Deviation correction control method, system, equipment and program product of traveling type suction dredger

Abstract

The invention relates to the technical field of traveling type suction dredgers, in particular to a deviation correction control method, system and equipment of a traveling type suction dredger and a program product. Radar wave distance measuring devices are installed at the four corners of a working bridge of the traveling type suction dredger correspondingly; the method comprises the following steps: detecting position information and height information of each corner of the traveling type suction dredger relative to a track by utilizing a radar wave distance measuring device; based on the position information and the height information, calculating the position distance difference and the left-right height difference of the traveling type suction dredger relative to the track in the traveling process; based on the position distance difference and / or the left-right height difference, determining a deviation correction control strategy of the traveling type suction dredger, so as to control the traveling type suction dredger based on the deviation correction control strategy. Therefore, the problem that huge threats are brought to equipment safety, personnel safety and water supply safety when deviation or inclination occurs in the actual operation process of the traveling crane type suction dredger is solved, automatic deviation correction of the traveling crane type suction dredger is achieved, and the production efficiency and the automation level of the production process are improved.

Description

Technical Field

[0001] The present application relates to the technical field of a traveling type sludge suction machine, and in particular to a deviation correction control method, system, equipment and program product of a traveling type sludge suction machine. Background Art

[0002] In the field of municipal water treatment, the driving sludge suction machine is an indispensable key equipment in the horizontal flow sedimentation tank, which undertakes the important task of extracting bottom sludge and maintaining water clarity. With the continuous growth of urban water supply demand, the design of horizontal flow sedimentation tanks is increasingly tending to be large-scale to meet higher water treatment volume and more stringent sedimentation effect requirements. This design trend directly leads to the characteristics of large span of sedimentation tank and long driving travel, which poses unprecedented challenges to the operation stability and accuracy of the driving sludge suction machine.

[0003] During the actual operation of the crane-type sludge suction machine, due to the influence of various factors, such as uneven tracks, uneven wheel wear, and differences in motor drive performance, deviation often occurs. This deviation is manifested as one side of the crane moving significantly slower or faster than the other side, or the two ends of the crane cannot remain horizontal during movement, resulting in the crane being unable to maintain an ideal vertical motion state on the track, thereby forming a certain deflection angle. As the offset gradually accumulates, the deflection angle will continue to increase. When the angle exceeds a certain limit, serious rail gnawing will occur, that is, the wheels of the crane will rub against the edge of the track or even get stuck, which will not only aggravate equipment wear and reduce service life, but may also cause derailment accidents, resulting in the entire water plant being shut down, posing a huge threat to equipment safety, personnel safety, and water supply safety. Summary of the invention

[0004] The present application provides a deviation correction control method, system, equipment and program product for a traveling sludge suction machine, so as to solve the problem that when the traveling sludge suction machine deviates or tilts during actual operation, it poses a huge threat to equipment safety, personnel safety and water supply safety.

[0005] A first aspect of the present application provides a deviation correction control method for a traveling sludge suction machine, wherein radar wave ranging devices are respectively installed at the four corners of the working bridge of the traveling sludge suction machine, and the method comprises the following steps: using the radar wave ranging device to detect the position information and height information of each corner of the traveling sludge suction machine relative to the track; calculating the position distance difference and the left-right height difference of the traveling sludge suction machine relative to the track during the movement based on the position information and the height information; determining the deviation correction control strategy of the traveling sludge suction machine based on the position distance difference and / or the left-right height difference, so as to control the traveling sludge suction machine based on the deviation correction control strategy.

[0006] Optionally, when controlling the traveling sludge suction machine based on the deviation correction control strategy, it also includes: collecting current operating data of the traveling sludge suction machine; using a preset algorithm to compare the current operating data with preset historical normal operating data to obtain abnormal data in the current operating data; matching the abnormal data with the fault features in a preset fault feature library to obtain the current fault type of the traveling sludge suction machine, and sending a fault warning signal to a preset terminal.

