Material processing method, device, storage medium, program product and processor

Abstract

The present application discloses a material processing method, device, storage medium, program product and processor. The method includes: obtaining movement information of the dredging robot during the movement of the dredging robot in the water tank; inputting the movement information into an industrial computer for analysis to obtain position data and posture data of the dredging robot in the water tank; using the position data and posture data to determine the control data of the dredging robot, wherein the control data is used to control the movement of the dredging robot; according to the control data, controlling the opening or closing of at least one electromagnetic valve in the dredging robot to control the dredging robot to start from the dredging operation starting point in the water tank, and clearing and processing the materials in the water tank during the movement. The present application solves the technical problem of low sludge cleaning efficiency.

Description

Technical Field

[0001] The present application relates to the field of coal mines, and in particular, to a material processing method, device, storage medium, program product and processor. Background Art

[0002] At present, the environment and working conditions of underground water bunkers in coal mines are poor, the water content in the sediment is large, and the water storage capacity of the water bunkers is reduced. There are many outstanding problems in the traditional water bunker coal slime cleaning operation.

[0003] With the rapid development of robot technology, in related technologies, dredging robots are usually used to clean materials in water tanks. However, the operation of the dredging robots requires close cooperation between operators and auxiliary personnel, and each step requires manual confirmation, which results in a technical problem of low sludge cleaning efficiency.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide a material processing method, device, storage medium, program product and processor to at least solve the technical problem of low sludge cleaning efficiency.

[0006] According to one aspect of an embodiment of the present application, a material processing method is provided, which may include: obtaining movement information of the dredging robot during the movement of the dredging robot in a water tank; inputting the movement information into an industrial computer for analysis to obtain position data and posture data of the dredging robot in the water tank; using the position data and posture data to determine control data of the dredging robot, wherein the control data is used to control the movement of the dredging robot; according to the control data, controlling the opening or closing of at least one solenoid valve in the dredging robot to control the dredging robot to start from the starting point of the dredging operation in the water tank and clear the material in the water tank during the movement.

[0007] Optionally, the movement information includes at least the acceleration and angular velocity of the dredging robot. When the dredging robot moves in the water tank, the movement information of the dredging robot is obtained, including: when the dredging robot moves in the water tank, calling the inertial navigation unit to collect the acceleration and angular velocity.

[0008] Optionally, the method also includes: in response to the dredging robot moving in the water tank, controlling the laser radar in the dredging robot to collect image data of the dredging robot in the water tank; inputting the image data into the industrial computer to determine the relative position of the dredging robot and the side wall of the water tank, as well as the obstacle information within the target range of the dredging robot; using the position data and posture data to determine the control data of the dredging robot, including: determining the control data based on the position data, posture data, relative position and obstacle information.

[0009] Optionally, based on the position data, posture data, relative position and obstacle information, control data is determined, including: inputting the position data, posture data, relative position and obstacle information into a host computer to obtain control data; according to the control data, controlling the dredging robot to clear the materials in the water tank, including: transmitting the control data to the motion controller of the dredging robot, and using the motion controller to control the dredging robot to clear the materials according to the control data.

[0010] Optionally, the method also includes: calling a temperature sensor in the dredging robot to collect temperature data of the dredging robot; calling a liquid level sensor in the dredging robot to collect liquid level data of the dredging robot; calling a pressure sensor in the dredging robot to collect circuit pressure of the dredging robot; determining the operating status of the dredging robot based on the temperature data, liquid level data and circuit pressure; in response to the operating status being an abnormal operating status, controlling the dredging robot to stop working.

[0011] Optionally, according to the control data, the opening or closing of at least one solenoid valve of the dredging robot is controlled to control the dredging robot to start from the starting point of the dredging operation in the water tank, and clear the materials in the water tank during the movement, including: controlling the dredging robot to move to the starting point of the dredging operation; according to the control data, controlling the solenoid valve corresponding to the device to be used in the dredging robot to control the device to be used to clear the materials.

[0012] According to another aspect of the embodiment of the present application, a material processing device is also provided, which may include: an acquisition unit, used to acquire movement information of the dredging robot during the movement of the dredging robot in the water tank; a processing unit, used to input the movement information into an industrial computer for analysis, and obtain position data and posture data of the dredging robot in the water tank; a determination unit, used to determine control data of the dredging robot using the position data and posture data, wherein the control data is used to control the movement of the dredging robot; a control unit, used to control the opening or closing of at least one solenoid valve in the dredging robot according to the control data, so as to control the dredging robot to start from the starting point of the dredging operation in the water tank, and clear and process the materials in the water tank during the movement.

[0013] According to another aspect of an embodiment of the present application, a computer-readable storage medium is also provided, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the material processing method of the embodiment of the present application.

[0014] According to another aspect of an embodiment of the present application, a processor is further provided, the processor being used to run a program, wherein the program, when run by the processor, executes the material processing method of the embodiment of the present application.

[0015] According to another aspect of an embodiment of the present application, a computer program product is further provided. The computer program product includes computer instructions, wherein the computer instructions, when executed by a processor, implement the material processing method of the embodiment of the present application.

[0016] In the embodiment of the present application, during the movement of the dredging robot in the water tank, the movement information of the dredging robot is obtained; the movement information is input into the industrial computer for analysis to obtain the position data and posture data of the dredging robot in the water tank; the control data of the dredging robot is determined by using the position data and posture data, wherein the control data is used to control the movement of the dredging robot; according to the control data, the opening or closing of at least one electromagnetic valve in the dredging robot is controlled to control the dredging robot to start from the dredging operation starting point in the water tank and remove the materials in the water tank during the movement. That is to say, in the embodiment of the present application, the movement information of the dredging robot is collected, and based on the movement information, the position data and posture data of the dredging robot are determined, and then the control data of the dredging robot is determined, and at least the electromagnetic valve in the dredging robot is controlled according to the control data, so as to achieve the purpose of removing the materials in the water tank by controlling the movement of the dredging robot, that is, by performing automatic control, the technical problem of low sludge cleaning efficiency is solved, and the technical effect of improving sludge cleaning efficiency is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 is a flow chart of a material processing method according to an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of an electrical control system of a dredging robot according to an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a dredging robot according to an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of pumping and walking control of a hydraulic system of a dredging robot according to an embodiment of the present application;

[0022] Figure 5 It is a flow chart of a method for implementing a sump dredging software according to an embodiment of the present application;

