Methods, systems, equipment, and procedures for corrective control of traveling suction sludge machines

Abstract

This application relates to the field of traveling sludge suction machine technology, and particularly to a method, system, equipment, and program product for corrective control of a traveling sludge suction machine. The method involves installing radar ranging devices at the four corners of the traveling sludge suction machine's working bridge. The method includes: using the radar ranging devices to detect the position and height information of each corner of the traveling sludge suction machine relative to the track; calculating the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during its movement based on the position and height information; determining a corrective control strategy for the traveling sludge suction machine based on the position distance difference and / or left-right height difference, and controlling the traveling sludge suction machine based on the corrective control strategy. This solves the problem of the significant threat to equipment safety, personnel safety, and water supply safety posed by deviation or tilting during the actual operation of the traveling sludge suction machine, achieving automatic correction of the traveling sludge suction machine, and improving production efficiency and the level of automation in the production process.

Description

Technical Field

[0001] This application relates to the field of traveling sludge suction machine technology, and in particular to a method, system, equipment and program product for corrective control of traveling sludge suction machine. Background Technology

[0002] In the field of municipal water treatment, traveling sludge suction machines are indispensable key equipment in horizontal flow sedimentation tanks, undertaking the important task of extracting bottom sludge and maintaining water clarity. The design of horizontal flow sedimentation tanks is increasingly trending towards larger sizes to accommodate higher treatment volumes and more stringent sedimentation requirements. This design trend directly results in sedimentation tanks with large spans and long travel distances, posing unprecedented challenges to the operational stability and precision of traveling sludge suction machines.

[0003] During the actual operation of a traveling sludge suction machine, various factors, such as uneven tracks, uneven wheel wear, and differences in motor drive performance, often lead to deviation. This deviation manifests as one side of the sludge suction machine moving significantly slower or faster than the other, or the sludge suction machine failing to maintain horizontal alignment at both ends during movement. This results in the sludge suction machine not maintaining its ideal perpendicular motion on the track, thus creating a certain skew angle. As the deviation gradually accumulates, the skew angle increases. When the angle exceeds a certain limit, severe rail wear occurs, meaning the sludge suction machine wheels rub against or even jam against the edge of the track. This not only accelerates equipment wear and reduces its service life but may also cause derailment accidents, leading to the shutdown of the entire water plant and posing a significant threat to equipment safety, personnel safety, and water supply safety. Summary of the Invention

[0004] This application provides a method, system, equipment, and program product for corrective control of a traveling sludge suction machine, in order to solve the problem that the deviation or tilting of the traveling sludge suction machine during actual operation poses a great threat to equipment safety, personnel safety, and water supply safety.

[0005] The first aspect of this application provides a method for corrective control of a traveling suction machine, wherein radar ranging devices are installed at the four corners of the working bridge of the traveling suction machine. The method includes the following steps: using the radar ranging devices to detect the position and height information of each corner of the traveling suction machine relative to the track; calculating the position distance difference and left-right height difference of the traveling suction machine relative to the track during travel based on the position and height information; determining a corrective control strategy for the traveling suction machine based on the position distance difference and / or the left-right height difference, so as to control the traveling suction machine based on the corrective control strategy.

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

[0007] Optionally, determining the deviation correction control strategy for the traveling sludge suction machine based on the position distance difference and / or the left-right height difference includes: if the position distance difference is greater than a first preset threshold and less than a second preset threshold, 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 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 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 operating.

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

[0009] Optionally, the step of determining the deviation control strategy of the traveling sludge suction machine based on the position distance difference and / or the left and right height difference further includes: if the left and right height difference is greater than a fourth preset threshold, then 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 this application provides a deviation correction control system for a traveling sludge suction machine. Radar ranging devices are installed at the four corners of the traveling sludge suction machine's working bridge. The system includes: a detection module for detecting the position and height information of each corner of the traveling sludge suction machine relative to the track using the radar ranging devices; a calculation module for calculating the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during its movement based on the position and height information; and a control module for determining a deviation correction control strategy for 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.