[0007] Optionally, the correction control strategy for determining the traveling mud suction machine based on the position distance difference and / or the left and right height difference includes: if the position distance difference is greater than a first preset threshold value and less than a second preset threshold value, the correction control strategy is to determine the current offset of the traveling mud suction machine based on the position distance difference, and adjust the frequencies of the variable frequency motors on both sides of the traveling mud suction machine according to the current offset until the offset is reduced to a preset range; if the position distance difference is greater than or equal to the second preset threshold value and less than a third preset threshold value, the correction control strategy is to control the traveling mud suction machine to stop on one side; if the position distance difference is greater than or equal to the third preset threshold value, the correction control strategy is to control the traveling mud suction machine to stop running.

[0008] Optionally, adjusting the frequencies of the variable frequency motors on both sides of the traveling mud suction machine according to the offset includes: based on the current offset, determining the frequency adjustment amounts of the variable frequency motors on both sides of the traveling mud suction machine according to the corresponding relationship between a preset offset and the frequency adjustment amounts of the variable frequency motors on both sides; and sending corresponding frequency control instructions to the variable frequency motors on both sides based on the frequency adjustment amounts, so that the traveling mud suction machine moves in the opposite direction of the offset direction.

[0009] Optionally, the correction control strategy of the traveling sludge suction machine is determined based on the position distance difference and / or the left-right height difference, and also includes: if the left-right height difference is greater than a fourth preset threshold value, sending an abnormal posture signal of the traveling sludge suction machine to a preset terminal to remind the operator to correct the posture of the traveling sludge suction machine.

[0010] A second aspect of the present application provides a correction control system for a traveling sludge suction machine, wherein radar wave ranging devices are respectively installed at the four corners of the working bridge of the traveling sludge suction machine, and the system comprises: a detection module, used to use the radar wave ranging device to detect the position information and height information of each corner of the traveling sludge suction machine relative to the track; a calculation module, used to calculate the position distance difference and the left-right height difference of the traveling sludge suction machine relative to the track during the movement based on the position information and the height information; and a control module, used to determine the correction control strategy of the traveling sludge suction machine based on the position distance difference and / or the left-right height difference, so as to control the traveling sludge suction machine based on the correction control strategy.

[0011] Optionally, when controlling the traveling sludge suction machine based on the deviation correction control strategy, the control module is also used to: collect current operating data of the traveling sludge suction machine; compare the current operating data with preset historical normal operating data using a preset algorithm to obtain abnormal data in the current operating data; match the abnormal data with the fault features in a preset fault feature library to obtain the current fault type of the traveling sludge suction machine, and send a fault warning signal to a preset terminal.

[0012] Optionally, the control module is also used for: if the position distance difference is greater than a first preset threshold and less than a second preset threshold, the correction control strategy is to determine the current offset of the traveling mud suction machine based on the position distance difference, and adjust the frequency of the variable frequency motors on both sides of the traveling mud suction machine according to the current offset until the offset is reduced to a preset range; if the position distance difference is greater than or equal to the second preset threshold and less than a third preset threshold, the correction control strategy is to control the traveling mud suction machine to stop on one side; if the position distance difference is greater than or equal to the third preset threshold, the correction control strategy is to control the traveling mud suction machine to stop running.

[0013] Optionally, the control module is also used to: determine the frequency adjustment amount of the variable frequency motors on both sides of the traveling mud suction machine based on the current offset and the corresponding relationship between the preset offset and the frequency adjustment amount of the variable frequency motors on both sides; and send corresponding frequency control instructions to the variable frequency motors on both sides based on the frequency adjustment amount, so that the traveling mud suction machine moves in the opposite direction of the offset direction.

[0014] Optionally, the control module is further used to: if the left and right height difference is greater than a fourth preset threshold, send an abnormal posture signal of the traveling sludge suction machine to a preset terminal to remind the operator to correct the posture of the traveling sludge suction machine.

[0015] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the deviation correction control method of the traveling dredge suction machine as described in the above embodiment.

[0016] The fourth aspect of the present application provides a computer program product on which a computer program is stored. The program is executed by a processor to implement the deviation correction control method of the traveling sludge suction machine as described in the above embodiment.