[0023] Figure 6 is a flow chart of a control method of a silo dredging robot according to an embodiment of the present application;

[0024] Figure 7 is a schematic diagram of a material processing device according to an embodiment of the present application;

[0025] Figure 8 is a structural block diagram of a computer terminal according to an embodiment of the present application;

[0026] Fig. 9 It is a block diagram of an electronic device for a material processing method according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] According to an embodiment of the present application, an embodiment of a material processing method is provided, and the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] In this embodiment, a material processing method is proposed, which can collect movement information of the dredging robot, determine the position data and posture data of the dredging robot based on the movement information, and then determine the control data of the dredging robot, and control at least the solenoid valve in the dredging robot according to the control data to achieve the purpose of removing materials in the water tank by controlling the movement of the dredging robot, that is, through automatic control, thereby solving the technical problem of low sludge cleaning efficiency and achieving the technical effect of improving sludge cleaning efficiency.

[0031] Figure 1 1 is a flow chart of a material processing method according to an embodiment of the present application. Figure 1 As shown, the method may include the following steps:

[0032] Step S102, while the dredging robot is moving in the water tank, obtaining movement information of the dredging robot.

[0033] In the technical solution provided in the above step S102 of the present application, the above-mentioned dredging robot can be used to clean the materials in the water tank, and can be a water tank dredging robot or a mining water tank dredging robot (also referred to as a mining water tank dredging machine). The above-mentioned water tank can be an underground water tank in a coal mine, which is only used as an example here, and the specific location of the water tank is not limited. The above-mentioned movement information may include the angular velocity and / or acceleration of the dredging robot, initial position information, etc., which can be used to determine the position of the dredging robot in the water tank.

[0034] Step S104, inputting the movement information into the industrial computer for analysis to obtain the position data and posture data of the dredging robot in the water tank.

[0035] In the technical solution provided in the above step S104 of the present application, the above position data can be used to determine the position of the dredging robot in the water tank, for example, it can be the coordinate position of the dredging robot, or it can be used to characterize the position of the dredging robot from the target point. The above posture data can be used to determine the posture of the dredging robot, and can be used to determine the orientation, movement and other information of the dredging robot. It should be noted that this is only for example, and there is no specific limitation on the type of position coordinates and the type of posture data.

[0036] Optionally, the collected movement information is transmitted to an industrial computer, and the industrial computer is used to process the movement information to obtain the position data and posture data of the dredging robot in the water tank.

[0037] Optionally, the industrial computer can be a computer system designed for industrial sites, and can be an explosion-proof industrial computer as a host computer. In the electrical control system of a mining water tank desilting robot, the industrial computer can be used for data fusion and processing. For example, the industrial computer can receive data from multiple sensors such as an inertial navigation unit, a laser radar, and an infrared camera, and can perform data fusion and processing through software algorithms to obtain position data and posture data, thereby providing a decision-making basis for the intelligent control of the robot.

[0038] Step S106, using the position data and the posture data, determining the control data of the dredging robot, wherein the control data is used to control the movement of the dredging robot.

[0039] In the technical solution provided in the above step S106 of the present application, the above control data can be used to control the movement of the dredging robot, and can be used to determine the moving distance, moving direction, moving speed and other data of the dredging robot. It should be noted that this is only for example purposes and there is no specific restriction on the control content of the control data.

[0040] Optionally, the position of the dredging robot can be determined based on the position information, and the movement, orientation and other information of the dredging robot can be determined based on the posture data. Furthermore, based on the above information, the moving path, moving speed, moving direction of the dredging robot in the water tank, and the corresponding actions at different positions can be determined to obtain control data.

[0041] Step S108, according to the control data, control the opening or closing of at least one solenoid valve in the dredging robot to control the dredging robot to start from the dredging operation starting point in the water tank and clear the materials in the water tank during the movement.

[0042] In the technical solution provided in the above step S108 of the present application, the opening or closing of at least one solenoid valve in the dredging robot can be controlled according to the control data, so as to achieve the purpose of controlling the movement of the dredging robot. Furthermore, by controlling the opening or closing of at least one solenoid valve in the dredging robot, the dredging robot is controlled to move to the starting point of the dredging operation in the water tank, and the dredging robot is further controlled to start from the starting point of the dredging operation in the water tank to clear the materials in the water tank. Among them, the above-mentioned materials can be materials such as coal slime. The above-mentioned solenoid valve can be a proportional solenoid valve, for example, it can be a hydraulic proportional solenoid valve, or a mining explosion-proof solenoid valve.

[0043] Optionally, the proportional solenoid valve can be precisely controlled through a programmable controller (such as an EPEC motion controller), thereby achieving stepless speed regulation of the feeding speed of the collector, the stirring speed of the hopper and the pumping system, thereby automatically performing dredging operations and solving the problem of low dredging operation efficiency.

[0044] In this embodiment, Figure 2 is a schematic diagram of an electrical control system of a dredging robot according to an embodiment of the present application, such as Figure 2 As shown, the electrical system may include: EPEC motion controller 201 (also known as EPEC programmable controller), explosion-proof industrial computer 202 as host computer, remote host explosion-proof computer 203, proportional solenoid valve 204, sensor 205, mine emergency stop button 206, reset button 207, vehicle body lighting 208, and wireless router 209.

[0045] Optionally, the remote host computer can be an explosion-proof computer. The proportional solenoid valve 204 can include: a feed solenoid valve for a feeder motor, a lifting solenoid valve for a feeder, a forward solenoid valve for a right travel motor, a reverse solenoid valve for a left travel motor, a forward solenoid valve for a left travel motor, a reverse solenoid valve for a left travel motor, a forward solenoid valve for a concrete mixing, a reverse solenoid valve for a concrete mixing, a concrete pumping solenoid valve, a concrete separation solenoid valve, an electric starting relay for a hydraulic pump station, a forward solenoid valve for a cable drum motor, and a reverse solenoid valve for a cable drum motor.

[0046] Optionally, the sensor 205 may include: a mining pressure sensor, a mining temperature sensor, a mining liquid level sensor, a methane sensor, a pump station oil tank temperature sensor, a pump station oil tank liquid level sensor, a walking system pressure sensor, a pumping system pressure sensor, a lifting system pressure sensor, etc. This is only for illustration, and there is no specific limitation on the type of pressure sensor and the type of solenoid valve.