[0011] Optionally, when controlling the traveling sludge suction machine based on the corrective control strategy, the control module is further configured to: collect the 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 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 further configured to: if the position distance difference is greater than a first preset threshold and less than a second preset threshold, then 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 a third preset threshold, then 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, then the correction control strategy is to control the traveling sludge suction machine to stop running.

[0013] Optionally, the control module is further configured to: determine the frequency adjustment amount of the variable frequency motors on both sides of the traveling sludge suction machine based on the current offset amount and according to the correspondence between the preset offset amount and the frequency adjustment amount of the variable frequency motors on both sides; and send corresponding frequency control commands to the variable frequency motors on both sides based on the frequency adjustment amount, so that the traveling sludge suction machine moves in the opposite direction of the offset direction.

[0014] Optionally, the control module is further configured to: if the left-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] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the program to implement the deviation control method for a traveling suction machine as described in the above embodiments.

[0016] A fourth aspect of this application provides a computer program product having a computer program stored thereon, which is executed by a processor to implement the deviation control method for a traveling suction machine as described in the above embodiments.

[0017] In the above embodiment, a radar ranging device is used to detect the position and height information of each corner of the traveling sludge suction machine relative to the track. Based on the position and height information, the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during its movement are calculated. Based on the position distance difference and / or left-right height difference, a correction control strategy for the traveling sludge suction machine is determined, and the traveling sludge suction machine is controlled based on the correction control strategy. This solves the problem that when the traveling sludge suction machine deviates or tilts during actual operation, it poses a significant threat to equipment safety, personnel safety, and water supply safety. It achieves automatic correction of the traveling sludge suction machine, improving production efficiency and the level of automation in the production process.

[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0020] Figure 1 This is a flowchart of a method for correcting the deviation of a traveling sludge suction machine according to an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the operation of a traveling suction sludge machine according to an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the structure of a traveling suction sludge machine according to an embodiment of this application;

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

[0024] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

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

[0026] The following description, with reference to the accompanying drawings, describes a method, system, device, and program product for correcting the deviation of a traveling sludge suction machine according to embodiments of this application. Addressing the problem mentioned in the background art where deviation or tilting during the actual operation of a traveling sludge suction machine poses a significant threat to equipment safety, personnel safety, and water supply safety, this application provides a method for correcting the deviation of a traveling sludge suction machine. In this method, a radar ranging device is used to detect the position and height information of each corner of the traveling sludge suction machine relative to the track. Based on the position and height information, the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during its movement are calculated. Based on the position distance difference and / or left-right height difference, a deviation correction control strategy for the traveling sludge suction machine is determined, and the traveling sludge suction machine is controlled based on this strategy. This solves the problem of significant threats to equipment safety, personnel safety, and water supply safety when deviation or tilting occurs during the actual operation of the traveling sludge suction machine, achieving automatic deviation correction of the traveling sludge suction machine, improving production efficiency, and increasing the automation level of the production process.

[0027] Specifically, Figure 1 This is a flowchart illustrating a method for corrective control of a traveling sludge suction machine provided in an embodiment of this application.

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

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

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

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

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

[0033] In step S101, a correction control strategy for the traveling sludge suction machine is determined 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 correction control strategy.

[0034] Optionally, in some embodiments, when controlling the trolley-type sludge suction machine based on the correction control strategy, the method further includes: collecting the current operating data of the trolley-type 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 fault features in a preset fault feature library to obtain the current fault type of the trolley-type sludge suction machine, and issuing a fault warning signal to a preset terminal.

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

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

[0037] Specifically, embodiments of this application may employ high-precision sensors and Internet of Things (IoT) technology to install sensors on key parts of the traveling sludge suction machine (such as motors, transmission mechanisms, sludge pumps, and wheels). These sensors collect real-time operating data including motor current, voltage, speed, temperature, sludge suction efficiency (monitored by a flow meter), traveling speed, and location information, and transmit the data wirelessly (such as via Wi-Fi, LoRa, or NB-IoT) to the database of the central monitoring system for storage.