[0017] In the above implementation, a radar wave ranging device is used to detect the position information and height information of each corner of the traveling sludge suction machine relative to the track, and the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during the travel process are calculated based on the position information and height information, and the deviation correction control strategy of the traveling sludge suction machine is determined based on the position distance difference and / or left-right height difference, so as to control the traveling sludge suction machine based on the deviation correction control strategy. In this way, the problem that the deviation or tilt during the actual operation of the traveling sludge suction machine poses a huge threat to the safety of equipment, personnel and water supply is solved, and the automatic deviation correction of the traveling sludge suction machine is realized, thereby improving the production efficiency and the automation level of the production process.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 It is a flow chart of a deviation correction control method of a traveling type sludge suction machine provided according to an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the operation of a traveling type sludge suction machine according to an embodiment of the present application;

[0022] Figure 3 It is a structural schematic diagram of a traveling type sludge suction machine according to one embodiment of the present application;

[0023] Figure 4 This is an example diagram of a deviation correction control system of a traveling type sludge suction machine according to an embodiment of the present application;

[0024] Figure 5 Schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0026] The following describes the deviation correction control method, system, device and program product of the driving type suction sludge machine of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the driving type suction sludge machine mentioned in the above background technology poses a huge threat to the safety of equipment, personnel and water supply when it deviates or tilts during the actual operation, the present application provides a deviation correction control method for the driving type suction sludge machine, in which a radar wave ranging device is used to detect the position information and height information of each corner of the driving type suction sludge machine relative to the track, and the position distance difference and the left and right height difference of the driving type suction sludge machine relative to the track during the travel are calculated based on the position information and height information, and the deviation correction control strategy of the driving type suction sludge machine is determined based on the position distance difference and / or the left and right height difference, so as to control the driving type suction sludge machine based on the deviation correction control strategy. Thus, the problem that the driving type suction sludge machine poses a huge threat to the safety of equipment, personnel and water supply when it deviates or tilts during the actual operation is solved, and the automatic deviation correction of the driving type suction sludge machine is realized, and the production efficiency and the automation level of the production process are improved.

[0027] Specifically, Figure 1 A schematic flow chart of a deviation correction control method for a traveling sludge suction machine provided in an embodiment of the present application.

[0028] like Figure 1 As shown, the deviation correction control method of the traveling type sludge suction machine comprises the following steps:

[0029] In step S101, the position information and height information of each corner of the traveling suction dredger relative to the track are detected by using a radar wave ranging device.

[0030] Specifically, radar wave ranging devices are installed at the four corners of the working bridge of the traveling sludge suction machine to collect the position information and height information of each corner of the traveling sludge suction machine relative to the track. The working scene of the traveling sludge suction machine is as follows: Figure 2 As shown in the figure, the structure of the traveling sludge suction machine is as follows: Figure 3 shown.

[0031] In step S101, the position distance difference and the left-right height difference of the traveling suction dredger relative to the track during the traveling process are calculated based on the position information and the height information.

[0032] Among them, the position distance difference is the difference between the two sides of the traveling sludge suction machine and the center line of the track in the horizontal distance direction, and the left and right height difference is the difference between the two sides of the traveling sludge suction machine and the track in the vertical distance direction.

[0033] In step S101, a deviation correction control strategy of the traveling dredger is determined based on the position distance difference and / or the left-right height difference, so as to control the traveling dredger based on the deviation correction control strategy.

[0034] Optionally, in some embodiments, when controlling the traveling sludge suction machine based on the deviation correction control strategy, it also includes: collecting current operating data of the traveling sludge suction machine; using a preset algorithm to compare the current operating data with preset historical normal operating data to obtain abnormal data in the current operating data; matching the abnormal data with the fault features in a preset fault feature library to obtain the current fault type of the traveling sludge suction machine, and sending a fault warning signal to a preset terminal.

[0035] In the initial stage of system operation, various data of the traveling suction sludge machine under normal operating conditions are collected and sorted out, and stored in the database as preset historical normal operating data.

[0036] Among them, the fault feature library is established based on historical fault records and maintenance experience. Each fault type corresponds to a set of specific abnormal data features (such as motor overheating corresponds to high current and low voltage; low mud suction efficiency may correspond to mud suction pump blockage or wear, etc.).

[0037] Specifically, the embodiments of the present application can use high-precision sensors and Internet of Things technology to install sensors at key parts of the travel-type mud suction machine (such as motors, transmission mechanisms, mud suction pumps, walking wheels, etc.). These sensors collect real-time operating data including motor current, voltage, speed, temperature, mud suction efficiency (monitored by flow meter), walking speed, position information, etc., and transmit them to the database of the central monitoring system for storage via wireless methods (such as Wi-Fi, LoRa, NB-IoT, etc.).