[0047] Optionally, the above-mentioned pump station tank temperature sensor, pump station tank liquid level sensor, walking system pressure sensor, pumping system pressure sensor, and lifting system pressure sensor can transmit switch signals to the EPEC motion controller 201 to obtain control data for the sensor (that is, control signal), and the control signal can be a pulse width modulation signal (Pu l se Width Modulation, abbreviated as PWM).

[0048] Optionally, data can be transmitted between the host computer and the industrial computer via a wireless router.

[0049] Optionally, the data collected by the inertial navigation unit, laser radar, and infrared camera can be transmitted to the industrial computer via Ethernet, and the industrial computer can process the above data to obtain position data, posture data, etc. corresponding to the collected data. The industrial computer can transmit the processed position data, posture data, etc. to the EPEC motion controller via the controller area network (Controller Area Network, referred to as CAN) bus, and the EPEC motion controller processes the above data to obtain control data, and can control the solenoid valve in the dredging robot according to the control data to achieve the purpose of controlling the movement of the dredging robot.

[0050] In this embodiment, Figure 3 is a schematic diagram of a dredging robot according to an embodiment of the present application, such as Figure 3 As shown, the desilting robot may be deployed with: an electric control box 301, an inertial navigation unit 302, a hydraulic pump station 303, a laser radar 304, a pumping system 305, an industrial control box 306, an infrared camera 307, a feeding and collecting system 308, and a crawler chassis system 309. It should be noted that this is only an example, and there is no specific limitation on the components deployed in the desilting robot, which can be supplemented according to actual conditions.

[0051] Optionally, the electrical control system can remotely monitor and control the operation status of the entire equipment (i.e., the dredging robot) in real time through a remote explosion-proof computer operating platform. The control system has control functions such as overload, short circuit, phase failure, leakage lockout protection and auxiliary lighting.

[0052] Optionally, Figure 4 Schematic diagram of pumping and walking control of a hydraulic system of a dredging robot according to an embodiment of the present application, such as Figure 4 As shown, the actuator of the pumping oil circuit may include two oil cylinders (i.e., the left pumping cylinder and the right pumping cylinder), and the two oil cylinders act symmetrically, i.e., when the left oil cylinder retracts, the right oil cylinder extends. Therefore, when the left oil cylinder retracts and drives the cylinder piston to suck the coal slurry from the material box, the right oil cylinder extends and drives the cylinder piston to squeeze the sucked coal slurry from the output pipeline into the high-pressure pipeline and deliver it to the designated location, and vice versa. Therefore, the oil at the pump outlet enters the rodless cavity of the oil cylinder on one side, and the rod cavity of the oil cylinder is connected to the rod cavity of the oil cylinder on the other side, and the oil in the rodless cavity of the oil circuit on the other side returns to the oil tank.

[0053] Optionally, the oil at the outlet of the main oil pump 401 enters the left pumping cylinder 406 and the right pumping cylinder 407 of the pumping oil cylinder through the pressure reducing valve 403, the proportional reversing valve 404 controlled by the controller output port 402, and the hydraulic control reversing valve 405, and can drive the pistons of the left pumping cylinder 406 and the right pumping cylinder 407 to move, so as to transport the coal slurry. The main oil pump 401 can be a load-sensitive pump.

[0054] Optionally, for the walking oil circuit: the outlet oil circuit of the main oil pump 401 controls the operation of the left walking motor 4010 and the right walking motor 4013 through the pressure reducing valve 408, the pressure reducing valve 4011, and the proportional reversing valve 409 and the proportional reversing valve 4012 controlled by the controller output port 402; in addition, the leakage oil circuits of the two walking motors return to the oil tank 4014 to complete the displacement control of the tracked chassis, autonomous walking, autonomous navigation, autonomous obstacle avoidance, and autonomous deviation correction.

[0055] Through the above steps S102 and S108 of the present application, in the process of the silt cleaning robot moving in the water tank, the movement information of the silt cleaning robot is obtained; the movement information is input into the industrial computer for analysis to obtain the position data and posture data of the silt cleaning robot in the water tank; the control data of the silt cleaning robot is determined by using the position data and posture data, wherein the control data is used to control the movement of the silt cleaning robot; according to the control data, the opening or closing of at least one electromagnetic valve in the silt cleaning robot is controlled to control the silt cleaning robot to start from the silt cleaning operation starting point in the water tank and remove the materials in the water tank during the movement. That is to say, in the embodiment of the present application, the movement information of the silt cleaning robot is collected, and based on the movement information, the position data and posture data of the silt cleaning robot are determined, and then the control data of the silt cleaning robot is determined, and at least the electromagnetic valve in the silt cleaning robot is controlled according to the control data, so as to achieve the purpose of removing the materials in the water tank by controlling the movement of the silt cleaning robot, that is, through automatic control, the technical problem of low sludge cleaning efficiency is solved, and the technical effect of improving sludge cleaning efficiency is achieved.

[0056] The above method of this embodiment is further introduced below.

[0057] As an optional implementation, in step S102, the movement information includes at least the acceleration and angular velocity of the dredging robot. When the dredging robot moves in the water tank, the movement information of the dredging robot is obtained, including: calling the inertial navigation unit to collect the acceleration and angular velocity.

[0058] In this embodiment, an inertial navigation unit may be called to collect the above movement information.

[0059] Optionally, the inertial navigation unit can be used to determine the position of the dredging robot in the water tank, the walking displacement and the posture of the dredging robot. It is known that the relationship between acceleration a, velocity v and time t is a=dv / dt, and the relationship between velocity v and stroke (displacement with direction) s and time t is v=ds / dt. Therefore, the relationship between acceleration a, stroke s and time t is a=d2s / dt. Therefore, the acceleration of the robot can be measured by an accelerometer, and the displacement of the dredging robot in three-dimensional space can be known by the above formula. The posture of the dredging robot can be obtained by measuring the angular velocity through the angular velocity sensor-gyroscope. Further, the above-mentioned inertial navigation unit can belong to a navigation method of track calculation, that is, according to the position information of the known point, the measured acceleration and angular velocity of the carrier, the next position information of the carrier can be calculated. The above-mentioned accelerometer and gyroscope can be the core components of the inertial navigation unit.

[0060] Optionally, the movement information of the dredging robot can be collected through the accelerometer and gyroscope in the inertial navigation unit.

