A track-sharing intelligent dust suppression robot spray arm deployment method and system

Abstract

The present invention relates to the field of robot arm control technology, and discloses a method and system for deploying the spray arm of an intelligent dust suppression robot that is shared by a track. The method comprises: analyzing basic information of a stack to obtain characteristic values ​​of the basic information of the stack, analyzing the state of the stack to determine whether the dust suppression robot corresponding to the stack needs to start running, analyzing the environment in which the dust suppression robot that needs to start running is located to determine whether the dust suppression robot can start running, analyzing the track position state of the dust suppression robot that can start running, comparing to obtain a travel plan of the dust suppression robot, and comparing to obtain a deployment plan of the spray arm of the dust suppression robot. The present invention solves the problem of serious resource waste and insufficient dynamic adaptability of the scene in traditional dust suppression methods, helps to improve operating efficiency, compares the optimal spray arm deployment plan, can ensure uniformity and effective coverage of water sprinkling, further reduces dust and reduces waste of water resources.

Description

Technical Field

[0001] The present invention relates to the field of program-controlled manipulators, and in particular to a method and system for deploying a spraying arm of a track-sharing intelligent dust suppression robot. Background Art

[0002] Dust control in bulk cargo yards is a key task in environmental governance in the areas surrounding terminals. Dust is a typical manifestation of air pollution. Its formation is mainly caused by wind, human factors, and other factors that lift dust from the ground into the atmosphere. It is a type of total suspended particulate matter pollution caused by open pollution sources. Regional dust pollution is serious. Dust from open-air yards not only causes serious pollution to the environment, but also threatens the health of employees and residents working nearby. With the improvement of people's environmental awareness and the concept of energy conservation and consumption reduction, dust control has increasingly attracted the attention of business managers and has become an issue that must be addressed. Timely spraying, effective coverage, water conservation and emission reduction are the main challenges currently addressed in dust suppression in yards. Existing common prevention and control measures have their own advantages and disadvantages in terms of economy, environmental protection, and applicability. With the rapid development of science and technology, technologies such as the Internet of Things and artificial intelligence have been widely used, providing new solutions for more effective and scientific solutions to dust problems in bulk cargo yards. The intelligent and automated design of dust suppression equipment can improve work efficiency, reduce labor costs, and enhance operational safety.

[0003] For example, the invention patent with announcement number CN115816467B discloses a robot arm control method, device, system, storage medium and robot arm. The robot arm control method includes: obtaining the target posture position information of the robot arm, and using the current posture position information of the robot arm to determine the required movement distance of each arm segment; obtaining the required movement speed based on the required running distance and the required movement time; determining the control current of the proportional valve action based on the required movement speed and the cylinder speed-current relationship matrix corresponding to each execution cylinder; and controlling the corresponding proportional valve execution action based on the control current. The present invention uses the cylinder speed-current relationship matrix to generate the control current, discretizes the continuous current signal that originally controls the operation of the proportional valve, and realizes the control of the execution cylinder movement with a fixed control current. This can minimize the hysteresis effect of the proportional valve solenoid coil, effectively maintain the accuracy of the robot arm control, and does not need to rely on imported high-performance digital signal control multi-way valves.

[0004] At present, there are still some deficiencies in the research on the deployment method of the spraying arm of the intelligent dust suppression robot. Specifically, when using the traditional dust suppression method, uneven watering often occurs, the coverage area is small, the labor cost is high, and there is serious waste of resources. The maintenance workload of the spray gun station is large in the later stage, and the dynamic adaptability of the scene is insufficient, which makes it impossible to effectively suppress the dust in some areas, and then the dust problem continues to exist or worsen. Uneven watering may cause mud or slippery ground to form in places with too much water, while dust in places with insufficient water is still suspended in the air, causing dust accumulation and secondary dust. Manual continuous monitoring and adjustment of the dust suppression effect are required, and true intelligent control cannot be achieved, resulting in insufficient degree of automation and reduced overall efficiency of the system. Summary of the Invention

[0005] In response to the deficiencies in the prior art, the present invention provides a track-sharing intelligent dust suppression robot spray arm deployment method and system, which can effectively solve the problems involved in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] The first aspect of the present invention provides a method for deploying the spray arm of an intelligent dust suppression robot that shares a track, comprising the following steps: analyzing basic information of a stack to obtain characteristic values ​​of the basic information of the stack; analyzing the state of the stack to determine whether the dust suppression robot corresponding to the stack needs to start running; analyzing the environment in which the dust suppression robot that needs to start running is located to determine whether the dust suppression robot can start running; analyzing the track position state of the dust suppression robot that can start running to obtain a travel plan of the dust suppression robot by comparison; and obtaining a deployment plan of the spray arm of the dust suppression robot by comparison based on the characteristic values ​​of the basic information of the stack and the travel plan of the dust suppression robot.

[0008] Optionally, the basic information of the stack is analyzed, and the specific analysis process is: obtaining a basic information data set of the stack, which specifically includes the maximum height of the stack, the area occupied by the stack, and the total volume of the stack; based on the obtained basic information data set of the stack, a comprehensive analysis is performed to obtain a basic information characteristic value of the stack, and the basic information characteristic value of the stack is used as an analysis basis for comparing to obtain the deployment plan of the spray arm of the dust suppression robot.