[0038] Furthermore, machine learning algorithms (such as Support Vector Machine (SVM), Random Forest (RF) or statistical methods (such as mean-standard deviation method) are used to define the threshold range for normal operation. The real-time received current operation data is compared with the preset historical normal operation data to identify data points that exceed the normal range, i.e., abnormal data.

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

[0040] Optionally, in some embodiments, the deviation correction control strategy for the traveling sludge suction machine is determined based on the position distance difference and / or the left-right height difference, including: if the position distance difference is greater than a first preset threshold and less than a second preset threshold, 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 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 a 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.

[0041] The first preset threshold, the second preset threshold, the third preset threshold, and the preset range can be thresholds preset by the user, thresholds obtained through a limited number of experiments, or thresholds obtained through a limited number of computer simulations; no specific limitations are imposed here.

[0042] As a specific embodiment, a first preset threshold such as 5cm, a second preset threshold such as 10cm, a third preset threshold such as 15cm, and a preset range of ±2cm can be set.

[0043] The distance difference is continuously monitored by a radar ranging device, and the data is transmitted to the controller in real time. If the distance difference is greater than a first preset threshold and less than a second preset threshold, the offset direction and magnitude of the traveling sludge suction machine are determined based on the current distance difference.

[0044] If the traveling sludge suction machine deviates to the left, increase the frequency of the left variable frequency motor and decrease the frequency of the right variable frequency motor to make the sludge suction machine deviate to the right; and 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 and less than the third preset threshold, the controller will control the traveling sludge suction machine to stop on one side. For example, if the left side of the traveling sludge suction machine moves less than the right side, the right variable frequency motor will stop. Once the position distance difference is less than the first preset threshold, the right variable frequency motor will resume operation.

[0046] If the positional distance difference of the traveling sludge suction machine is greater than or equal to the third preset threshold, the controller will stop the traveling sludge suction machine from running.

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

[0048] Optionally, in some embodiments, adjusting the frequency of the variable frequency motors on both sides of the traveling sludge suction machine according to the offset includes: determining the frequency adjustment amount of the variable frequency motors on both sides of the traveling sludge suction machine based on the current offset and according to the correspondence between the preset offset and the frequency adjustment amount of the variable frequency motors on both sides; and sending corresponding frequency control commands to the variable frequency motors on both sides based on the frequency adjustment amount, so that the traveling sludge suction machine moves in the opposite direction of the offset direction.

[0049] To establish a relationship between the offset and the frequency adjustment of the two variable frequency motors, it is necessary to calculate the frequency difference that the two variable frequency motors need to adjust based on the magnitude, direction, and trend of the offset. Common control algorithms include PID control and fuzzy control algorithms.

[0050] This application uses a PID control algorithm as an example, where the current offset is used as input, and the frequency adjustment of the variable frequency motors on both sides is calculated by combining the three components of proportional (P), integral (I) and derivative (D).

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

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

[0053] Differential element (D): Predicts the trend of offset changes and makes adjustments in advance to speed up the system's response and reduce overshoot.

[0054] By adjusting the parameters of the PID controller (proportional coefficient Kp, integral time constant Ti, derivative time constant Td), precise control over different deviation values ​​and 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 system of the variable frequency motors on both sides. These adjustment amounts 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, determining the correction control strategy of the traveling sludge suction machine based on the position distance difference and / or the left and right height difference further includes: if the left and right height difference is greater than a fourth preset threshold, then 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.

[0057] The fourth preset threshold can be a threshold set by the user, a threshold obtained through a limited number of experiments, or a threshold obtained through a limited number of computer simulations; no specific limitation is made here.

[0058] Specifically, if the height difference between the left and right sides of the traveling sludge suction machine is greater than the fourth preset threshold, it is determined that the traveling sludge suction machine is in an abnormal posture. At this time, the system generates an abnormal posture signal based on the abnormal result, which includes information such as the abnormality type, the degree of abnormality, and the time of occurrence, and sends it to a preset terminal, such as the operator's mobile APP or the control panel display.

