A jet flow control method, system, device and medium

Abstract

The present invention provides a jet flow control method, system, device and medium. The method includes: obtaining real-time attitude data, and determining relative position data between a nozzle and a surface to be sprayed according to the real-time attitude data based on a pre-constructed spatial model; determining an actual spraying height of the nozzle within a single stroke according to the relative position data, and calculating a first energy required for the slurry ejected from the nozzle to be lifted to the actual spraying height; superimposing the first energy and a second energy to obtain a total spraying energy corresponding to the actual spraying height, and adjusting a target spraying flow rate of the nozzle according to the total spraying energy; wherein, the second energy is determined according to a preset expected landing speed. The present invention can solve the problems of unstable hanging and falling and rebound of mud caused by incorrect flow matching, and effectively improve the quality level of wet spraying.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent shotcreting, and particularly to a method, system, device and medium for controlling the spraying flow rate. Background Art

[0002] At present, during the use of a wet shotcreting vehicle, the operator usually adjusts the spraying flow rate according to his own usage experience after understanding the performance of the whole machine. During the spraying process, the spraying flow rate of the slurry is fixed. However, for an uneven surface to be sprayed or during the movement of the nozzle boom, assuming that the slurry is still sprayed at the flow rate value set by the operator, it will result in uneven slurry hanging amount on the surface to be sprayed. Coupled with the fact that the accuracy of manually adjusting the spraying flow rate cannot be guaranteed, problems such as unstable mud hanging and excessive rebound are likely to occur, thus affecting the wet shotcreting effect. Summary of the Invention

[0003] Embodiments of the present invention provide a method, system, device and medium for controlling the spraying flow rate to solve the problems existing in the related art. The technical solutions are as follows:

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling the spraying flow rate, including:

[0005] Obtain real-time attitude data, and determine the relative position data between the nozzle and the surface to be sprayed based on a pre-constructed space model according to the real-time attitude data;

[0006] Determine the actual spraying height of the nozzle within a single stroke according to the relative position data, and calculate the first energy required for the slurry ejected from the nozzle to be lifted to the actual spraying height;

[0007] Superimpose the first energy and the second energy to obtain the total spraying energy corresponding to the actual spraying height, and adjust the target spraying flow rate of the nozzle according to the total spraying energy, so that the slurry ejected from the nozzle at the target spraying flow rate matches the surface characteristics of the surface to be sprayed and the ejected slurry can accurately reach the actual spraying height; wherein, the second energy is determined according to a preset expected landing speed.

[0008] In one embodiment, it further includes:

[0009] Obtain the first spatial information of the wet shotcreting vehicle where the nozzle is located and the second spatial information of the surface to be sprayed; both the first spatial information and the second spatial position are obtained by scanning with a scanner;

[0010] Transfer the first spatial information and the second spatial information to the same coordinate system to obtain the space model between the wet shotcreting vehicle and the surface to be sprayed.

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

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

[0013] Determine the vertical height between the spraying initial point and the spraying target point through a spatial model, and calculate the first potential energy of the slurry ejected by the nozzle according to the vertical height;

[0014] Calculate the second potential energy of the slurry when it moves to the spraying target point according to the expected landing speed;

[0015] Calculate the sum of the first potential energy and the second potential energy to obtain the second energy.

[0016] In one implementation manner, calculating the first energy required for the slurry ejected by the nozzle to be lifted to the actual spraying height includes:

[0017] Obtain the mass of the slurry that the nozzle can spray within a unit motion cycle;

[0018] Calculate the product of the slurry mass, the acceleration due to gravity, and the actual spraying height to obtain the first energy.

[0019] In one implementation manner, adjusting the target spraying flow rate of the nozzle according to the total spraying energy includes:

[0020] Obtain the proportional coefficient of current and work, determine the current value of the proportional valve of the spraying oil cylinder corresponding to the total spraying energy according to the proportional coefficient, and determine the target spraying flow rate according to the current value.

[0021] In one implementation manner, it further includes:

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

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

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

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

[0026] In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory and a processor. Among them, the memory and the processor communicate with each other through an internal connection path. The memory is used to store instructions, and the processor is used to execute the instructions stored in the memory. When the processor executes the instructions stored in the memory, the processor is caused to execute the method in any one of the above aspects.

[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 aspects is executed.

