flow of the nozzle is adjusted according to the total injection energy; wherein the second energy is determined according to a preset expected drop point speed. The problems that due to flow matching errors, slurry hanging and falling are not stable, and springback is caused can be solved, and the quality level of wet spraying is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent spraying technology, and in particular to a spraying flow control method, system, equipment and medium. Background Art

[0002] At present, when using a wet spraying machine, the operator usually adjusts the spraying flow rate based on his or her own experience after understanding the performance of the whole machine. The spraying flow rate of the slurry is fixed during the spraying process. However, for uneven spraying surfaces or during the movement of the spraying arm, if the slurry is still sprayed according to the flow rate set by the operator, the amount of slurry on the spraying surface will be uneven. In addition, the accuracy of manually adjusting the spraying flow rate cannot be guaranteed, which may easily lead to problems such as unstable slurry hanging and excessive rebound, thus affecting the wet spraying effect. Summary of the invention

[0003] The embodiment of the present invention provides a method, system, device and medium for controlling injection flow rate to solve the problems existing in the related art. The technical solution is as follows:

[0004] In a first aspect, an embodiment of the present invention provides an injection flow control method, comprising:

[0005] Acquire real-time posture data, and determine the relative position data between the nozzle and the surface to be sprayed based on the real-time posture data based on the pre-built spatial model;

[0006] Determine the actual spraying height of the nozzle in a single stroke according to the relative position data, and calculate the first energy required to lift the slurry sprayed from the nozzle to the actual spraying height;

[0007] The first energy and the second energy are superimposed to obtain the total injection energy corresponding to the actual injection height, and the target injection flow rate of the nozzle is adjusted according to the total injection energy, so that the slurry sprayed by the nozzle according to the target injection flow rate matches the surface features of the sprayed surface and the sprayed slurry can accurately reach the actual injection height; wherein the second energy is determined according to the preset expected landing speed.

[0008] In one embodiment, it further includes:

[0009] Acquire the first spatial information of the wet spraying vehicle where the spray head is located, and the second spatial information of the surface to be sprayed; the first spatial information and the second spatial position are both obtained by scanning with a scanner;

[0010] The first spatial information and the second spatial information are transferred to the same coordinate system to obtain a spatial model between the wet spraying vehicle and the surface to be sprayed.

[0011] In one embodiment, the calculation method of the second energy includes:

[0012] Obtaining a preset expected landing speed, and determining, according to the expected landing speed, the position where the slurry is sprayed at a preset initial speed and reaches the surface to be sprayed under the action of gravity as the spraying target point;

[0013] Determine the vertical height between the injection start point and the injection target point through the spatial model, and calculate the first potential energy of the slurry ejected from the nozzle according to the vertical height;

[0014] Calculate the second potential energy of the slurry moving to the injection target point according to the expected landing speed;

[0015] The sum of the first potential energy and the second potential energy is calculated to obtain the second energy.

[0016] In one embodiment, calculating the first energy required for the slurry sprayed from the nozzle to be lifted to the actual spraying height includes:

[0017] Obtain the mass of slurry that can be sprayed by the nozzle in a unit movement cycle;

[0018] The product of the slurry mass, the gravitational acceleration and the actual injection height is calculated to obtain the first energy.

[0019] In one embodiment, adjusting the target injection flow rate of the nozzle according to the total injection energy includes:

[0020] The proportionality coefficient between current and work is obtained, the current value of the injection cylinder proportional valve corresponding to the total injection energy is determined according to the proportionality coefficient, and the target injection flow rate is determined according to the current value.

[0021] In one embodiment, it further includes:

[0022] Obtain the real-time flow rate of the slurry at the nozzle, and determine the control deviation according to the real-time flow rate of the slurry based on the feedback control algorithm;

[0023] When the control deviation is greater than a threshold, a correction signal is generated to adjust the injection flow rate, so that the control deviation between the corrected slurry real-time flow rate and the target injection flow rate is maintained at a level less than or equal to the threshold.

[0024] In one embodiment, the real-time posture data is detected by a sensor installed on the wet spraying vehicle, and the real-time posture data includes angle data and length data.

[0025] In a second aspect, an embodiment of the present invention provides an injection flow control system that executes the injection flow control method as described above.