[0061] As an optional implementation, step S106, using the position data and posture data to determine the control data of the dredging robot, includes: in response to the dredging robot moving in the water tank, controlling the laser radar in the dredging robot to collect image data of the dredging robot in the water tank; inputting the image data into the industrial computer to determine the relative position of the dredging robot and the side wall of the water tank, as well as the obstacle information within the target range of the dredging robot; determining the control data based on the position data, posture data, relative position and obstacle information.

[0062] In this embodiment, if the dredging robot moves in the water tank, the laser radar in the dredging robot can be used to collect image data of the dredging robot in the water tank, and the image data can be uploaded to the industrial computer. The industrial computer processes the image data to obtain the relative position of the dredging robot and the side wall of the water tank, as well as the obstacle information within the target range of the dredging robot. The target range can be a pre-set range, which can be 1 meter or 2 meters around the dredging robot. It should be noted that this is only an example, and there is no specific restriction on the size of the target range. The above obstacle information can be used to determine the position of the obstacle within the target range, the relative position of the obstacle and the dredging robot, and other information. The type of obstacle information is not specifically limited here. Further, based on the position data, the posture data of the dredging robot, the relative position and the obstacle information, the corresponding control data can be determined. Among them, the above relative position can include relative distance and angle.

[0063] Optionally, when the dredging robot walks in the water tank, the laser radar installed on the top of the dredging robot rotates continuously, scanning the two side walls of the water tank and obstacles in front and behind the robot to measure the distance and angle between the robot's central axis and the two side walls of the water tank. The above image data can be data captured from photos or videos.

[0064] Optionally, the industrial computer performs calculations based on the laser radar measurement results to obtain correction parameters. The data is transmitted to the EPEC motion controller via the CAN bus to implement position correction control on the water tank desilting robot, so that a mine water tank desilting robot can autonomously walk, navigate, avoid obstacles, and correct deviations on the central axis of the water tank operation path in the coal mine. This makes it possible to separate man and machine, automatically perform desilting operations, and be efficient and safe.

[0065] Optionally, the infrared camera installed on the equipment transmits the video signal of the actual working conditions at the silo dredging site to the industrial computer in real time through the Ethernet inside the control system. The industrial computer transmits the video signal of the on-site working conditions to the remote host computer through the wireless router and the inherent network of the coal mine (for example, 4GWiFi), so as to realize remote real-time monitoring of the on-site dredging conditions and the status of the equipment.

[0066] As an optional implementation, control data is determined based on position data, posture data, relative position and obstacle information, including: inputting the position data, posture data, relative position and obstacle information into a host computer to obtain control data; controlling the dredging robot to clear the materials in the water tank according to the control data, including: transmitting the control data to the motion controller of the dredging robot, and using the motion controller to control the dredging robot to clear the materials according to the control data.

[0067] In this embodiment, the position data, posture data, relative position and obstacle information can be input into the host computer to obtain control data; further, the control data can be transmitted to the motion controller of the dredging robot, and the dredging robot can be controlled to remove the material according to the control data by using the motion controller. The motion controller can be an EPEC motion controller.

[0068] Alternatively, if Figure 2As shown, the explosion-proof computer as a remote host computer communicates with the wireless router of the equipment through the inherent 4G WiFi network in the coal mine. The wireless router can transmit the control instructions (i.e., control data) received from the host computer to the industrial computer. The industrial computer performs logical analysis and processing on the control instructions of the host computer, and transmits them to the EPEC motion controller of the lower computer through the CAN bus. The EPEC motion controller controls the reversing of the left and right travel solenoid valves and the opening of the solenoid according to the control data through the output control port, so that the hydraulic motor drives the crawler chassis walking mechanism to move forward, backward, turn left, turn right, turn left on the spot, and turn right on the spot.

[0069] Optionally, the difference between this embodiment and the electrical control system of the ordinary silo silt cleaning machine is that the inertial navigation and laser radar are organically combined, and the inertial navigation unit communicates with the remote host computer through the industrial computer, wireless router and 4G WiFi network to monitor and display the absolute position coordinates of the silt cleaning robot in the inertial space in real time. The host computer performs calculations and processing according to the coordinate position and posture of the silo robot to obtain control data. The control data is then transmitted to the lower computer EPEC motion controller through the 4G WiFi network, wireless router, industrial computer and CAN bus, and the EPEC motion controller controls the electromagnetic valves of the left and right travel motors, thereby achieving position control of the silo silt cleaning robot.

[0070] As an optional implementation, the method may also include: calling a temperature sensor in the dredging robot to collect temperature data of the dredging robot; calling a liquid level sensor in the dredging robot to collect liquid level data of the dredging robot; calling a pressure sensor in the dredging robot to collect the circuit pressure of the dredging robot; determining the operating status of the dredging robot based on the temperature data, liquid level data and circuit pressure; in response to the operating status being an abnormal operating status, controlling the dredging robot to stop working.

[0071] In this embodiment, the temperature data can be used to determine the temperature of the hydraulic pump station of the equipment (i.e., the dredging robot). The liquid level data can be used to determine the liquid level of the hydraulic pump station tank of the equipment. The circuit pressure can be used to determine the pressure of the hydraulic circuit of the material collector lifting, the pressure of the walking hydraulic circuit, and the pressure of the pumping hydraulic circuit. The motion state can be an abnormal operation state.

[0072] Optionally, temperature data, liquid level data and circuit pressure can be collected. The analog output values ​​of the temperature of the equipment hydraulic pump station, the liquid level of the hydraulic pump station tank, the pressure of the hydraulic circuit of the collector lifting, the pressure of the walking hydraulic circuit, and the pressure of the pumping hydraulic circuit can be transmitted to the analog input port of the EPEC motion controller. After calculation and processing, the EPEC motion controller can send the calculation result of the pressure value to the industrial computer through the CAN bus, and the industrial computer sends it to the remote host computer through the wireless router and 4G WiFi network for real-time display, so that the host computer can monitor the working status of the dredging robot in real time; when an emergency situation is found on site or an abnormal situation occurs in the equipment, the emergency stop button on the remote host computer can be pressed to stop the equipment operation and send someone to deal with the abnormal situation on site. After the processing is completed, press the reset button to restart the equipment and continue the dredging operation.