[0059] After receiving an abnormal posture signal on the preset terminal, the operator takes corresponding measures to correct the posture of the traveling sludge suction machine, such as adjusting the counterweight, inspecting and repairing it.

[0060] Finally, relevant information about this attitude anomaly event should be recorded and archived, including the time of occurrence, type of anomaly, handling measures, and investigation results, for subsequent analysis and improvement.

[0061] The deviation correction control method for the traveling sludge suction machine proposed in this application utilizes a radar ranging device to detect the position and height information of each corner of the traveling sludge suction machine relative to the track. Based on the position and height information, the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during its movement are calculated. A deviation correction control strategy for the traveling sludge suction machine is determined based on the position distance difference and / or left-right height difference, and the traveling sludge suction machine is controlled according to this strategy. This solves the problem of the significant threat to equipment safety, personnel safety, and water supply safety posed by deviation or tilting during the actual operation of the traveling sludge suction machine, achieving automatic deviation correction of the traveling sludge suction machine and improving production efficiency and the level of automation in the production process.

[0062] Next, referring to the accompanying drawings, the deviation correction control system of the traveling sludge suction machine proposed according to the embodiments of this application is described.

[0063] Figure 4 This is a block diagram of the correction control system of the traveling suction machine according to an embodiment of this application.

[0064] like Figure 4 As shown, the deviation correction control system 10 of the traveling suction sludge machine includes: a detection module 100, a calculation module 200, and a control module 300. Radar ranging devices are installed at the four corners of the traveling suction sludge machine's working bridge.

[0065] The detection module 100 is used to detect the position and height information of each corner of the traveling sludge suction machine relative to the track using a radar wave ranging device; 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 its movement based on the position and height information; the control module 300 is used to determine the deviation correction control strategy of the traveling sludge suction machine 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.

[0066] Optionally, in some embodiments, when controlling the trolley-type sludge suction machine based on the correction control strategy, the control module 300 is further configured to: collect the current operating data of the trolley-type sludge suction machine; compare the current operating data with the 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 the preset fault feature library to obtain the current fault type of the trolley-type sludge suction machine, and send a fault warning signal to the preset terminal.

[0067] Optionally, in some embodiments, the control module 300 is further configured to: if the position distance difference is greater than a first preset threshold and less than a second preset threshold, then 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 a third preset threshold, then 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, then the correction control strategy is to control the traveling sludge suction machine to stop running.

[0068] Optionally, in some embodiments, the control module 300 is further configured to: determine the frequency adjustment amount of the two variable frequency motors of the traveling sludge suction machine based on the current offset and according to the correspondence between the preset offset and the frequency adjustment amount of the two variable frequency motors; and send corresponding frequency control commands to the two variable frequency motors based on the frequency adjustment amount, so that the traveling sludge 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 an abnormal posture signal of the trolley-type sludge suction machine to a preset terminal to remind the operator to correct the posture of the trolley-type sludge suction machine.

[0070] It should be noted that the explanation of the aforementioned embodiment of the correction control method for the traveling sludge suction machine also applies to the correction control system of the traveling sludge suction machine in this embodiment, and will not be repeated here.

[0071] The deviation correction control system for the traveling sludge suction machine proposed in this application utilizes a radar ranging device to detect the position and height information of each corner of the traveling sludge suction machine relative to the track. Based on the position and height information, the system calculates the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during its movement. A deviation correction control strategy is then determined based on the position distance difference and / or left-right height difference, and the traveling sludge suction machine is controlled according to this strategy. This solves the problem of significant threats to equipment safety, personnel safety, and water supply safety posed by deviation or tilting during the actual operation of the traveling sludge suction machine, achieving automatic deviation correction of the traveling sludge suction machine and improving production efficiency and the level of automation in the production process.

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

[0073] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0074] When the processor 502 executes the program, it implements the deviation correction control method for the traveling sludge suction machine provided in the above embodiments.