[0026] In a third aspect, an embodiment of the present invention provides an electronic device, the device comprising: a memory and a processor. The memory and the processor communicate with each other through an internal connection path, the memory is used to store instructions, the processor is used to execute the instructions stored in the memory, and when the processor executes the instructions stored in the memory, the processor executes the method in any one of the above-mentioned embodiments.

[0027] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a computer, the method in any one of the above-mentioned embodiments is executed.

[0028] The advantages or beneficial effects of the above technical solution include at least:

[0029] The present invention proposes an intelligent control method for the spraying flow of a wet spraying vehicle. The method calculates the energy required for spraying the slurry to a desired spraying height according to the relative position data between the nozzle and the surface to be sprayed, and dynamically adjusts the spraying flow of the nozzle according to the energy required for spraying the slurry to the desired spraying height, so that the amount of sprayed slurry matches the unevenness of the surface to be sprayed, so that the slurry distribution on the uneven surface to be sprayed is relatively uniform, thereby solving the problems of unstable hanging and rebound of mud due to flow matching errors, and effectively improving the quality level of wet spraying.

[0030] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present invention and should not be regarded as limiting the scope of the present invention.

[0032] Figure 1 It is a schematic flow chart of the injection flow control method of the present invention;

[0033] Figure 2 It is a schematic diagram of the positional relationship between the wet spraying vehicle and the arch frame of the present invention;

[0034] Figure 3 It is a schematic diagram of the spray trajectory of the slurry sprayed out of the nozzle of the present invention;

[0035] Figure 4 It is a schematic diagram of the spraying process of the entire surface to be sprayed according to the present invention;

[0036] Figure 5 The structure block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0038] At present, during the use of wet spraying vehicles, the adjustment of the spraying flow rate during the wet spraying process comes from the operator's experience after understanding the performance of the whole machine, and the wet spraying effect is unstable; and for uneven spraying surfaces or during the movement of the nozzle arm, if the spraying flow rate is not adjusted in time, the spraying flow rate is too small and the mud is prone to unstable hanging, while the spraying flow rate is too large and the slurry rebounds frequently, affecting the final wet spraying effect.

[0039] In order to solve the above problems, an embodiment of the present invention provides a spray flow control method, which can dynamically adjust the spray flow according to the unevenness of the surface to be sprayed, thereby ensuring the slurry hanging effect on the surface to be sprayed, reducing the subsequent leveling work, and improving the wet spraying effect.

[0040] like Figure 1 As shown, the injection flow control method specifically includes the following steps:

[0041] Step S1: Acquire real-time posture data, and determine the relative position data between the nozzle and the surface to be sprayed according to the real-time posture data based on a pre-built space model.

[0042] It should be noted that a wet spraying truck is a device used to spray slurry, and the main components of a wet spraying truck include a spray head, a boom, a spraying cylinder, a spraying cylinder proportional valve, etc. The specific explanation is as follows:

[0043] The nozzle is the direct executive component of the wet spraying truck spraying concrete. It is located at the end of the boom. The function of the nozzle is to spray the premixed slurry at high speed to the surface to be sprayed through the pumping mechanism, and form a concrete support layer after rapid solidification.

[0044] The wet spraying arm is connected to the vehicle chassis of the wet spraying vehicle, and the position and direction of the spray head are adjusted through multiple degrees of freedom movement (such as telescopic, folding, and swinging).

[0045] The injection cylinder is used to push the slurry through the pumping system to the nozzle, forming a spray beam to be ejected through the nozzle.

[0046] The injection cylinder proportional valve is connected to the injection cylinder, and can adjust the injection flow of the slurry according to the current size.

[0047] It should be explained that the structure and function of each component in the wet spraying vehicle and the connection relationship between the components have been disclosed in the prior art and will not be described in detail here. Figure 2 As shown, the wet spraying vehicle in this embodiment is used to spray grout on the surface to be sprayed of the arch structure, wherein the arch structure refers to a frame structure composed of a series of arch-shaped components used to support the structure and maintain its shape in the bridge. By spraying grout on the surface to be sprayed of the arch, the stability and safety of the bridge can be improved.