[0038] Furthermore, machine learning algorithms (such as support vector machines SVM, random forest RF, etc.) or statistical methods (such as the mean-standard deviation method) are used to define the threshold range of normal operation, and the current operation data received in real time is compared with the preset historical normal operation data to identify data points that exceed the normal range, that is, abnormal data.

[0039] Further, similarity calculation methods (such as Euclidean distance, cosine similarity, etc.) can be used to match the currently detected abnormal data with the entries in the fault feature library to obtain the current fault type of the traveling sludge suction machine, and send a fault warning signal to a preset terminal, such as sending a fault warning signal to a preset maintenance personnel terminal (such as a mobile phone, tablet computer, computer, etc.) through a system interface, SMS, email, or APP push, etc. The warning information includes the fault type, specific location, and recommended preliminary treatment measures.

[0040] Optionally, in some embodiments, the correction control strategy of the traveling sludge suction machine is determined based on the position distance difference and / or the left and right height difference, including: if the position distance difference is greater than a first preset threshold and less than a second preset threshold, the correction control strategy is to determine the current offset of the traveling sludge suction machine based on the position distance difference, and adjust the frequency of the variable frequency motors on both sides of the traveling sludge suction machine according to the current offset until the offset is reduced to a preset range; if the position distance difference is greater than or equal to the second preset threshold and less than the third preset threshold, the correction control strategy is to control the traveling sludge suction machine to stop on one side; if the position distance difference is greater than or equal to the third preset threshold, the correction control strategy is to control the traveling sludge suction machine to stop running.

[0041] Among them, the first preset threshold, the second preset threshold, the third preset threshold and the preset range can be thresholds set in advance by the user, can be thresholds obtained through a limited number of experiments, or can be thresholds obtained through a limited number of computer simulations, and are not specifically limited here.

[0042] As a specific embodiment, the first preset threshold value may be set to be, for example, 5 cm, the second preset threshold value may be set to be, for example, 10 cm, the third preset threshold value may be set to be, for example, 15 cm, and the preset range may be set to be ±2 cm.

[0043] The position distance difference is continuously monitored by the radar wave ranging device, and the data is transmitted to the controller in real time. If the position distance difference is greater than the first preset threshold value and less than the second preset threshold value, the offset direction and offset amount of the driving suction dredger are determined according to the current position distance difference:

[0044] If the traveling sludge suction machine deviates to the left, the frequency of the left variable frequency motor is increased and the frequency of the right variable frequency motor is reduced to make the sludge suction machine deviate to the right; vice versa, until the deviation is reduced to the preset range;

[0045] If the position distance difference of the traveling sludge suction machine is greater than or equal to the second preset threshold value and less than the third preset threshold value, the controller controls the traveling sludge suction machine to stop on one side. For example, if the movement distance of the left side of the traveling sludge suction machine lags behind the movement distance of the right side, the right frequency conversion motor stops, and when the position distance difference is less than the first preset threshold value, the right frequency conversion motor resumes operation.

[0046] If the position distance difference of the driving type sludge suction machine is greater than or equal to the third preset threshold value, the controller controls the driving type sludge suction machine to stop running.

[0047] At the same time, key information such as the start time, end time, offset, adjustment process and results of each correction is recorded for subsequent analysis and optimization. If an abnormality is detected during the correction process (such as motor failure, sensor data abnormality, etc.), the operation will be stopped immediately and an alarm will be issued, waiting for manual intervention.

[0048] Optionally, in some embodiments, the frequencies of the variable frequency motors on both sides of the traveling mud suction machine are adjusted according to the offset, including: based on the current offset, determining the frequency adjustment amounts of the variable frequency motors on both sides of the traveling mud suction machine according to the correspondence between a preset offset and the frequency adjustment amounts of the variable frequency motors on both sides; and sending corresponding frequency control instructions to the variable frequency motors on both sides based on the frequency adjustment amounts, so that the traveling mud suction machine moves in the opposite direction of the offset direction.