[0028] The advantages or beneficial effects in the above technical solutions at least include:

[0029] The present invention proposes an intelligent control method for the spraying flow rate of a wet spraying vehicle. The energy required for the slurry to be sprayed to the required spraying height is calculated according to the relative position data between the spray head and the surface to be sprayed. The spraying flow rate of the spray head is dynamically adjusted according to the energy of the slurry sprayed to the required spraying height, so that the amount of the sprayed slurry matches the unevenness of the surface to be sprayed, making the slurry distribution on the uneven surface to be sprayed relatively uniform, solving the problems of unstable hanging and rebound of the slurry caused by incorrect flow rate matching, and effectively improving the quality level of wet spraying.

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

[0031] In the drawings, unless otherwise specified, the same reference numerals throughout the several views denote the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in accordance with 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 spraying flow rate 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 spraying trajectory of the slurry ejected from the spray head of the present invention;

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

[0036] Figure 5 Block diagram of an electronic device according to an embodiment of the present invention. Detailed implementation manners

[0037] In the following, only some exemplary embodiments are briefly described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0038] Currently, during the use of wet shotcreting vehicles, the adjustment of the spraying flow rate during the wet shotcreting process all comes from the operating experience of the operator after understanding the overall machine performance, and the wet shotcreting effect is unstable; moreover, for an uneven surface to be sprayed or during the movement of the nozzle boom, if the spraying flow rate is not adjusted in time, when the spraying flow rate is too small, there is an easy problem of unstable mud hanging and falling, while when the spraying flow rate is too large, there is an easy problem of excessive slurry rebound, affecting the final wet shotcreting effect.

[0039] To solve the above problems, an embodiment of the present invention provides a spraying flow rate control method, which can dynamically adjust the spraying flow rate according to the uneven situation of the surface to be sprayed, ensure the slurry hanging effect on the surface to be sprayed, reduce the later leveling work, and improve the wet shotcreting effect.

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

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

[0042] It should be noted that a wet shotcreting vehicle is a device for spraying slurry, and the main components on the wet shotcreting vehicle include a nozzle, a boom, a spraying oil cylinder, a proportional valve of the spraying oil cylinder, etc. The specific explanations are as follows:

[0043] The nozzle is the direct execution component for spraying concrete on the wet shotcreting vehicle, located at the end of the boom. The function of the nozzle is to spray the premixed slurry onto the surface to be sprayed at a high speed through the pumping mechanism and form a concrete support layer after rapid setting.

[0044] The wet shotcreting boom is connected to the vehicle chassis of the wet shotcreting vehicle and adjusts the position and direction of the nozzle through movements with multiple degrees of freedom (such as telescoping, folding, swinging).

[0045] The spraying oil cylinder is used to push the slurry through the pumping system to the nozzle and form a spraying beam to be sprayed out through the nozzle.

[0046] The proportional valve of the spraying oil cylinder is connected to the spraying oil cylinder and can adjust the spraying flow rate of the slurry according to the magnitude of the current.

[0047] It should be noted that the structural functions of the components in the wet shotcreting vehicle and the connection relationships between the components have been disclosed in the prior art and will not be described in detail herein. As Figure 2 shown, the wet shotcreting vehicle in this embodiment is used to spray mortar on the surface to be sprayed of the arch structure. The arch structure refers to a frame structure composed of a series of bow-shaped members used to support the structure and maintain its shape in a bridge. Spraying mortar on the surface to be sprayed of the arch can improve the stability and safety of the bridge.

[0048] This embodiment uses an existing wet shotcreting vehicle and installs detection devices such as sensors and scanners at appropriate positions 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 shotcreting boom. Through various movements of the wet shotcreting boom, such as slewing of the boom base, pitching of the main boom, and telescoping of the main boom, etc., the scanner installed on the wet shotcreting boom can be driven to move, and the wet shotcreting vehicle itself can be scanned from different angles and positions. The obtained three-dimensional point cloud data of the wet shotcreting vehicle is used as the first spatial information.

[0050] In another implementation manner, the wet shotcreting vehicle can also be scanned by a scanner installed outside the wet shotcreting vehicle to obtain the first spatial information. Or the posture of the boom can be detected by sensors installed on the wet shotcreting boom of the wet shotcreting vehicle to obtain real-time posture data. The real-time posture data includes angle data, length data, etc. The first spatial information is determined according to the real-time posture data; among them, the sensors include length and angle sensors, main boom angle sensors, etc.

[0051] In addition, the arch structure is scanned by a scanner installed on the wet shotcreting boom. At least one surface of the arch structure is the surface to be sprayed. The three-dimensional point cloud data obtained by scanning the arch structure by the scanner is used as the second spatial information. The second spatial information records the surface characteristics of the surface to be sprayed and the boundary contour characteristics of the arch to improve the subsequent spraying flow rate control accuracy.