[0048] This embodiment uses an existing wet spraying vehicle and installs detection equipment such as sensors and scanners at appropriate locations to achieve the effect of dynamically adjusting the spraying flow rate according to the surface conditions of the surface to be sprayed on the arch.

[0049] In this embodiment, the scanner can be installed at the front end of the wet spraying arm. The scanner installed on the wet spraying arm can be driven to move through various actions of the wet spraying arm, such as arm seat rotation, arm pitch, and arm extension and retraction, so as to scan the wet spraying vehicle itself from different angles and positions, and the obtained three-dimensional point cloud data of the wet spraying vehicle is used as the first spatial information.

[0050] In another embodiment, the wet spraying vehicle may be scanned by a scanner installed outside the wet spraying vehicle to obtain the first spatial information. Alternatively, the wet spraying vehicle may be scanned by a scanner installed outside the wet spraying vehicle to obtain the first spatial information. Alternatively, the wet spraying vehicle may be scanned by a sensor installed on the wet spraying boom of the wet spraying vehicle to detect the boom posture and obtain real-time posture data, the real-time posture data including angle data and length data, etc. The first spatial information is determined based on the real-time posture data; wherein the sensor includes a length angle sensor, a main boom angle sensor, etc.

[0051] In addition, the arch frame structure is scanned by a scanner installed on the wet spraying arm, wherein the arch frame structure has at least one side to be sprayed. The three-dimensional point cloud data obtained by scanning the arch frame structure by the scanner is used as the second spatial information. The second spatial information records the surface features of the surface to be sprayed and the boundary contour features of the arch frame, so as to improve the subsequent injection flow control accuracy.

[0052] A coordinate system of the wet spraying boom and the arch structure is established, and the first spatial information and the second spatial information are mapped to the same coordinate system; and the positional relationship between the designated marker on the wet spraying vehicle and the designated marker on the arch is obtained, and the relative position between the wet spraying vehicle and the arch structure is determined in the coordinate system according to the positional relationship, thereby generating a spatial model including the wet spraying vehicle and the arch structure. The positional relationship between the wet spraying vehicle and the arch is accurately recorded in the spatial model, and the position of the nozzle and the position of the surface to be sprayed are marked in the spatial model, thereby determining the relative positional relationship between the nozzle and the surface to be sprayed.

[0053] In order to improve the positioning accuracy of the relative position, this embodiment collects the real-time posture data of the wet spray arm through a sensor, determines the arm posture according to the real-time posture data, and also scans the surface to be sprayed through a scanner during the movement of the wet spray arm to obtain the relative position between the nozzle and the surface to be sprayed. The scanning data obtained by the scanning and the posture data obtained by the sensor detection are combined to accurately locate the real-time position relationship between the nozzle and the surface to be sprayed in the spatial model, so as to dynamically adjust the spray flow rate according to the real-time position relationship.

[0054] Step S2: determining the actual spraying height of the nozzle in a single stroke according to the relative position data, and calculating the first energy required to lift the slurry sprayed from the nozzle to the actual spraying height.

[0055] It should be noted that the relative position data between the nozzle and the surface to be sprayed includes the nozzle coordinates and the coordinate information of the surface to be sprayed in the same coordinate system. The height difference between the nozzle and a certain point on the surface to be sprayed can be calculated based on the nozzle coordinates and the coordinate information on the surface to be sprayed.

[0056] The nozzle will move with the movement of the wet spraying arm. During the spraying process, the wet spraying arm usually moves from top to bottom along an S-shaped trajectory to ensure that the slurry sprayed by the nozzle can evenly cover the entire surface to be sprayed.

[0057] According to the cyclic action of the injection cylinder, the injection cylinder has a motion cycle. The extension of the injection cylinder to the end of its maximum stroke and the contraction of the cylinder to the end of its minimum stroke are considered as a complete motion cycle. In a motion cycle of the injection cylinder, the amount of slurry sprayed is limited. Here, the mass of slurry that can be sprayed by the injection cylinder in a motion cycle is marked as m, and the spray stroke that can be achieved in a motion cycle is called a single stroke.