[0009] Optionally, it is determined whether the dust suppression robot corresponding to the stack needs to start running. The specific analysis process is: obtain a stacking status data set, and based on the obtained stacking status data set, comprehensively analyze to obtain a stacking status evaluation value, and use the stacking status evaluation value as an analysis basis for determining whether the dust suppression robot corresponding to the stack needs to start running; compare the stacking status evaluation value with the stacking status reference evaluation value stored in the database; if the stacking status evaluation value is higher than or equal to the stacking status reference evaluation value, the dust suppression robot corresponding to the stacking status evaluation value needs to start running; if the stacking status evaluation value is lower than the stacking status reference evaluation value, the dust suppression robot corresponding to the stacking status evaluation value does not need to start running.

[0010] Optionally, the stacking status data set specifically includes stacking humidity, dust concentration in the stacking area, and dust diffusion speed in the stacking area.

[0011] Optionally, to determine whether the dust suppression robot can start running, the specific analysis process is: obtain the dust suppression robot's environmental data set, the dust suppression robot's environmental data set specifically includes the dust suppression robot's environmental wind speed, the dust suppression robot's environmental precipitation, and the absolute value of the difference between the dust suppression robot's environmental temperature and the reference temperature; based on the obtained dust suppression robot's environmental data set, a comprehensive analysis is performed to obtain an evaluation value of the dust suppression robot's environment, and the dust suppression robot's environmental evaluation value is used as an analysis basis for determining whether the dust suppression robot can start running; the dust suppression robot's environmental evaluation value is compared with the dust suppression robot's environmental reference evaluation value stored in the database; if the dust suppression robot's environmental evaluation value is higher than or equal to the dust suppression robot's environmental reference evaluation value, the dust suppression robot corresponding to the dust suppression robot's environmental evaluation value can start running; if the dust suppression robot's environmental evaluation value is lower than the dust suppression robot's environmental reference evaluation value, the dust suppression robot corresponding to the dust suppression robot's environmental evaluation value cannot start running.

[0012] Optionally, the environmental evaluation value of the dust suppression robot is analyzed in the following specific process:

[0013]

[0014] Wherein, ω is the environmental assessment value of the dust suppression robot, fs is the wind speed of the dust suppression robot, js is the precipitation of the dust suppression robot, wc is the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature, σ1 is the compensation factor of the set wind speed of the dust suppression robot, σ2 is the compensation factor of the set precipitation of the dust suppression robot, σ3 is the compensation factor of the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature, and e is a natural constant.

[0015] Optionally, the dust suppression robot's travel plan is obtained by comparison, and the specific analysis process is: obtain the dust suppression robot track position state data set, the dust suppression robot track position state data set specifically includes the dust suppression robot track running speed, the distance between the dust suppression robot and the nearest obstacle in front of the track, and the distance between the dust suppression robot and the target stack; based on the obtained dust suppression robot track position state data set, a comprehensive analysis is performed to obtain the dust suppression robot track position state characteristic value, and the dust suppression robot track position state characteristic value is used as the analysis basis for obtaining the dust suppression robot's travel plan by comparison; the dust suppression robot track position state characteristic value is compared with the dust suppression robot travel plan corresponding to each dust suppression robot track position state characteristic value stored in the database to obtain the dust suppression robot travel plan corresponding to the dust suppression robot track position state characteristic value.

[0016] Optionally, the specific analysis process of the track position state characteristic value of the dust suppression robot is as follows:

[0017]

[0018] Where δ is the characteristic value of the dust suppression robot track position state, ys is the track running speed of the dust suppression robot, za is the distance between the dust suppression robot and the nearest obstacle in front of the track, mb is the distance between the dust suppression robot and the target stack, τ1 is the compensation factor of the set dust suppression robot track running speed, τ2 is the compensation factor of the set dust suppression robot and the nearest obstacle in front of the track, and τ3 is the compensation factor of the set distance between the dust suppression robot and the target stack.

[0019] Optionally, the dust suppression robot spray arm deployment plan is obtained by comparison. The specific analysis process is: the basic information characteristic values ​​of the stacking and the dust suppression robot travel plan are stored as designated labels, and the designated labels are compared with the dust suppression robot spray arm deployment plans corresponding to each designated label stored in the database to obtain the dust suppression robot spray arm deployment plan corresponding to the designated label.

[0020] The second aspect of the present invention provides a track-sharing intelligent dust suppression robot spray arm deployment system, including a basic information characteristic value acquisition module, a need to start operation judgment module, an ability to start operation judgment module, a travel plan comparison module and a spray arm deployment plan comparison module, wherein: the basic information characteristic value acquisition module is used to analyze the basic information of the stack to obtain the basic information characteristic value of the stack; the need to start operation judgment module is used to analyze the stacking state to determine whether the dust suppression robot corresponding to the stack needs to start operation; the ability to start operation judgment module is used to analyze the environment in which the dust suppression robot that needs to start operation is located to determine whether the dust suppression robot can start operation; the travel plan comparison module is used to analyze the track position state of the dust suppression robot that can start operation, and compare to obtain the travel plan of the dust suppression robot; the spray arm deployment plan comparison module is used to compare and obtain the spray arm deployment plan of the dust suppression robot based on the basic information characteristic value of the stack and the travel plan of the dust suppression robot.

[0021] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0022] (1) The present invention provides a track-shared intelligent dust suppression robot spray arm deployment method and system, which conducts a detailed analysis of the stacking information, helps to accurately assess the dust risk and the required dust suppression intensity, thereby optimizing the use of dust suppression resources and judging whether it is necessary to start the dust suppression robot. This can avoid starting the robot unnecessarily, thereby saving energy and extending the service life of the equipment. By analyzing the humidity, wind speed and other parameters of the environment in which it is located, it can ensure that the robot operates under appropriate conditions, avoid inefficient or even ineffective operations, and further improve the operating efficiency. Based on the characteristic values ​​of the basic information of the stack and the robot's travel plan, the optimal spray arm deployment plan is compared to ensure the uniformity and effective coverage of watering, further reduce dust and reduce the waste of water resources.