[0073] Figure 5 is a flow chart of a method for implementing a silo dredging software according to an embodiment of the present application, such as Figure 5 As shown, the method may include the following steps:

[0074] Step S502, start the dredging robot.

[0075] In this embodiment, the dredging robot can be started and a power-on self-test can be performed.

[0076] Optionally, determine whether the dredging robot is an automatic robot. If it is an automatic robot, the dredging robot can be automatically controlled according to the control data. If it is not an automatic robot, a walking subroutine can be manually written.

[0077] Step S504: collecting environmental data.

[0078] In this embodiment, the environmental data of the dredging robot can be collected using a temperature sensor, a liquid level sensor, a pressure sensor, a methane sensor, an inertial navigation unit, and a laser radar unit. The environmental data may include image data, the moving speed, angular velocity, position, and other information of the dredging robot.

[0079] Step S506: the industrial computer processes the collected data to obtain the position and posture of the dredging robot in the water tank.

[0080] In this embodiment, the collected environmental data can be input into an industrial computer, which can be used to calculate and process the data collected by inertial navigation and lidar to determine the position and posture of the dredging robot in the water tank, so as to further obtain control data.

[0081] Step S508, controlling the dredging robot to move according to the control data.

[0082] In this embodiment, the motion controller can control the solenoid valve to control the autonomous navigation and walking of the dredging robot.

[0083] Step S510, determining whether the dredging robot is faulty.

[0084] In this embodiment, if the dredging robot fails, step S512 is implemented, and if it does not fail, step S514 can be implemented.

[0085] Step S512, shutdown processing.

[0086] In this embodiment, if the dredging robot fails, the dredging robot can be shut down for processing.

[0087] Step S514, controlling the dredging robot to move.

[0088] In this embodiment, if the dredging robot is not faulty, the dredging robot can be controlled to walk to the starting point of the dredging operation.

[0089] As an optional implementation, step S108, according to the control data, controls the opening or closing of at least one solenoid valve of the dredging robot to control the dredging robot to start from the starting point of the dredging operation in the water tank, and clears the materials in the water tank during the movement, including: controlling the dredging robot to move to the starting point of the dredging operation; according to the control data, controls the solenoid valve corresponding to the device to be used in the dredging robot to control the device to be used to clear the materials.

[0090] In this embodiment, the dredging robot can be controlled to move to the starting point of the dredging operation; the solenoid valve corresponding to the device to be used in the dredging robot can be controlled according to the control data to control the device to be used to remove the material. The device to be used can be a travel motor, a pumping cylinder, etc., and the type of the device to be used is not specifically limited here.

[0091] Figure 6 is a flow chart of a control method of a silo desilting robot according to an embodiment of the present application, such as Figure 6 As shown, the method may include the following steps:

[0092] Step S601, loading the current dredging target point.

[0093] In this embodiment, the warehouse dredging robot can autonomously walk to the starting point of the dredging operation through inertial navigation and lidar functions.

[0094] Step S602, determining whether the current desilting point is completed.

[0095] In this embodiment, it can be determined whether the current desilting point is completed. If completed, step S606 can be executed. If not completed, step S603 can be executed.

[0096] Step S603, raising the material collector of the dredging robot.

[0097] In this embodiment, the collector can be automatically raised to a specified height according to the height of the coal slime detected by the laser radar. The collector can be a feed and aggregate system.

[0098] Optionally, according to the target point coal slime height, the height of the auger feeder can be automatically adjusted by the lifting cylinder, and the auger feeder can be operated.

[0099] Step S604, collecting materials.

[0100] In this embodiment, when the material collector is raised to a specified height, the hopper lifting motor starts to rotate, driving the material collecting screw to start rotating to collect materials.

[0101] Optionally, since the spirals of the material collecting spiral mechanism are arranged symmetrically, the coal slurry in the front of the water bin and within the spiral stirring range is pushed by the spiral tooth surface to be concentrated to the middle material opening during its rotation. When the coal slurry is pushed to the middle, the lifting bucket can transport the material into the material box.

[0102] Optionally, the pumping system is started and the two main oil cylinders alternately suck and pump materials to transport them to the high-pressure pipeline.

[0103] Optionally, while the main oil cylinder of the pumping mechanism drives the cylinder piston to suck out the coal slurry from the material box, the main oil cylinder of another set of pumping mechanisms drives the cylinder piston to squeeze the sucked coal slurry from the pumping output pipe into the high-pressure pipe, and transports it to a designated location via the high-pressure pipeline.

[0104] Step S605, determining whether the current desilting point is completed.

[0105] In this embodiment, it can be determined whether the current desilting point is completed. If it is completed, step S606 can be executed. If it is not completed, step S603 can be executed.

[0106] Step S606, calculating the position coordinates of the next target point and controlling the dredging robot.

[0107] In this embodiment, if the dredging is completed, the position coordinates of the next target point can be calculated according to the track position coordinates to implement position control.

[0108] Step S607, determining the posture information of the dredging robot.

[0109] In this embodiment, the inertial navigation unit can be used to determine the posture data of the robot, and the height of the spiral feeder can be converted based on the posture data.

[0110] Step S608, start the spiral feeder and pumping system.

[0111] In this embodiment, the auger and the pumping system can be started according to the calculated height of the auger.

[0112] Step S609, loading the next dredging target point.

[0113] In this embodiment, the next dredging target point can be loaded, and the process returns to step S602 to re-execute the above steps to complete the cleaning of the materials in the next dredging target point.

[0114] Optionally, during dredging operations, the dredging robot continuously transports coal slime and other materials in the silo to a designated location through the movement of the crawler chassis walking system and the lifting and lowering of the spiral aggregate lifting cylinder, thereby autonomously completing the underground silo dredging work.

[0115] At present, the environment and working conditions of underground water tanks in coal mines are poor, the water content in the silt is high, and the water storage capacity of the water tank is reduced. There are many outstanding problems in the traditional water tank coal sludge cleaning operation: (1) the working environment of workers is dangerous; (2) there are many equipments, the failure rate is high, and the silt removal efficiency is low; it is impossible to realize real-time monitoring and early warning of water tank silt removal, and it is impossible to realize safe and efficient underground water tank silt removal operations.