[0058] During the spraying process, the actual spraying point of the nozzle in a single stroke will change. The current posture is determined according to the current posture data of the wet spraying arm, and the spatial model is updated according to the current posture to obtain the relative position data between the nozzle and the actual spraying point on the surface to be sprayed, and the actual spraying height corresponding to the actual spraying point in the spatial model is determined according to the relative position data, and the product of the slurry mass, the actual spraying height and the gravitational acceleration is calculated to obtain the first energy.

[0059] The expression of the first energy is:

[0060] The first energy = mgh1, h1 represents the actual injection height of the slurry in a single stroke of the injection cylinder, m represents the mass of the slurry that can be injected by the injection cylinder in one movement cycle, and g is the acceleration of gravity.

[0061] The first energy represents the gravitational potential energy of the slurry at the actual injection height.

[0062] Step S3: superimpose the first energy and the second energy to obtain the total injection energy corresponding to the actual injection height, and adjust the target injection flow rate of the nozzle according to the total injection energy so that the slurry sprayed by the nozzle according to the target injection flow rate reaches the actual injection height.

[0063] After the slurry is ejected, its ejection trajectory presents an arc shape due to gravity, such as Figure 3 As shown in the figure, if the slurry is to fall accurately to the injection target point at the expected landing speed, the expected required energy for injection at the nozzle needs to be calculated.

[0064] Specifically, the steps for the expected energy requirement of spraying at the nozzle are as follows:

[0065] Step S31: obtaining a preset expected landing speed according to the injection target.

[0066] Among them, the expected landing speed in this embodiment is obtained based on experience. The expected landing speed is related to factors such as the quality of the slurry and the degree of wetness and dryness of the surface to be sprayed. A reasonable expected landing speed can ensure that the slurry sprayed onto the surface to be sprayed has good uniformity and density, thereby achieving the expected engineering quality requirements.

[0067] Step S32: according to the expected landing speed, the position where the slurry is sprayed out at a preset initial speed and reaches the spraying surface under the action of gravity is determined as the spraying target point.

[0068] Step S33: determining the position of the injection target point from the spatial model, determining the vertical height between the injection initial point and the injection target point through the spatial model, and calculating the first potential energy of the slurry sprayed from the nozzle according to the vertical height.

[0069] Specifically, the calculation formula of the first potential energy is:

[0070] The first potential energy = mgH0, where H0 is the vertical height between the injection start point and the injection target point, m represents the mass of slurry that can be injected by the injection cylinder in one movement cycle, and g is the gravitational acceleration.

[0071] Step S34: Calculate the second potential energy of the slurry moving to the injection target point according to the expected landing speed.

[0072] Specifically, the calculation formula of the second potential energy is:

[0073] Second potential energy = mv1 2 / 2, where v1 is the expected landing speed and m represents the mass of slurry that can be sprayed by the injection cylinder in one motion cycle.

[0074] The second potential energy represents the kinetic energy of the slurry due to its movement.

[0075] Step S35: Calculate the sum of the first potential energy and the second potential energy to obtain the expected required energy for shotcrete, and mark the energy as the second energy.

[0076] Specifically, the formula of the second energy W0 is:

[0077] mgH0+mv1 2 / 2 = W0;

[0078] The second energy W0 is calculated as the energy required to eject the slurry from the ejection initial point to the ejection target point and achieve the desired landing speed.

[0079] In this embodiment, after determining the second energy (expected required energy for spraying), the first energy and the second energy are superimposed to obtain the total spraying energy corresponding to the actual spraying height. The calculation formula of the total spraying energy W1 is:

[0080] mgh1+W0=W1;

[0081] The total energy of the injection represents the total energy of the slurry during the injection process (W1), which is equal to its initial energy (W0) plus the energy added due to gravity (mgh1). W1 reflects the total energy of the slurry due to its position and speed after it is injected to a certain height. This formula is used in engineering to calculate and analyze the energy demand and conversion during the injection process to ensure that the injection system can provide enough energy to achieve the expected injection effect.

[0082] Given different current / voltage values ​​of the injection cylinder proportional valve, the injection cylinder can be adjusted to do different work. Therefore, after determining the total injection energy, the current value of the proportional valve is calculated by the total injection energy, thereby achieving precise control of the injection flow. Specifically:

[0083] Obtain the proportional coefficient of current and work done, determine the current value of the injection cylinder proportional valve corresponding to the total injection energy according to the proportional coefficient, and determine the target injection flow rate according to the current value of the injection cylinder proportional valve, so that the nozzle can spray the slurry according to the target injection flow rate. At this time, the slurry can accurately fall on the actual injection height of the surface to be sprayed.