[0052] Establish the coordinate systems of the wet shotcreting boom and the arch structure, map the first spatial information and the second spatial information onto the same coordinate system; and obtain the position relationship between the specified markers on the wet shotcreting vehicle and the specified markers on the arch. According to this position relationship, the relative positions between the wet shotcreting vehicle and the arch structure are determined in the coordinate system, thereby generating a spatial model including the wet shotcreting vehicle and the arch structure. The position relationship between the wet shotcreting vehicle and the arch is accurately recorded in the spatial model, and the positions of the nozzle and the surface to be sprayed are marked in the spatial model, thereby determining the relative position relationship between the nozzle and the surface to be sprayed.

[0053] To improve the positioning accuracy of the relative position, in this embodiment, the real-time attitude data of the wet shotcreting boom is collected by a sensor. While determining the boom attitude according to the real-time attitude data, during the movement of the wet shotcreting boom, a scanner is also used to scan the surface to be sprayed to obtain the relative position between the nozzle and the surface to be sprayed. The scanned data obtained by scanning and the attitude data detected by the sensor 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 facilitate the subsequent dynamic adjustment of the spraying flow rate according to the real-time position relationship.

[0054] Step S2: Determine the actual spraying height of the nozzle within a single stroke according to the relative position data, and calculate the first energy required for the slurry ejected from the nozzle to be lifted 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 according to the nozzle coordinates and the coordinate information on the surface to be sprayed.

[0056] The nozzle will move as the wet shotcreting boom moves. During the shotcreting process, the wet shotcreting boom usually moves from top to bottom along an S-shaped trajectory to ensure that the slurry ejected from 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 injection cylinder from the extension to the end of its maximum stroke to the contraction of the cylinder to the end of its minimum stroke is regarded as a complete motion cycle. In a motion cycle of an injection cylinder, the amount of slurry ejected is limited. Here, the mass of the slurry that can be ejected by the injection cylinder in one motion cycle is marked as m, and the injection stroke that can be achieved in one motion cycle is called a single stroke.

[0058] During the spraying process, the actual spraying point of the nozzle within a single stroke will change. Determine the current attitude according to the current attitude data of the wet shotcreting boom, update the spatial model according to the current attitude to obtain the relative position data between the nozzle and the actual spraying point on the surface to be sprayed, determine the actual spraying height corresponding to the actual spraying point in the spatial model according to the relative position data, and calculate the product of the slurry mass, the actual spraying height, and the acceleration due to gravity to obtain the first energy.

[0059] The expression of the first energy is:

[0060] First energy = mgh1, where h1 represents the actual spraying height of the slurry within a single stroke of the injection cylinder, m represents the mass of the slurry that can be ejected by the injection cylinder in one motion cycle, and g is the acceleration due to gravity.

[0061] The first energy represents the gravitational potential energy of the slurry at the actual spraying 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 ejected from the nozzle at the target injection flow rate reaches the actual injection height.

[0063] Since the injection trajectory of the slurry presents an arc shape due to gravity after ejection, as Figure 3 shown, if the slurry is to accurately fall to the injection target point at the expected landing speed, it is necessary to calculate the expected demand energy for slurry injection at the nozzle.

[0064] Specifically, the steps for the expected demand energy for slurry injection at the nozzle are as follows:

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

[0066] Among them, in this embodiment, the expected landing speed is obtained based on experience. The expected landing speed is related to factors such as the mass of the slurry and the wet or dry degree 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, thus meeting the expected engineering quality requirements.

[0067] Step S32: Determine that the position where the slurry is ejected at the preset initial speed and reaches the surface to be sprayed under the action of gravity is the injection target point according to the expected landing speed.

[0068] Step S33: Determine the position of the injection target point from the spatial model, determine the vertical height between the injection starting 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.

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

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

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

[0072] Specifically, the calculation formula for 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 the slurry that can be injected by the injection cylinder in one movement cycle.

[0074] The second potential energy represents the kinetic energy possessed by the movement of the slurry.

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

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

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

[0078] The second energy W0 calculates the energy required to spray the slurry from the initial spraying point to the target spraying point and reach the desired landing speed.

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

[0080] mgh1 + W0 = W1;

[0081] The total spraying energy represents that the total energy (W1) of the slurry during spraying is equal to its initial energy (W0) plus the energy increased due to the action of gravity (mgh1). W1 reflects the total energy of the slurry due to its position and speed after spraying to a certain height. This formula is used in engineering to calculate and analyze the energy requirements and conversions during the spraying process to ensure that the spraying system can provide sufficient energy to achieve the expected spraying effect.