[0023] (2) The present invention analyzes the track position status of the dust suppression robot that can start running, compares it to obtain the travel plan of the dust suppression robot, and analyzes the track position status to determine the optimal travel route of the robot, avoid repeated coverage or unnecessary detours, thereby reducing operation time and improving overall efficiency. In the travel plan, the spraying intensity and frequency of the robot in different areas can be reasonably arranged to ensure the maximum dust suppression effect, especially in areas with high dust concentration. Through real-time monitoring of the track position status, the route can be adjusted in time when encountering obstacles or emergencies to avoid collisions or operation interruptions, thereby improving safety.

[0024] (3) The present invention obtains the deployment plan of the dust suppression robot's spray arm by comparing the characteristic values ​​of the basic information of the stack and the movement plan of the dust suppression robot. The deployment angle and range of the spray arm can be accurately adjusted to make the dust suppression operation more precise, effectively cover the surface and surrounding areas of the stack, ensure that the dust is effectively controlled, and accurately control the deployment range of the spray arm. It can spray only the areas that need dust suppression, avoid sprinkling water on unnecessary areas, and thus reduce the waste of water resources. The deployment of the spray arm can be accurately matched with the robot's movement path, ensuring that the spray arm is always in the best position during the movement of the robot, avoiding frequent adjustments and re-deployment, and further reducing the operation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described with reference to the accompanying drawings. However, the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative effort.

[0026] Figure 1 Schematic diagram of the method steps of the present invention.

[0027] Figure 2 This is a schematic diagram of system module connections of the present invention. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] like Figure 1 As shown, the first aspect of the present invention provides a method for deploying a spraying arm of a track-sharing intelligent dust suppression robot, comprising: analyzing basic information of the stacking to obtain characteristic values ​​of the basic information of the stacking.

[0030] Specifically, the basic information of the stack is analyzed, and the specific analysis process is: obtaining the basic information data set of the stack, which specifically includes the maximum height of the stack, the area occupied by the stack, and the total volume of the stack; based on the obtained basic information data set of the stack, a comprehensive analysis is performed to obtain the basic information characteristic values ​​of the stack, and the basic information characteristic values ​​of the stack are used as the analysis basis for comparing the deployment plan of the dust suppression robot's spray arm.

[0031] In a specific embodiment, the maximum height of the stack refers to the vertical distance from the base to the top of the stack, usually in meters or centimeters, and is used to evaluate the vertical space occupancy of the stack. The distance from the bottom to the top of the stack is measured by a laser beam, which has high accuracy and is suitable for use in industrial environments. The stack footprint refers to the projected area of ​​the stack on the ground, usually in square meters (m2), reflecting the space occupied by the stack on the horizontal plane. By scanning the bottom contour of the stack, a two-dimensional projection map of its footprint is generated to obtain the stack footprint. The total volume of the stack refers to the volume of space occupied by the stack, usually in cubic meters (m3). The volume is the result of a combination of geometric parameters such as the maximum height and footprint of the stack. By generating a three-dimensional model of the stack by a three-dimensional laser scanner, the total volume of the stack can be directly calculated. The total volume of a regular stack is equal to the maximum height multiplied by the footprint. The maximum height and footprint of the stack are fully utilized to improve storage efficiency. When the height is limited, the footprint and stacking manpower can be reasonably adjusted to improve the overall storage and processing capabilities.

[0032] It should be explained that the above analysis of the maximum height, floor area and total volume of the stack can accurately calculate the specific area that needs to be sprayed. The dust suppression robot can accurately adjust the deployment range of the spray arm according to these characteristic values ​​to ensure that the dust suppression operation can cover the entire stacking area without omissions or excessive coverage. The stacking volume can help determine the total demand for dust suppression, thereby optimizing the spraying volume and frequency. For larger stacks, a larger range and higher intensity spraying can be selected; for smaller stacks, a lighter spraying strategy can be selected to improve the overall dust suppression efficiency and reduce resource waste. The analysis of the stacking area and total volume helps to accurately calculate the amount of water required for dust suppression. Based on these characteristic values, the dust suppression robot can reduce unnecessary water resource use and reduce operating costs without affecting the dust suppression effect. Different stacks may vary greatly in height, area and volume. By comprehensively analyzing these characteristic values, the dust suppression robot can dynamically adjust the deployment strategy of the spray arm to adapt to various stacking conditions and improve the flexibility and adaptability of dust suppression operations.

[0033] It should be explained that the specific analysis process of the above-mentioned basic information characteristic values ​​of the stacking is as follows:

[0034]

[0035] Where α is the basic information characteristic value of the stack, gd is the maximum height of the stack, zd is the area occupied by the stack, tj is the total volume of the stack, ε1 is the compensation factor for the set maximum height of the stack, ε2 is the compensation factor for the set area occupied by the stack, ε3 is the compensation factor for the set total volume of the stack, and e is a natural constant.