[0084] The proportional coefficient between current and work can be determined based on a large number of experiments. In this embodiment, the positive proportional coefficient between current and work of the injection cylinder is K, and the conversion formula between total injection energy and current value is:

[0085] W1=K*I; where I is the proportional valve current value and W1 is the total injection energy.

[0086] It should be noted that the proportional valve controls the injection flow of the slurry by adjusting the position of the valve core. Changes in the current value will change the position of the valve core, thereby changing the flow through the valve. The proportional relationship between the current value and the flow of the proportional valve can be provided by the manufacturer of the proportional valve, or can be determined through experiments. During the experimental test, the flow can be measured at different current values ​​to establish an accurate mathematical model. Once the relationship model between the current value and the flow is established, the corresponding injection flow can be calculated by measuring the current value in actual operation.

[0087] Combination Figure 4 As shown, during the spraying process, the wet spraying arm will drive the spray head to move at a uniform speed in a single stroke. During the movement, the spray head is aimed at each spray point on the spray surface, and the real-time relative position data between the spray head and the spray surface is updated through the real-time posture data collected by the scanner and the sensor during the movement, and the current actual spray height is determined. The total spray energy is calculated according to the current actual spray height, and the current value of the spray cylinder proportional valve is adjusted according to the total spray energy, thereby changing the target spray flow rate, spraying a certain amount of slurry according to the target spray flow rate, and the slurry accurately falls to the current actual spray height. At this time, the amount of slurry sprayed matches the surface concave-convex situation at the current actual spray height. Afterwards, the spray head continues to move at a uniform speed to the next spray point of the single stroke, and the next spray point is dynamically sprayed by the same method, and so on, until the spraying action of the single stroke is completed. Continue to enter the next single stroke, and repeat the above process in the next single stroke until the entire spray surface is completed. According to this method, spraying the spray surface can make the arch surface relatively flat and improve the quality of wet spraying.

[0088] Furthermore, in order to achieve precise control of the injection flow, a flow sensor can be installed to detect the real-time flow of the slurry in the nozzle, and the flow control adopts PID closed-loop control to achieve stepless control of the flow and optimize the control effect. Specifically:

[0089] The real-time flow rate of the slurry at the nozzle is obtained, and the control deviation is determined according to the real-time flow rate of the slurry based on the feedback control algorithm, that is, the real-time flow rate of the slurry is compared with the calculated target injection flow rate, and the difference between the two is calculated and used as the control deviation.

[0090] When the control deviation is greater than the threshold, it means that the deviation is too large. At this time, a corresponding correction signal is generated according to the difference in the control deviation to adjust the current value of the injection cylinder proportional valve, thereby adjusting the injection flow rate so that the control deviation between the corrected slurry real-time flow rate and the calculated target injection flow rate is maintained less than or equal to the threshold.

[0091] An embodiment of the present invention proposes an intelligent control method for the spraying flow of a wet spraying truck. The energy required for spraying the slurry to a required spraying height is calculated according to the relative position data between the nozzle and the surface to be sprayed, and the spraying flow of the nozzle is dynamically adjusted according to the required energy, so that the amount of sprayed slurry matches the unevenness of the surface to be sprayed, so that the slurry distribution on the uneven surface to be sprayed is relatively uniform, thereby solving the problem of unstable hanging and rebound of mud due to flow matching errors, reducing the leveling work after spraying, and effectively improving the quality level of wet spraying.

[0092] Another embodiment of the present invention provides an injection flow control system, which executes the injection flow control method as described above.

[0093] It should be noted that the functions of each module in the system of the embodiment of the present invention can refer to the corresponding description in the above method, which will not be repeated here.

[0094] Another embodiment of the present invention provides an electronic device, Figure 5 FIG. 2 shows a structural block diagram of an electronic device according to an embodiment of the present invention. Figure 5 As shown, the electronic device includes: a memory 100 and a processor 200, wherein the memory 100 stores a computer program that can be run on the processor 200. When the processor 200 executes the computer program, the injection flow control method in the above embodiment is implemented. The number of the memory 100 and the processor 200 can be one or more.