[0116] With the rapid development of robot technology, and because robots have the advantages of high automation, flexible operation, and good safety, new solutions have been provided for water tank desilting. The control system in the robot is the command core of the operating equipment. After investigating the control systems of existing water tank cleaning equipment, the following technical shortcomings exist: (1) Low intelligence: The hydraulic valve or remote control needs to be operated manually at close range, which is cumbersome to operate and operators are prone to fatigue and misoperation. (2) Poor safety: The operator needs to constantly change positions and operate within a visual distance. It is impossible to separate man and machine. When the tank overflow occurs, it poses a serious threat to the life safety of the operator. (3) Low operating efficiency: The operator and the auxiliary personnel need to work closely together during the operation, and each step needs to be manually confirmed, which seriously reduces the efficiency of the desilting operation. (4) There is no remote communication function, which makes it impossible to realize remote information interaction, and the monitoring center cannot monitor the water tank desilting operation in real time.

[0117] In view of the fact that existing water tank dredging equipment still requires manual operation and has problems such as low intelligence, poor safety and low efficiency, this application proposes an electrical control system for a mining water tank dredging robot. The control system is suitable for the intelligent control of underground water tank dredging robots. It adopts multi-sensor intelligent perception to achieve precise control of the robot's various actuators, solving the problems of low intelligence level and low operating efficiency of the current dredging equipment control system.

[0118] Optionally, the system uses inertial navigation and lidar to detect and feedback the specific position of the sump dredging robot in the water tank and the distance and angle to the side wall of the sump in real time, and generates corresponding instructions through the upper computer calculation and processing of the control system to send to the lower computer controller. The controller controls the opening of the hydraulic proportional solenoid valve to realize intelligent control of the walking speed of the robot's left and right walking motors, thereby achieving the purpose of autonomous walking of the sump dredging robot in the sump and solving the problems of low intelligence and poor safety.

[0119] Optionally, the system uses a programmable controller to precisely control the proportional solenoid valve to achieve stepless speed regulation of the feeding speed of the collector, the stirring speed of the hopper, and the pumping system, automatically performing dredging operations to solve the problem of low dredging operation efficiency.

[0120] Optionally, the system can realize real-time remote monitoring and operation of the working environment and working status of the dredging robot through a host computer, the robot's camera and a fiber optic network communication system, thereby solving the problem of no remote real-time monitoring and improving working efficiency.

[0121] Through the above steps, the entire coal mine underground water tank dredging operation process does not require personnel on site, and the separation of man and machine at the operation site is achieved, and the safety of operators is greatly improved; the application of dredging robots greatly improves its operation efficiency and significantly reduces labor intensity.

[0122] The electrical control system of a mine water tank desilting robot proposed in this application obtains the coordinate position and posture of the water tank desilting robot by installing an inertial navigation unit; obtains the distance between the water tank desilting robot and the two side walls of the water tank and the offset angle of the central axis of the water tank path by installing a laser radar; the industrial computer integrates and calculates the data collected by the inertial navigation unit and the laser radar, and sends control instructions to the lower computer EPEC motion controller to control the intelligent control of the hydraulic motor-driven crawler chassis walking mechanism, so that the water tank desilting robot can walk, navigate, avoid obstacles, and correct deviations autonomously on the central axis of the underground water tank operation path of the coal mine. The electrical control system of the invention can realize the separation of man and machine, and can automatically, efficiently and safely complete the desilting. At the same time, it realizes the remote operation and remote monitoring functions, realizes the remote visualization of the robot's working status and the working conditions of the desilting operation site, achieves the separation of man and machine at the operation site, and greatly improves the safety of the operators. The application of the water tank desilting robot using the invention technology greatly improves its operating efficiency and greatly reduces the labor intensity, and also promotes the healthy development of coal mine production.

[0123] In an embodiment of the present application, movement information of the dredging robot is collected, and based on the movement information, position data and posture data of the dredging robot are determined, and then control data of the dredging robot is determined, and at least the solenoid valve in the dredging robot is controlled according to the control data, so as to achieve the purpose of removing materials in the water tank by controlling the movement of the dredging robot, that is, through automatic control, the technical problem of low sludge cleaning efficiency is solved, and the technical effect of improving sludge cleaning efficiency is achieved.

[0124] According to an embodiment of the present application, a material processing device is also provided. It should be noted that the material processing device of this embodiment can be used to execute the material processing method of the above embodiment of the present application.

[0125] Figure 7 Schematic diagram of a material processing device according to an embodiment of the present application. Figure 7 As shown, the material processing device 70 may include: an acquisition unit 702 , a processing unit 704 , a determination unit 706 and a control unit 708 .

[0126] The acquisition unit 702 is used to acquire movement information of the dredging robot when the dredging robot moves in the water tank.

[0127] The processing unit 704 is used to input the movement information into the industrial computer for analysis to obtain the position data and posture data of the dredging robot in the water tank.

[0128] The determination unit 706 is used to determine the control data of the dredging robot by using the position data and the posture data, wherein the control data is used to control the movement of the dredging robot.

[0129] The control unit 708 is used to control the opening or closing of at least one solenoid valve in the dredging robot according to the control data, so as to control the dredging robot to start from the dredging operation starting point in the water tank and clear the materials in the water tank during the movement.

[0130] The material processing device of this embodiment obtains the movement information of the dredging robot in the process of the dredging robot moving in the water tank through the acquisition unit; inputs the movement information into the industrial computer for analysis through the processing unit to obtain the position data and posture data of the dredging robot in the water tank; determines the control data of the dredging robot by using the position data and posture data through the determination unit, wherein the control data is used to control the movement of the dredging robot; controls the opening or closing of at least one solenoid valve in the dredging robot according to the control data through the control unit, so as to control the dredging robot to start from the dredging operation starting point in the water tank and clear the material in the water tank during the movement, thereby solving the technical problem of low sludge cleaning efficiency and achieving the technical effect of improving the sludge cleaning efficiency.

[0131] The embodiment of the present application may provide a computer terminal, which may be any computer terminal device in a computer terminal group. Optionally, in this embodiment, the computer terminal may also be replaced by a terminal device such as a mobile terminal.

[0132] Optionally, in this embodiment, the computer terminal may be located in at least one network device among a plurality of network devices of the computer network.

[0133] In this embodiment, the above-mentioned computer terminal can execute the program code of the following steps in the material processing method: obtaining the movement information of the dredging robot during the movement of the dredging robot in the water tank; inputting the movement information into the industrial computer for analysis to obtain the position data and posture data of the dredging robot in the water tank; using the position data and posture data, determining the control data of the dredging robot, wherein the control data is used to control the movement of the dredging robot; according to the control data, controlling the opening or closing of at least one solenoid valve in the dredging robot to control the dredging robot to start from the dredging operation starting point in the water tank and clear the material in the water tank during the movement.