[0036] It should be explained that the above-mentioned characteristic values ​​of basic information of stacks are calculated through the maximum height of the stack, the area occupied by the stack and the total volume of the stack. The maximum height of the stack, the area occupied by the stack and the total volume of the stack are normalized. The maximum height of the stack, the area occupied and the total volume are the three core parameters that describe the physical characteristics of the stack. The characteristic values ​​can fully reflect the actual situation of the stack, such as the ductility in height, the occupied space on the plane and the total volume in three-dimensional space, which helps the dust suppression robot to understand the overall shape and scale of the stack. Through the calculated characteristic values ​​of the stack, the dust suppression robot can select the most appropriate way to deploy the spray arm and the spraying intensity. For high and narrow stacks, the robot can adjust the angle of the spray arm. The degree and spraying range are calculated to ensure that the water mist can cover the entire stack surface. For wide and low stacks, the spray arm may need to be deployed more widely horizontally. By pre-calculating the basic information characteristic values ​​of the stack, the dust suppression robot can make decisions faster, reduce the time of real-time calculation during the operation, accelerate the start of dust suppression operations, and improve overall operation efficiency. Different stacks may have great differences in height, area and volume. The basic information characteristic values ​​of the stack are obtained through the calculation of the characteristic values. The basic information characteristic values ​​of the stack are used as the analysis basis for the comparison to obtain the deployment plan of the dust suppression robot's spray arm, so that the dust suppression robot can better adapt to various types of stacks and provide flexible and efficient dust suppression solutions.

[0037] ε1, ε2, and ε3 are the compensation factors corresponding to the maximum stacking height, stacking area, and total stacking volume preset in the database, which represent the numerical values ​​of the influence of the maximum stacking height, stacking area, and total stacking volume on the characteristic values ​​of the basic information of the stacking. When used, the compensation factors corresponding to the maximum stacking height, stacking area, and total stacking volume can be directly obtained from the database. The corresponding relationship can be a preset mapping relationship, in which the mapping relationship can be one-to-one or many-to-one. For example, the maximum stacking height and the compensation factor of the maximum stacking height are in the form of For example, the stacking area and the compensation factor of the stacking area form a mapping set, and the real-time stacking area is input into the mapping set to obtain the compensation factor of the stacking area. In this example, the value range is between 0 and 1. For example, the stacking total volume and the compensation factor of the stacking total volume form a mapping set, and the real-time stacking total volume is input into the mapping set to obtain the compensation factor of the stacking total volume. In this example, the value range is between 0 and 1.

[0038] Analyze the stacking status to determine whether the dust suppression robot corresponding to the stack needs to start running.

[0039] Specifically, it is determined whether the dust suppression robot corresponding to the stack needs to start running. The specific analysis process is: obtain the stacking status data set, and based on the obtained stacking status data set, comprehensively analyze to obtain the stacking status evaluation value, and use the stacking status evaluation value as the analysis basis for determining whether the dust suppression robot corresponding to the stack needs to start running; compare the stacking status evaluation value with the stacking status reference evaluation value stored in the database; if the stacking status evaluation value is higher than or equal to the stacking status reference evaluation value, the dust suppression robot corresponding to the stacking status evaluation value needs to start running; if the stacking status evaluation value is lower than the stacking status reference evaluation value, the dust suppression robot corresponding to the stacking status evaluation value does not need to start running.

[0040] It needs to be explained that the above-mentioned comprehensive assessment of the stacking status only starts the dust suppression robot when needed, avoiding unnecessary operation, thereby saving energy and water resources. Accurate judgment makes resource use more efficient, reduces waste, and reduces the number of unnecessary starts. The energy consumption of the dust suppression robot is reduced, thereby reducing overall operating costs. The dust suppression robot only runs when necessary, reducing the wear and maintenance requirements of mechanical equipment, thereby extending the service life of the equipment and reducing maintenance costs. The analysis process relies on automated status assessment and data comparison, which can reduce human intervention and improve work efficiency. Intelligent judgment can make decisions faster and more accurately, ensuring that dust suppression operations are started at the right time. The data-driven decision-making process reduces the errors that may be caused by human judgment and ensures that dust suppression operations are carried out at the most appropriate time. The stacking status assessment value can reflect the dynamic changes of the stack in real time, allowing the dust suppression robot to quickly adapt to different environmental conditions and work requirements, enhancing the flexibility of the system.

[0041] Furthermore, the stacking status data set specifically includes stacking humidity, dust concentration in the stacking area, and dust diffusion speed in the stacking area.

[0042] In a specific embodiment, stacking humidity refers to the relative amount of moisture contained in the stacked items, usually expressed in relative humidity (%) or absolute humidity (g / m3), reflecting the moisture level of the stacked materials. When the humidity is high, dust is more likely to condense and the risk of dust emission is lower; when the humidity is low, dust in the stack is more likely to be released into the air. It is obtained based on the humidity sensor. The dust concentration in the stacking area refers to the mass of dust particles suspended in a unit volume of air, usually expressed in micrograms per cubic meter (g / m3) or milligrams per cubic meter (mg / m3). The higher the dust concentration, the greater the dust content in the air and the more serious the dust pollution. It is obtained based on the dust detector. The dust diffusion rate in the stacking area refers to the speed at which dust in the stacking area diffuses in the air, usually expressed in meters per second (m / s), reflecting the speed at which dust particles propagate in the air. It is affected by air flow, the properties of the stacked dust and environmental conditions. The movement speed of dust particles in the air is measured by laser and high-speed photography technology based on the particle tracking velocimeter.