[0075] Furthermore, electronic devices also include:

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

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

[0078] Memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0079] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

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

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

[0082] This application also provides a computer program product, on which a computer program is stored, which, when executed by a processor, implements the above-described method for correcting the deviation of a traveling sludge suction machine.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0084] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0085] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0086] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequential list of executable instructions for implementing logical functions, and can be specifically implemented in any computer program product for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer program product" can be any means that can contain, store, communicate, propagate, or transmit a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples of computer program products (a non-exhaustive list) include the following: an electrical connection having one or N wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Furthermore, the computer program product can even be paper or other suitable medium on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0087] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0088] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer program product, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0089] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can 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 embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for correcting the deviation of a traveling suction sludge machine, characterized in that, The traveling suction machine has radar ranging devices installed at the four corners of its working bridge. The method includes the following steps: The radar ranging device is used to detect the position and height information of each corner of the traveling sludge suction machine relative to the track. Based on the position information and the height information, calculate the positional distance difference and left-right height difference of the traveling sludge suction machine relative to the track during its movement; 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, so as to control the traveling sludge suction machine based on the deviation correction control strategy. The method for determining the deviation correction control strategy of the traveling sludge suction machine based on the positional distance difference and / or the left-right height difference includes: 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 positional distance difference is greater than or equal to the second preset threshold and less than the third preset threshold, then the correction control strategy is to control the traveling sludge suction machine to stop on one side. If the positional 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 operating.

2. The method according to claim 1, characterized in that, When controlling the traveling sludge suction machine based on the aforementioned correction control strategy, the method further includes: Collect the current operating data of the traveling sludge suction machine; The current running data is compared with the preset historical normal running data using a preset algorithm to obtain abnormal data in the current running data; The abnormal data is matched with the fault features in the preset fault feature library to obtain the current fault type of the traveling sludge suction machine, and a fault warning signal is sent to the preset terminal.

3. The method according to claim 1, characterized in that, Adjusting the frequency of the variable frequency motors on both sides of the traveling sludge suction machine according to the offset includes: Based on the current offset, the frequency adjustment amount of the variable frequency motors on both sides of the traveling sludge suction machine is determined according to the preset correspondence between the offset and the frequency adjustment amount of the variable frequency motors on both sides. Based on the frequency adjustment amount, corresponding frequency control commands are sent to the variable frequency motors on both sides, causing the traveling sludge suction machine to move in the opposite direction of the offset direction.

4. The method according to claim 1, characterized in that, The method for determining the deviation correction control strategy of the traveling sludge suction machine based on the positional distance difference and / or the left-right height difference further includes: If the left-right height difference is greater than the 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.

5. A deviation correction control system for a traveling suction sludge machine, characterized in that, The traveling suction machine has radar ranging devices installed at the four corners of its working bridge. The system includes: The detection module is used to detect the position and height information of each corner of the traveling sludge suction machine relative to the track using the radar wave ranging device; The calculation module is used to calculate the position distance difference and left-right height difference of the traveling sludge suction machine relative to the track during its movement, based on the position information and the height information. The control module is used to determine the 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. 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 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 positional distance difference is greater than or equal to the second preset threshold and less than the third preset threshold, then the correction control strategy is to control the traveling sludge suction machine to stop on one side. If the positional 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 operating.

6. The system according to claim 5, characterized in that, When controlling the traveling sludge suction machine based on the aforementioned correction control strategy, the control module is further configured to: Collect the current operating data of the traveling sludge suction machine; The current running data is compared with the preset historical normal running data using a preset algorithm to obtain abnormal data in the current running data; The abnormal data is matched with the fault features in the preset fault feature library to obtain the current fault type of the traveling sludge suction machine, and a fault warning signal is sent to the preset terminal.

7. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and running on the processor, the processor executing the program to implement the deviation control method for the traveling suction machine as described in any one of claims 1-4.

8. A computer program product, said computer program product storing a computer program, characterized in that, When executed by the processor, the program implements the deviation correction control method for the traveling suction machine as described in any one of claims 1-4.

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