[0049] In order to establish a connection between the offset and the frequency adjustment of the variable frequency motors on both sides, it is necessary to calculate the frequency difference that needs to be adjusted for the variable frequency motors on both sides according to the size, direction and change trend of the offset. Common control algorithms include PID control algorithm, fuzzy control algorithm, etc.

[0050] This application takes the PID control algorithm as an example. The current offset is used as input, and the frequency adjustment amount of the variable frequency motors on both sides is calculated through a combination of three links: proportional (P), integral (I) and differential (D).

[0051] Proportional link (P): The adjustment amount is directly calculated based on the size of the offset. The larger the offset, the larger the adjustment amount.

[0052] Integral phase (I): Integrate the offset to eliminate static error and ensure that the system eventually reaches a stable state.

[0053] Differential link (D): predicts the changing trend of the offset and makes adjustments in advance to speed up the system response and reduce overshoot.

[0054] By adjusting the parameters of the PID controller (proportional coefficient Kp, integral time constant Ti, differential time constant Td), accurate control of different deviation values ​​and change trends can be achieved, thereby calculating the appropriate frequency adjustment amount.

[0055] The frequency adjustment amount calculated by the algorithm will be sent to the control systems of the variable frequency motors on both sides. These adjustments can be specific values ​​(such as Hertz Hz) or relative proportions or percentages. The variable frequency motor control system adjusts the output frequency of the motor according to the received adjustment amount, thereby changing the operating state of the traveling sludge suction machine and reducing or eliminating the offset.

[0056] Optionally, in some embodiments, the correction control strategy of the traveling sludge suction machine is determined based on the position distance difference and / or the left and right height difference, and also includes: if the left and right height difference is greater than a fourth preset threshold, an abnormal posture signal of the traveling sludge suction machine is sent to a preset terminal to remind the operator to correct the posture of the traveling sludge suction machine.

[0057] The fourth preset threshold may be a threshold preset by a user, a threshold obtained through a limited number of experiments, or a threshold obtained through a limited number of computer simulations, which is not specifically limited here.

[0058] Specifically, if the left and right height difference of the traveling sludge suction machine is greater than the fourth preset threshold value, it is judged that the posture of the traveling sludge suction machine is abnormal. At this time, the system generates a posture abnormality signal based on the abnormal result, including the abnormality type, abnormality degree, occurrence time and other information, and sends it to the preset terminal, such as the operator's mobile phone APP, console display, etc.

[0059] After receiving the abnormal posture signal on the preset terminal, the operator takes corresponding measures to correct the posture of the traveling suction dredge, such as adjusting the counterweight, checking and repairing, etc.

[0060] Finally, the relevant information of this abnormal posture event is recorded and archived, including the time of occurrence, abnormality type, handling measures, troubleshooting results, etc., for subsequent analysis and improvement.

[0061] According to the deviation correction control method of the traveling sludge suction machine proposed in the embodiment of the present application, a radar wave ranging device is used to detect the position information and height information of each corner of the traveling sludge suction machine relative to the track, and the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during the travel process are calculated based on the position information and height information, and the deviation correction control strategy of the traveling sludge suction machine is determined based on the position distance difference and / or left-right height difference, so as to control the traveling sludge suction machine based on the deviation correction control strategy. In this way, the problem that the deviation or tilt during the actual operation of the traveling sludge suction machine poses a huge threat to the safety of equipment, personnel and water supply is solved, and the automatic deviation correction of the traveling sludge suction machine is realized, and the production efficiency and the automation level of the production process are improved.

[0062] Next, the deviation correction control system of the traveling type suction sludge machine proposed in the embodiment of the present application is described with reference to the accompanying drawings.

[0063] Figure 4 It is a block diagram of the deviation correction control system of the traveling type sludge suction machine according to the embodiment of the present application.

[0064] like Figure 4As shown, the deviation correction control system 10 of the driving type sludge suction machine includes: a detection module 100, a calculation module 200 and a control module 300. Among them, radar wave ranging devices are installed at the four corners of the working bridge of the driving type sludge suction machine.

[0065] Among them, the detection module 100 is used to use a radar wave ranging device to detect the position information and height information of each corner of the traveling sludge suction machine relative to the track; the calculation module 200 is used to calculate the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during the movement based on the position information and height information; the control module 300 is used to determine the correction control strategy of the traveling sludge suction machine based on the position distance difference and / or the left-right height difference, so as to control the traveling sludge suction machine based on the correction control strategy.