[0043] In a specific embodiment, when the humidity of the stack is high, the dust particles on the surface of the stack easily absorb moisture, increasing the cohesion between the particles, making the dust particles heavier and less likely to float in the air, thereby reducing the dust concentration. When the humidity is high, the dust particles are more likely to gather together to form larger particles. These larger particles are not easy to diffuse with the air flow due to gravity, so the diffusion rate is slower. When the dust diffusion rate is faster, the dust particles quickly spread from the stacking area to the surrounding air, which may cause the dust concentration in the local area to temporarily decrease, but spreading to a wider range of air may cause more widespread pollution.

[0044] It should be explained that the specific analysis process of the above stacking status evaluation value is as follows:

[0045]

[0046] Where β is the stacking state assessment value, ds is the stacking humidity, nd is the dust concentration in the stacking area, ks is the dust diffusion velocity in the stacking area, μ1 is the compensation factor for the set stacking humidity, μ2 is the compensation factor for the set dust concentration in the stacking area, and μ3 is the compensation factor for the set dust diffusion velocity in the stacking area.

[0047] It should be explained that the above-mentioned stacking status assessment value is calculated through stacking humidity, dust concentration in the stacking area, and dust diffusion rate in the stacking area. The stacking humidity, dust concentration in the stacking area, and dust diffusion rate in the stacking area are normalized. Stacking humidity, dust concentration and dust diffusion rate are important factors affecting stacking dust. The stacking status assessment value can accurately reflect the current dust risk of the stack and avoid misjudgment that may be caused by relying on a single indicator. These parameters can dynamically reflect changes in the stack and its surrounding environment, such as increased humidity or a sudden increase in dust concentration. The assessment value can therefore be adjusted in time to ensure a rapid response when the dust risk increases. The dust suppression robot can avoid unnecessary startup when the dust risk is low, thereby saving energy and resources and reducing unnecessary equipment wear. The stacking status assessment value can predict possible dust risks and start dust suppression operations in advance, thereby preventing potential dust hazards and ensuring the safety of the working environment.

[0048] μ1, μ2, and μ3 are the compensation factors corresponding to the stacking humidity, dust concentration in the stacking area, and dust diffusion speed in the stacking area preset in the database, which represent the numerical values ​​of the influence of the stacking humidity, dust concentration in the stacking area, and dust diffusion speed in the stacking area on the stacking status assessment value. When used, the compensation factors corresponding to the stacking humidity, dust concentration in the stacking area, and dust diffusion speed in the stacking area can be directly obtained from the database. The corresponding relationship can be a pre-set mapping relationship, in which the mapping relationship can be one-to-one or many-to-one. For example, the stacking humidity and the compensation factor of the stacking humidity form a mapping set, which will be used in real time. The stacking humidity is input into a mapping set to obtain a compensation factor for the stacking humidity, and in this example, its value range is between 0 and 1. For example, the dust concentration in the stacking area and the compensation factor for the dust concentration in the stacking area form a mapping set, and the real-time dust concentration in the stacking area is input into the mapping set to obtain the compensation factor for the dust concentration in the stacking area. In this example, its value range is between 0 and 1. For example, the dust diffusion velocity in the stacking area and the compensation factor for the dust diffusion velocity in the stacking area form a mapping set, and the real-time dust diffusion velocity in the stacking area is input into the mapping set to obtain the compensation factor for the dust diffusion velocity in the stacking area. In this example, its value range is between 0 and 1.

[0049] Analyze the environment in which the dust suppression robot that needs to start running is located to determine whether the dust suppression robot can start running.

[0050] Specifically, to determine whether the dust suppression robot can start running, the specific analysis process is: obtain the dust suppression robot's environmental data set, the dust suppression robot's environmental data set specifically includes the dust suppression robot's environmental wind speed, the dust suppression robot's environmental precipitation, and the absolute value of the difference between the dust suppression robot's environmental temperature and the reference temperature; based on the obtained dust suppression robot's environmental data set, a comprehensive analysis is performed to obtain an evaluation value of the dust suppression robot's environment, and the dust suppression robot's environmental evaluation value is used as an analysis basis for determining whether the dust suppression robot can start running; the dust suppression robot's environmental evaluation value is compared with the dust suppression robot's environmental reference evaluation value stored in the database; if the dust suppression robot's environmental evaluation value is higher than or equal to the dust suppression robot's environmental reference evaluation value, the dust suppression robot corresponding to the dust suppression robot's environmental evaluation value can start running; if the dust suppression robot's environmental evaluation value is lower than the dust suppression robot's environmental reference evaluation value, the dust suppression robot corresponding to the dust suppression robot's environmental evaluation value cannot start running.

[0051] It should be explained that the above-mentioned wind speed refers to the speed of air flow in the environment where the dust suppression robot is located, usually in meters per second (m / s) or kilometers per hour (km / h). The wind speed directly affects the effect of dust suppression operations: excessive wind speed may cause the sprayed water mist to be blown away, reducing the dust suppression effect, based on the anemometer. Precipitation refers to the total amount of precipitation in the environment where the dust suppression robot is located within a certain period of time, usually in millimeters (mm). Precipitation affects the necessity of dust suppression operations: when the precipitation is large, natural precipitation already has a certain dust suppression effect, and additional dust suppression operations may not be required. Based on the rain gauge, the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature refers to the absolute value of the difference between the actual temperature of the environment where the dust suppression robot is located and a preset reference temperature. The temperature difference may affect the dust suppression effect and the efficiency of the robot operation: for example, too high or too low temperature may affect the evaporation rate and diffusion effect of water mist. The temperature is obtained based on the temperature sensor, and the dust suppression robot is calculated in combination with the reference temperature. The absolute value of the difference between the ambient temperature and the reference temperature. When the wind speed is high, even if the precipitation is high, the distribution of precipitation may be uneven, and the water droplets may be blown away by the wind, resulting in insufficient precipitation in some areas of the ground. Additional dust suppression operations may be required to make up for the lack of natural precipitation. Wind speed will affect the temperature distribution in the environment. Higher wind speeds can accelerate heat transfer, making the impact of the temperature difference more significant. If the wind speed is high, the evaporation rate of water mist may be faster, resulting in a decrease in dust suppression effect. A large amount of precipitation can partially offset the negative impact of wind speed. Although the wind speed is high, sufficient precipitation can still effectively suppress dust, which may reduce the necessity of dust suppression robot operation. When the temperature difference is small, the impact of wind speed on dust suppression effect may be small, because the evaporation of water mist is relatively stable, and the effect of dust suppression operation is more ideal. Precipitation can regulate the ambient temperature, especially when the temperature is high. Precipitation will bring a cooling effect and reduce the temperature difference. This cooling effect can improve the efficiency of dust suppression operation because the evaporation rate of water mist is reduced.