[0095] The electronic device also includes:

[0096] The communication interface 300 is used to communicate with external devices and perform data exchange transmission.

[0097] If the memory 100, the processor 200 and the communication interface 300 are implemented independently, the memory 100, the processor 200 and the communication interface 300 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0098] Optionally, in a specific implementation, if the memory 100, the processor 200 and the communication interface 300 are integrated on a chip, the memory 100, the processor 200 and the communication interface 300 can communicate with each other through an internal interface.

[0099] An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which implements the method provided in the embodiment of the present invention when executed by a processor.

[0100] An embodiment of the present invention further provides a chip, which includes a processor for calling and executing instructions stored in the memory from the memory, so that a communication device equipped with the chip executes the method provided by the embodiment of the present invention.

[0101] An embodiment of the present invention also provides a chip, including: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected via an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute the method provided by the embodiment of the invention.

[0102] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting the advanced RISC machines (ARM) architecture.

[0103] Further, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may also include a non-volatile random access memory. The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may include a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct rambus RAM (DR RAM).

[0104] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.

[0105] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0106] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0107] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for controlling injection flow, characterized in that: include: Acquire real-time posture data, and determine relative position data between the nozzle and the surface to be sprayed according to the real-time posture data based on a pre-built spatial model; Determine the actual spraying height of the nozzle in a single stroke according to the relative position data, and calculate the first energy required to lift the slurry sprayed from the nozzle to the actual spraying height; The first energy and the second energy are superimposed to obtain a total injection energy corresponding to the actual injection height, and a target injection flow rate of the nozzle is adjusted according to the total injection energy; wherein the second energy is determined according to a preset expected landing speed.

2. The injection flow control method according to claim 1, characterized in that: Also includes: Acquire first spatial information of the wet spraying vehicle where the spray head is located, and second spatial information of the surface to be sprayed; The first spatial information and the second spatial information are transferred to the same coordinate system to obtain the spatial model between the wet spraying vehicle and the surface to be sprayed.

3. The injection flow control method according to claim 1, characterized in that: The calculation method of the second energy includes: Acquiring the preset expected landing speed, and determining, according to the expected landing speed, the position where the slurry is sprayed at a preset initial speed and reaches the surface to be sprayed under the action of gravity as the spraying target point; Determine the vertical height between the injection starting point and the injection target point by using the spatial model, and calculate the first potential energy of the slurry sprayed from the nozzle according to the vertical height; Calculating the second potential energy of the slurry moving to the injection target point according to the expected landing point speed; The sum of the first potential energy and the second potential energy is calculated to obtain the second energy.

4. The injection flow control method according to claim 1, characterized in that: The calculation of the first energy required for the slurry sprayed from the nozzle to be raised to the actual spraying height comprises: Obtaining the mass of slurry that can be sprayed by the nozzle within a unit movement cycle; The first energy is obtained by calculating the product of the slurry mass, the gravitational acceleration and the actual injection height.

5. The injection flow control method according to claim 1, characterized in that: The step of adjusting the target injection flow rate of the nozzle according to the total injection energy comprises: A proportionality coefficient between current and work is obtained, a current value of an injection cylinder proportional valve corresponding to the total injection energy is determined according to the proportionality coefficient, and the target injection flow rate is determined according to the current value.

6. The injection flow control method according to claim 1, characterized in that: Also includes: Acquiring a real-time flow rate of the slurry of the nozzle, and determining a control deviation according to the real-time flow rate of the slurry based on a feedback control algorithm; When the control deviation is greater than a threshold, a correction signal is generated to adjust the injection flow rate, so that the control deviation between the corrected real-time slurry flow rate and the target injection flow rate is maintained at a level less than or equal to the threshold.

7. The injection flow control method according to claim 1, characterized in that: The real-time posture data is detected by a sensor installed on the wet spraying vehicle, and the real-time posture data includes angle data and length data.

8. A jet flow control system, characterized in that: Execute the injection flow control method as described in any one of claims 1 to 7.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores instructions, and the instructions are loaded and executed by the processor to implement the injection flow control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the injection flow control method according to any one of claims 1 to 7 is implemented.

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