[0066] Optionally, in some embodiments, when controlling the traveling sludge suction machine based on the deviation correction control strategy, the control module 300 is also used to: collect current operating data of the traveling sludge suction machine; use a preset algorithm to compare the current operating data with preset historical normal operating data to obtain abnormal data in the current operating data; match the abnormal data with the fault features in a preset fault feature library to obtain the current fault type of the traveling sludge suction machine, and send a fault warning signal to a preset terminal.

[0067] Optionally, in some embodiments, the control module 300 is also used for: if the position distance difference is greater than a first preset threshold and less than a second preset threshold, the correction control strategy is to determine the current offset of the traveling mud suction machine based on the position distance difference, and adjust the frequency of the variable frequency motors on both sides of the traveling mud suction machine according to the current offset until the offset is reduced to a preset range; if the position distance difference is greater than or equal to the second preset threshold and less than the third preset threshold, the correction control strategy is to control the traveling mud suction machine to stop on one side; if the position distance difference is greater than or equal to the third preset threshold, the correction control strategy is to control the traveling mud suction machine to stop running.

[0068] Optionally, in some embodiments, the control module 300 is also used to: determine the frequency adjustment amount of the variable frequency motors on both sides of the traveling mud suction machine based on the current offset and the corresponding relationship between the preset offset and the frequency adjustment amount of the variable frequency motors on both sides; and send corresponding frequency control instructions to the variable frequency motors on both sides based on the frequency adjustment amount, so that the traveling mud suction machine moves in the opposite direction of the offset direction.

[0069] Optionally, in some embodiments, the control module 300 is further configured to: if the left-right height difference is greater than a fourth preset threshold, send a posture abnormality signal of the driving type suction machine to a preset terminal to remind the operator to correct the posture of the driving type suction machine.

[0070] It should be noted that the above explanation of the embodiment of the deviation correction control method of the traveling type sludge suction machine is also applicable to the deviation correction control system of the traveling type sludge suction machine of this embodiment, and will not be repeated here.

[0071] According to the deviation correction control system of the traveling sludge suction machine proposed in the embodiment of the present application, a radar wave ranging device is used to detect the position information and height information of each corner of the traveling sludge suction machine relative to the track, and the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during the travel process are calculated based on the position information and height information, and the deviation correction control strategy of the traveling sludge suction machine is determined based on the position distance difference and / or left-right height difference, so as to control the traveling sludge suction machine based on the deviation correction control strategy. In this way, the problem that the deviation or tilt during the actual operation of the traveling sludge suction machine poses a huge threat to the safety of equipment, personnel and water supply is solved, and the automatic deviation correction of the traveling sludge suction machine is realized, and the production efficiency and the automation level of the production process are improved.

[0072] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0073] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0074] When the processor 502 executes the program, the deviation correction control method of the traveling sludge suction machine provided in the above embodiment is implemented.

[0075] Furthermore, the electronic device further comprises:

[0076] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0077] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0078] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0079] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 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. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0080] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0081] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0082] The embodiment of the present application also provides a computer program product, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned deviation correction control method of the traveling sludge suction machine is implemented.

[0083] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0084] 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 technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0085] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0086] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer program product for use with an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, a "computer program product" can be any device that can contain, store, communicate, propagate or transmit a program for use with an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer program products (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). Furthermore, the computer program product may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example by optically scanning the paper or other medium and then editing, interpreting or, if necessary, processing it in another suitable manner, and then storing it in a computer memory.

[0087] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0088] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer program product, which, when executed, includes one or a combination of the steps of the method embodiment.

[0089] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer program product.

[0090] The computer program product mentioned above may be a read-only memory, a disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A deviation correction control method for a traveling sludge suction machine, characterized in that: The four corners of the working bridge of the driving type dredge suction machine are respectively installed with radar wave ranging devices, and the method comprises the following steps: The radar wave ranging device is used to detect the position information and height information of each corner of the traveling sludge suction machine relative to the track; Calculate the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during the traveling process based on the position information and the height information; A deviation correction control strategy of the traveling sludge suction machine is determined based on the position distance difference and / or the left-right height difference, so as to control the traveling sludge suction machine based on the deviation correction control strategy.