[0052] It needs to be explained that the above analysis of environmental conditions will only start the dust suppression robot in a suitable environment, avoid operation under unfavorable conditions, and ensure the maximum dust suppression effect. If the environmental assessment value is lower than the reference value, the dust suppression robot will not start, avoiding inefficient or ineffective dust suppression operations when the wind speed is too high, the temperature difference is too large, or the precipitation is too high. Running the dust suppression robot under unsuitable environmental conditions may lead to waste of water resources, electricity, etc. These wastes can be avoided through accurate judgment, thereby reducing operating costs. Factors such as environmental wind speed, precipitation, and temperature difference have a significant impact on the dust suppression effect. In an unfavorable environment (such as excessive wind speed or excessive precipitation), the dust suppression effect may be greatly reduced. By comprehensively analyzing the environmental conditions, ensure that the robot is started under the most favorable conditions to ensure the optimization of the dust suppression effect, allow the dust suppression robot to make dynamic adjustments based on real-time environmental data, adapt to changing environmental conditions, and ensure that it always operates under optimal conditions.

[0053] Furthermore, the environmental evaluation value of the dust suppression robot is analyzed in the following specific process:

[0054]

[0055] Wherein, ω is the environmental assessment value of the dust suppression robot, fs is the wind speed of the dust suppression robot, js is the precipitation of the dust suppression robot, wc is the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature, σ1 is the compensation factor of the set wind speed of the dust suppression robot, σ2 is the compensation factor of the set precipitation of the dust suppression robot, σ3 is the compensation factor of the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature, and e is a natural constant.

[0056] It should be explained that the environmental assessment value of the dust suppression robot is obtained by calculating the absolute value of the difference between the wind speed of the dust suppression robot, the precipitation of the dust suppression robot, and the temperature of the dust suppression robot and the reference temperature. The wind speed of the dust suppression robot, the precipitation of the dust suppression robot, and the absolute value of the difference between the temperature of the dust suppression robot and the reference temperature are normalized to calculate the environmental assessment value. The dust suppression robot can avoid starting when the environmental conditions are not conducive to effective dust suppression, save resources, and reduce unnecessary equipment wear. In the case of excessive wind speed or excessive precipitation, the dust suppression robot can avoid starting when the environmental conditions are not conducive to effective dust suppression, save resources, and reduce unnecessary equipment wear. Under these adverse conditions, dust suppression operations may lead to waste of water resources and energy. Dust suppression operations can be avoided to maximize resource utilization efficiency. Environmental conditions such as wind speed, precipitation and temperature difference may change at any time. By calculating and updating the environmental assessment values, the dust suppression robot can quickly adapt to environmental changes and adjust its operating strategy to ensure that the dust suppression effect and operating efficiency are not negatively affected by environmental changes. By evaluating the impact of wind speed, precipitation and temperature difference on dust suppression operations, the dust suppression robot can avoid operating in extreme or dangerous environmental conditions and reduce the risk of equipment failure and operational accidents.

[0057] σ1, σ2, and σ3 are compensation factors corresponding to the absolute value of the difference between the wind speed of the environment in which the dust suppression robot is located, the precipitation of the environment in which the dust suppression robot is located, and the temperature of the environment in which the dust suppression robot is located and the reference temperature, which are preset in the database. They represent the numerical values ​​of the degree of influence of the wind speed of the environment in which the dust suppression robot is located, the precipitation of the environment in which the dust suppression robot is located, and the absolute value of the difference between the temperature of the environment in which the dust suppression robot is located and the reference temperature on the environmental evaluation value of the dust suppression robot. When used, the compensation factors corresponding to the wind speed of the environment in which the dust suppression robot is located, the precipitation of the environment in which the dust suppression robot is located, and the absolute value of the difference between the temperature of the environment in which the dust suppression robot is located and the reference temperature can be directly obtained from the database. The corresponding relationship can be a preset mapping relationship, in which the mapping relationship can be one-to-one or many-to-one. For example, the wind speed of the environment in which the dust suppression robot is located and the compensation factor of the wind speed of the environment in which the dust suppression robot is located form a mapping Set, the real-time wind speed of the dust suppression robot's environment is input into the mapping set to obtain the compensation factor of the wind speed of the dust suppression robot's environment, and its value range in this example is between 0 and 1; for example, the precipitation of the dust suppression robot's environment and the compensation factor of the precipitation of the dust suppression robot's environment form a mapping set, and the real-time precipitation of the dust suppression robot's environment is input into the mapping set to obtain the compensation factor of the precipitation of the dust suppression robot's environment, and its value range in this example is between 0 and 1; for example, the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature and the compensation factor of the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature form a mapping set, and the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature is input into the mapping set to obtain the compensation factor of the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature, and its value range in this example is between 0 and 1.