[0134] Optionally, Figure 8 is a structural block diagram of a computer terminal according to an embodiment of the present application, such as Figure 8 As shown, the computer terminal 808 may include: one or more (only one is shown in the figure) processors 802 , a memory 804 , and a transmission device 806 .

[0135] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the material processing method and device in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned material processing method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the computer terminal 808 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0136] The processor can call the information and application programs stored in the memory through the transmission device to execute the following steps: obtaining the movement information of the dredging robot during the movement of the dredging robot in the water tank; inputting the movement information into the industrial computer for analysis to obtain the position data and posture data of the dredging robot in the water tank; using the position data and posture data, determining the control data of the dredging robot, wherein the control data is used to control the movement of the dredging robot; according to the control data, controlling the opening or closing of at least one solenoid valve in the dredging robot to control the dredging robot to start from the dredging operation starting point in the water tank and clear the materials in the water tank during the movement.

[0137] It can be understood by those skilled in the art that Figure 8 The structure shown is for illustration only, and the computer terminal 808 may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, referred to as MID), a PAD, or other terminal devices. Figure 8 The structure of the computer terminal 808 is not limited. For example, the computer terminal 808 may also include Figure 8 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Figure 8 Different configurations are shown.

[0138] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0139] According to an embodiment of the present application, a computer-readable storage medium is further provided, the computer-readable storage medium including a stored program, wherein the program executes the material processing method in the above embodiment.

[0140] Optionally, in this embodiment, the computer-readable storage medium may be located in any one of the computer terminals in a computer terminal group in a computer network, or in any one of the mobile terminals in a mobile terminal group.

[0141] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: obtaining movement information of the dredging robot during the movement of the dredging robot in the water tank; inputting the movement information into the industrial computer for analysis to obtain position data and posture data of the dredging robot in the water tank; determining control data of the dredging robot using the position data and posture data, wherein the control data is used to control the movement of the dredging robot; and controlling the opening or closing of at least one solenoid valve in the dredging robot according to the control data, so as to control the dredging robot to start from the starting point of the dredging operation in the water tank and clear the materials in the water tank during the movement.

[0142] Optionally, the computer-readable storage medium may also execute program codes of the following steps: calling an inertial navigation unit to collect acceleration and angular velocity.

[0143] Optionally, the computer-readable storage medium can also execute the program code of the following steps: in response to the dredging robot moving in the water tank, control the laser radar in the dredging robot to collect image data of the dredging robot in the water tank; input the image data into the industrial computer to determine the relative position of the dredging robot and the side wall of the water tank, as well as the obstacle information within the target range of the dredging robot; determine the control data based on the position data, posture data, relative position and obstacle information.

[0144] Optionally, the computer-readable storage medium can also execute the program code of the following steps: inputting the position data, posture data, relative position and obstacle information into the host computer to obtain control data; controlling the dredging robot to clear the materials in the water tank according to the control data, including: transmitting the control data to the motion controller of the dredging robot, and using the motion controller to control the dredging robot to clear the materials according to the control data.

[0145] Optionally, the computer-readable storage medium may also execute program codes of the following steps: calling a temperature sensor in the dredging robot to collect temperature data of the dredging robot; calling a liquid level sensor in the dredging robot to collect liquid level data of the dredging robot; calling a pressure sensor in the dredging robot to collect the circuit pressure of the dredging robot; determining the operating status of the dredging robot based on the temperature data, liquid level data and circuit pressure; and controlling the dredging robot to stop working in response to an abnormal operating status.

[0146] Optionally, the computer-readable storage medium may also execute program codes of the following steps: controlling the dredging robot to move to the starting point of the dredging operation; controlling the solenoid valve corresponding to the device to be used in the dredging robot according to the control data to control the device to be used to clear the material.

[0147] In this embodiment, the movement information of the dredging robot is collected, and based on the movement information, the position data and posture data of the dredging robot are determined, and then the control data of the dredging robot is determined, and at least the solenoid valve in the dredging robot is controlled according to the control data to achieve the purpose of removing materials in the water tank by controlling the movement of the dredging robot. That is, through automatic control, the technical problem of low sludge cleaning efficiency is solved, and the technical effect of improving sludge cleaning efficiency is achieved.

[0148] According to an embodiment of the present application, a processor is also provided, which is used to run a program, wherein when the program is run by the processor, the material processing method in the above embodiment is executed.

[0149] Optionally, in this embodiment, the computer terminal may be located in at least one network device among a plurality of network devices of the computer network.

[0150] In this embodiment, the above-mentioned computer terminal can execute the program code of the following steps in the material processing method: obtaining the movement information of the dredging robot during the movement of the dredging robot in the water tank; inputting the movement information into the industrial computer for analysis to obtain the position data and posture data of the dredging robot in the water tank; using the position data and posture data, determining the control data of the dredging robot, wherein the control data is used to control the movement of the dredging robot; according to the control data, controlling the opening or closing of at least one solenoid valve in the dredging robot to control the dredging robot to start from the dredging operation starting point in the water tank and clear the material in the water tank during the movement.

[0151] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the material processing method and device in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned material processing method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0152] The processor can call the information and application programs stored in the memory through the transmission device to execute the following steps: obtaining the movement information of the dredging robot during the movement of the dredging robot in the water tank; inputting the movement information into the industrial computer for analysis to obtain the position data and posture data of the dredging robot in the water tank; using the position data and posture data, determining the control data of the dredging robot, wherein the control data is used to control the movement of the dredging robot; according to the control data, controlling the opening or closing of at least one solenoid valve in the dredging robot to control the dredging robot to start from the dredging operation starting point in the water tank and clear the materials in the water tank during the movement.

[0153] Optionally, the processor may also execute program codes of the following steps: calling an inertial navigation unit to collect acceleration and angular velocity.

[0154] Optionally, the processor may also execute the program code of the following steps: in response to the dredging robot moving in the water tank, controlling the laser radar in the dredging robot to collect image data of the dredging robot in the water tank; inputting the image data into the industrial computer to determine the relative position of the dredging robot and the side wall of the water tank, as well as the obstacle information within the target range of the dredging robot; and determining the control data based on the position data, posture data, relative position and obstacle information.