2. The method according to claim 1, characterized in that When the traveling type suction dredger is controlled based on the deviation correction control strategy, it also includes: Collecting current operation data of the traveling sludge suction machine; Comparing the current operation data with preset historical normal operation data using a preset algorithm to obtain abnormal data in the current operation data; The abnormal data is matched with the fault features in a preset fault feature library to obtain the current fault type of the traveling sludge suction machine, and a fault warning signal is sent to a preset terminal.

3. The method according to claim 1, characterized in that The deviation correction control strategy of the traveling sludge suction machine is determined based on the position distance difference and / or the left and right height difference, including: If the position distance difference is greater than the first preset threshold value and less than the second preset threshold value, the deviation correction control strategy is to determine the current offset of the traveling sludge suction machine based on the position distance difference, and adjust the frequencies of the variable frequency motors on both sides of the traveling sludge suction machine according to the current offset until the offset is reduced to within the preset range; If the position distance difference is greater than or equal to the second preset threshold and less than the third preset threshold, the deviation correction control strategy is to control the traveling sludge suction machine to stop on one side; If the position distance difference is greater than or equal to the third preset threshold, the deviation correction control strategy is to control the traveling sludge suction machine to stop running.

4. The method according to claim 3, characterized in that The method of adjusting the frequencies of the variable frequency motors on both sides of the traveling sludge suction machine according to the offset comprises: Based on the current offset, the frequency adjustment amounts of the variable frequency motors on both sides of the traveling dredger are determined according to the corresponding relationship between the preset offset and the frequency adjustment amounts of the variable frequency motors on both sides; Based on the frequency adjustment amount, corresponding frequency control instructions are respectively sent to the variable frequency motors on both sides, so that the traveling sludge suction machine moves in the opposite direction of the offset direction.

5. The method according to claim 1, characterized in that: The deviation correction control strategy of determining the traveling type suction dredger based on the position distance difference and / or the left and right height difference further includes: If the left-right height difference is greater than a fourth preset threshold, a posture abnormality signal of the traveling sludge suction machine is sent to a preset terminal to remind the operator to correct the posture of the traveling sludge suction machine.

6. A deviation correction control system for a traveling sludge suction machine, characterized in that: The four corners of the working bridge of the driving type dredge suction machine are respectively installed with radar wave ranging devices, and the system includes: A detection module, used to detect the position information and height information of each corner of the traveling sludge suction machine relative to the track by using the radar wave ranging device; A calculation module, used for calculating the position distance difference and left-right height difference of the traveling dredger relative to the track during the traveling process based on the position information and the height information; A control module is used to determine a deviation correction control strategy of the traveling sludge suction machine based on the position distance difference and / or the left and right height difference, so as to control the traveling sludge suction machine based on the deviation correction control strategy.

7. The system according to claim 6, characterized in that When the traveling dredger is controlled based on the deviation correction control strategy, the control module is further used to: Collecting current operation data of the traveling sludge suction machine; Comparing the current operation data with preset historical normal operation data using a preset algorithm to obtain abnormal data in the current operation data; The abnormal data is matched with the fault features in a preset fault feature library to obtain the current fault type of the traveling sludge suction machine, and a fault warning signal is sent to a preset terminal.

8. The system according to claim 6, characterized in that The control module is also used for: If the position distance difference is greater than the first preset threshold value and less than the second preset threshold value, the deviation correction control strategy is to determine the current offset of the traveling sludge suction machine based on the position distance difference, and adjust the frequencies of the variable frequency motors on both sides of the traveling sludge suction machine according to the current offset until the offset is reduced to within the preset range; If the position distance difference is greater than or equal to the second preset threshold and less than the third preset threshold, the deviation correction control strategy is to control the traveling sludge suction machine to stop on one side; If the position distance difference is greater than or equal to the third preset threshold, the deviation correction control strategy is to control the traveling sludge suction machine to stop running.

9. An electronic device, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the deviation correction control method of a traveling dredge suction machine as claimed in any one of claims 1 to 5.

10. A computer program product, wherein the computer program product stores a computer program, characterized in that: When the program is executed by a processor, the deviation correction control method of a traveling sludge suction machine as described in any one of claims 1 to 5 is implemented.

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