[0058] The track position status of the dust suppression robot that can start running is analyzed and compared to obtain the travel plan of the dust suppression robot.

[0059] Specifically, the dust suppression robot's travel plan is obtained by comparison, and the specific analysis process is: obtain the dust suppression robot track position state data set, the dust suppression robot track position state data set specifically includes the dust suppression robot track running speed, the distance between the dust suppression robot and the nearest obstacle in front of the track, and the distance between the dust suppression robot and the target stack; based on the obtained dust suppression robot track position state data set, a comprehensive analysis is performed to obtain the dust suppression robot track position state characteristic value, and the dust suppression robot track position state characteristic value is used as the analysis basis for obtaining the dust suppression robot's travel plan by comparison; the dust suppression robot track position state characteristic value is compared with the dust suppression robot travel plan corresponding to each dust suppression robot track position state characteristic value stored in the database to obtain the dust suppression robot travel plan corresponding to the dust suppression robot track position state characteristic value.

[0060] It should be explained that the above-mentioned dust suppression robot track running speed refers to the speed at which the robot moves on the track, usually in meters per second (m / s) or kilometers per hour (km / h). The speed directly affects the robot's operating efficiency and dust suppression effect: too fast a speed may lead to uneven spraying, while too slow a speed will prolong the operation time. Dust suppression robots are usually equipped with built-in speed sensors, which measure the movement of the robot on the track and obtain its operating speed in real time. The distance between the dust suppression robot and the nearest obstacle in front of the track refers to the distance between the dust suppression robot and the nearest obstacle in front of it when it is moving on the track, usually in meters (m) or centimeters (cm), which determines whether the robot needs to slow down, stop or detour to avoid collision. LiDAR can scan the environment in front of the robot in real time and accurately measure the distance to the obstacle. It is a more commonly used detection technology at present. The distance between the dust suppression robot and the target stack refers to the distance between the current position of the dust suppression robot and its target stack, usually in meters (m) or centimeters (cm). cm) is used for navigation and positioning to ensure that the robot can accurately reach the designated stacking position for dust suppression operations. When the robot approaches the target stack, a laser rangefinder can be used to measure the precise distance between it and the stack to ensure that the robot accurately stops at the target position. When the robot runs at a faster speed, the safe distance from the obstacle in front needs to be increased accordingly to ensure that the robot has enough time and distance to slow down or stop to avoid collision. As the running speed increases, the distance to the nearest obstacle in front needs to increase. When the robot approaches the target stack, in order to ensure that it accurately reaches the target position and performs effective dust suppression operations, it is usually necessary to slow down. A slower speed can improve positioning accuracy and avoid offset or inaccurate stopping caused by approaching too quickly. There may be multiple dust suppression robots on a track. The dust suppression robot may encounter obstacles in the process of moving towards the target stack. When the distance to the obstacle in front is short, the robot may need to adjust its route or even change the way it approaches the target stack to avoid collision.

[0061] It needs to be explained that the above-mentioned monitoring of the distance between the dust suppression robot and the nearest obstacle in front of the track allows the system to adjust the travel route or speed in time to avoid collisions and shutdowns, ensuring that the robot can perform dust suppression tasks smoothly and continuously. By monitoring the distance between the dust suppression robot and the obstacle in front and incorporating it into the comparison and analysis of the travel plan, the collision between the robot and the obstacle can be effectively avoided, thereby protecting the safety of the equipment and working environment. By monitoring and analyzing the distance between the robot and the target stack, it can be ensured that the robot reaches the designated position accurately, avoiding unsatisfactory dust suppression effects due to position deviations. By analyzing and comparing the characteristic values ​​of the track position status, the system can automatically generate the best travel plan, reduce the need for manual intervention, and improve the intelligence and automation level of operations. The track environment may change at any time, such as new obstacles or emergencies. By monitoring and analyzing the track position status, the system can dynamically adjust the travel plan to ensure the robot's flexible response capabilities in complex environments.

[0062] It needs to be explained that the above analysis is performed on the track position status of the dust suppression robot that can start running, and the dust suppression robot's travel plan is obtained by comparison. By analyzing the track position status, the robot's optimal travel route can be determined to avoid repeated coverage or unnecessary detours, thereby reducing operation time and improving overall efficiency. In the travel plan, the robot's spraying intensity and frequency in different areas can be reasonably arranged to ensure maximum dust suppression effect, especially in areas with high dust concentration. Through real-time monitoring of the track position status, the route can be adjusted in time when encountering obstacles or emergencies to avoid collisions or operation interruptions and improve safety.

[0063] Furthermore, the specific analysis process of the track position state characteristic value of the dust suppression robot is as follows:

[0064]

[0065] Where δ is the characteristic value of the dust suppression robot track position state, ys is the track running speed of the dust suppression robot, za is the distance between the dust suppression robot and the nearest obstacle in front of the track, mb is the distance between the dust suppression robot and the target stack, τ1 is the compensation factor of the set dust suppression robot track running speed, τ2 is the compensation factor of the set dust suppression robot and the nearest obstacle in front of the track, and τ3 is the compensation factor of the set distance between the dust suppression robot and the target stack.