[0155] Optionally, the processor may also execute the program code of the following steps: inputting the position data, posture data, relative position and obstacle information into the host computer to obtain control data; controlling the dredging robot to clear the materials in the water tank according to the control data, including: transmitting the control data to the motion controller of the dredging robot, and using the motion controller to control the dredging robot to clear the materials according to the control data.

[0156] Optionally, the processor may also execute the program code of the following steps: calling the temperature sensor in the dredging robot to collect the temperature data of the dredging robot; calling the liquid level sensor in the dredging robot to collect the liquid level data of the dredging robot; calling the pressure sensor in the dredging robot to collect the circuit pressure of the dredging robot; determining the operating status of the dredging robot based on the temperature data, the liquid level data and the circuit pressure; and controlling the dredging robot to stop working in response to the operating status being an abnormal operating status.

[0157] Optionally, the processor may also execute the program code of the following steps: controlling the dredging robot to move to the starting point of the dredging operation; controlling the solenoid valve corresponding to the device to be used in the dredging robot according to the control data, so as to control the device to be used to clear the material.

[0158] By adopting the embodiment of the present application, the movement information of the dredging robot is collected, and the position data and posture data of the dredging robot are determined based on the movement information, and then the control data of the dredging robot is determined, and at least the solenoid valve in the dredging robot is controlled according to the control data, so as to achieve the purpose of removing materials in the water tank by controlling the movement of the dredging robot, that is, through automatic control, the technical problem of low sludge cleaning efficiency is solved, and the technical effect of improving sludge cleaning efficiency is achieved.

[0159] According to an embodiment of the present application, a computer program product is also provided. The computer program product includes computer instructions, wherein the computer instructions, when executed by a processor, implement the material processing method in the above embodiment.

[0160] An embodiment of the present application may provide an electronic device, which may include a memory and a processor.

[0161] Fig. 9 It is a block diagram of an electronic device for a material processing method according to an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0162] like Fig. 9As shown, the device 900 includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded from a storage unit 908 to a random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0163] A number of components in the device 900 are connected to the I / O interface 905, including: an input unit 906, such as a keyboard, a mouse, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a disk, an optical disk, etc.; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 909 allows the device 900 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0164] The computing unit 901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 901 performs the various methods and processes described above, such as a verification method for data. For example, in some embodiments, the verification method for data may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 900 via the ROM 902 and / or the communication unit 909. When the computer program is loaded into RAM 903 and executed by the computing unit 901, one or more steps of the data verification method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the data verification method in any other appropriate manner (e.g., by means of firmware).

[0165] According to an embodiment of the present application, a material processing method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0166] Various embodiments of the systems and techniques described above herein may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor that may be a dedicated or general purpose programmable processor that may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0167] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0168] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0169] To provide interaction with a user, the systems and techniques described herein may be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or an LCD (liquid crystal display, monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a path ball) through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0170] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a Local Area Network (LAN), a Wide Area Network (WAN), and the Internet.

[0171] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0172] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0173] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0174] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0175] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0176] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0177] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0178] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A material processing method, characterized in that: include: During the movement of the silt cleaning robot in the water tank, obtaining movement information of the silt cleaning robot; Inputting the movement information into an industrial computer for analysis to obtain position data and posture data of the dredging robot in the water tank; Determine control data of the dredging robot using the position data and the posture data, wherein the control data is used to control the movement of the dredging robot; According to the control data, the opening or closing of at least one solenoid valve in the dredging robot is controlled to control the dredging robot to start from the dredging operation starting point in the water tank and clear the materials in the water tank during the movement.

2. The method according to claim 1, characterized in that The movement information includes at least the acceleration of the dredging robot and the angular velocity of the dredging robot. The step of obtaining the movement information of the dredging robot while the dredging robot is moving in the water tank includes: When the dredging robot moves in the water tank, an inertial navigation unit is called to collect the acceleration and the angular velocity.

3. The method according to claim 1, characterized in that The method further comprises: In response to the dredging robot moving in the water tank, controlling a laser radar in the dredging robot to collect image data of the dredging robot in the water tank; Inputting the image data into the industrial computer to determine the relative position of the dredging robot and the side wall of the water tank, as well as obstacle information within the target range of the dredging robot; The using the position data and the posture data to determine the control data of the dredging robot includes: determining the control data based on the position data, the posture data, the relative position and the obstacle information.

4. The method according to claim 3, characterized in that The determining the control data based on the position data, the posture data, the relative position and the obstacle information comprises: Inputting the position data, the posture data, the relative position and the obstacle information into a host computer to obtain the control data; Controlling the dredging robot to clear the materials in the water tank according to the control data includes: transmitting the control data to the motion controller of the dredging robot, and using the motion controller to control the dredging robot to clear the materials according to the control data.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Calling a temperature sensor in the dredging robot to collect temperature data of the dredging robot; Calling a liquid level sensor in the dredging robot to collect liquid level data of the dredging robot; Calling a pressure sensor in the dredging robot to collect the circuit pressure of the dredging robot; Determining the operating state of the dredging robot based on the temperature data, the liquid level data and the circuit pressure; In response to the operating state being an abnormal operating state, the dredging robot is controlled to stop working.

6. The method according to claim 1, characterized in that According to the control data, controlling the opening or closing of at least one electromagnetic valve of the dredging robot to control the dredging robot to start from the dredging operation starting point in the water tank and clear the materials in the water tank includes: Controlling the dredging robot to move to the starting point of the dredging operation; According to the control data, the solenoid valve corresponding to the device to be used in the dredging robot is controlled to control the device to be used to clear the material.

7. A material processing device, characterized in that: include: An acquisition unit, used for acquiring movement information of the dredging robot when the dredging robot moves in the water tank; A processing unit, used for inputting the movement information into an industrial computer for analysis to obtain position data and posture data of the dredging robot in the water tank; A determination unit, configured to determine control data of the dredging robot using the position data and the posture data, wherein the control data is used to control the movement of the dredging robot; A control unit is used to control the opening or closing of at least one solenoid valve in the dredging robot according to the control data, so as to control the dredging robot to start from the dredging operation starting point in the water tank and clear the materials in the water tank during the movement.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A computer program product, characterized in that The method comprises computer instructions, which implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when being run by the processor.

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