[0082] Since different current / voltage values of the given shotcreting cylinder proportional valve can adjust the different work done by the shotcreting cylinder. Therefore, after determining the total spraying energy, the current value of the proportional valve is calculated through the total spraying energy, thereby achieving precise control of the spraying flow rate. Specifically:

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

[0084] Among them, the proportional coefficient between the current and the work done can be determined through a large number of experiments. In this embodiment, the proportional coefficient between the current and the work done by the shotcreting cylinder is K. The conversion formula between the total spraying energy and the current value is:

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

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

[0087] Combined with Figure 4 As shown, during the spraying process, the wet spraying boom will drive the spray head to move uniformly in a single stroke. When moving, the spray head aims at each spraying point on the surface to be sprayed, and updates the real-time relative position data between the spray head and the surface to be sprayed through the real-time attitude data collected by the scanner and the sensor during the movement, determines the current actual spraying height, calculates the total spraying energy according to the current actual spraying height, adjusts the current value of the proportional valve of the spraying cylinder according to the total spraying energy, thereby changing the target spraying flow rate, sprays a certain amount of slurry according to the target spraying flow rate, and the slurry accurately falls to the current actual spraying height. At this time, the amount of slurry sprayed matches the surface unevenness of the position where the current actual spraying height is located. Subsequently, the spray head continues to move to the next spraying point of the single stroke at a uniform speed, and performs dynamic spraying on the next spraying point by the same method, and so on until the spraying operation 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 spraying operation of the entire surface to be sprayed is completed. Spraying the surface to be sprayed according to this method can make the surface of the arch relatively flat and improve the quality of wet spraying.

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

[0089] Obtain the real-time flow rate of the slurry of the spray head, and determine the control deviation based on the feedback control algorithm according to the real-time flow rate of the slurry, that is, compare the real-time flow rate of the slurry with the calculated target spraying flow rate, and calculate the difference between the two as the control deviation.

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

[0091] An embodiment of the present invention provides an intelligent control method for the spraying flow rate of a wet spraying vehicle. The required energy for the slurry to reach the required spraying height is calculated based on the relative position data between the nozzle and the surface to be sprayed. The spraying flow rate 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, making the slurry distribution on the uneven surface to be sprayed relatively uniform, solving the problems of unstable hanging and rebound of the slurry caused by incorrect flow rate matching, reducing the leveling work after spraying, and effectively improving the quality level of wet spraying.

[0092] Another embodiment of the present invention provides a spraying flow rate control system, and this system executes the spraying flow rate 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 descriptions in the above method, and will not be elaborated here.

[0094] Another embodiment of the present invention provides an electronic device. Figure 5 The structural block diagram of the electronic device according to an embodiment of the present invention is shown. As Figure 5 shown, the electronic device includes: a memory 100 and a processor 200. A computer program that can run on the processor 200 is stored in the memory 100. When the processor 200 executes the computer program, the spraying flow rate 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 further includes:

[0096] a communication interface 300, which is used to communicate with external devices and perform data interaction and transmission.

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

[0098] Optionally, in 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 complete communication with each other through an internal interface.

[0099] An embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, the method provided in the embodiment of the present invention is implemented.

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

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

[0102] It should be understood that the above-mentioned processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), 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 that supports 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 random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM).

[0104] In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it may 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 processes or functions according to the present invention are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may 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 descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection 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 a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0106] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0107] As described above, the above are only the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various changes or substitutions, and these should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to 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 injection height of the slurry in a single stroke of the injection cylinder according to the relative position data, and calculate the first energy required to lift the slurry sprayed from the nozzle to the actual injection height; wherein the calculation method of the first energy is: obtain the mass of the slurry that can be sprayed by the nozzle in a unit motion cycle; calculate the product of the mass of the slurry, the gravitational acceleration and the actual injection height to obtain the first energy; 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; wherein the second energy is calculated by: Obtaining a preset expected landing speed, and determining, according to the expected landing speed, a position where the slurry is sprayed at a preset initial speed and reaches the surface to be sprayed under the action of gravity as a 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.

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 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.

4. 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 slurry real-time flow rate and the target injection flow rate is maintained at a level less than or equal to the threshold.

5. 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.

6. A jet flow control system, characterized in that: Execute the injection flow control method as described in any one of claims 1 to 5.

7. 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 as described in any one of claims 1 to 5.

8. 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 5 is implemented.

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