[0066] It needs to be explained that the above-mentioned dust suppression robot track position state characteristic value is calculated through the dust suppression robot track running speed, the distance between the dust suppression robot and the nearest obstacle in front of the track, and the distance between the dust suppression robot and the target stack. The dust suppression robot track running speed, the distance between the dust suppression robot and the nearest obstacle in front of the track, and the distance between the dust suppression robot and the target stack are normalized to calculate the track position state characteristic value. The dust suppression robot can select the optimal travel path according to the real-time status to avoid unnecessary detours and pauses, thereby improving operation efficiency. The characteristic value takes into account the distance between the dust suppression robot and the nearest obstacle in front of the track. By adjusting the operating speed and path in real time, collisions with obstacles are avoided to ensure the safety of operations. Through reasonable speed and path planning, equipment wear can be reduced, equipment service life can be extended, and maintenance costs can be reduced. The calculation of the characteristic value enables the robot to accurately judge the distance from the target stack, ensure that it stops at the optimal position and performs dust suppression operations, and improve the accuracy and effectiveness of operations.

[0067] τ1, τ2, and τ3 are the compensation factors corresponding to the dust suppression robot track running speed, the distance between the dust suppression robot and the nearest obstacle in front of the track, and the distance between the dust suppression robot and the target stacking, which are preset in the database. They represent the numerical values ​​of the degree of influence of the dust suppression robot track running speed, the distance between the dust suppression robot and the nearest obstacle in front of the track, and the distance between the dust suppression robot and the target stacking on the characteristic value of the track position state of the dust suppression robot. When used, the compensation factors corresponding to the dust suppression robot track running speed, the distance between the dust suppression robot and the nearest obstacle in front of the track, and the distance between the dust suppression robot and the target stacking can be directly obtained from the database. The corresponding relationship can be a preset mapping relationship, in which the mapping relationship can be one-to-one or many-to-one. For example, the compensation factor of the dust suppression robot track running speed and the dust suppression robot track running speed A mapping set is formed, and the real-time dust suppression robot track running speed is input into the mapping set to obtain the compensation factor of the dust suppression robot track running speed, and its value range in this example is between 0 and 1; for example, the distance between the dust suppression robot and the nearest obstacle in front of the track and the compensation factor of the distance between the dust suppression robot and the nearest obstacle in front of the track form a mapping set, and the real-time dust suppression robot and the nearest obstacle in front of the track are input into the mapping set to obtain the compensation factor of the distance between the dust suppression robot and the nearest obstacle in front of the track, and its value range in this example is between 0 and 1; for example, the distance between the dust suppression robot and the target stack and the compensation factor of the distance between the dust suppression robot and the target stack form a mapping set, and the real-time dust suppression robot and the target stack are input into the mapping set to obtain the compensation factor of the distance between the dust suppression robot and the target stack, and its value range in this example is between 0 and 1.

[0068] Based on the characteristic values ​​of the basic information of the stack and the movement plan of the dust suppression robot, the deployment plan of the dust suppression robot's spraying arm is obtained by comparison.

[0069] Specifically, the dust suppression robot spray arm deployment plan is obtained by comparison. The specific analysis process is: the basic information characteristic value of the stacking and the dust suppression robot travel plan are stored as a specified label, and the specified label is compared with the dust suppression robot spray arm deployment plan corresponding to each specified label stored in the database to obtain the dust suppression robot spray arm deployment plan corresponding to the specified label.

[0070] In a specific embodiment, after the stacking characteristics and travel plans are stored as labels, it can ensure that the dust suppression robot adopts the most suitable spray arm deployment plan in different working environments. By comparing with the existing plans in the database, the plan that best matches the current working conditions can be quickly found, thereby improving the accuracy and effectiveness of the operation. An accurate spray arm deployment plan can avoid excessive or insufficient spraying, ensuring that the waste of water resources and the increase in energy consumption are reduced while the dust suppression effect meets the standards. Label comparison selects the optimal plan, which can achieve efficient use of resources and can quickly generate a spray arm deployment plan that meets the current environmental conditions, reducing manual debugging and adjustment time and speeding up the startup speed of the dust suppression operation. The label-based comparison method enables the dust suppression robot to automatically select the spray arm deployment plan that best suits the current conditions, reducing manual intervention and improving the intelligence level of the system. Selecting the best spray arm deployment plan can ensure that the dust suppression operation fully covers the stack, avoids the problem of uneven watering, and improves the overall dust suppression effect.

[0071] It needs to be explained that the above-mentioned dust suppression robot spray arm deployment plan is obtained by comparing the characteristic values ​​of the basic information of the stack and the movement plan of the dust suppression robot. The deployment angle and range of the spray arm can be accurately adjusted to make the dust suppression operation more precise, effectively cover the surface and surrounding areas of the stack, ensure that dust is effectively controlled, and accurately control the deployment range of the spray arm. It can spray only the areas that require dust suppression, avoid sprinkling water on unnecessary areas, and thus reduce the waste of water resources. The deployment of the spray arm can be accurately matched with the robot's travel path to ensure that the spray arm is always in the best position during the movement of the robot, avoid frequent adjustments and re-deployment, and further reduce the operation time.

[0072] It needs to be explained that there are multiple piles to be processed in the above scenario, and each pile in the scene corresponds to a dust suppression robot.

[0073] like Figure 2 As shown, the second aspect of the present invention provides a track-shared intelligent dust suppression robot spray arm deployment system, including a basic information characteristic value acquisition module, a need to start operation judgment module, an ability to start operation judgment module, a travel plan comparison module and a spray arm deployment plan comparison module.

[0074] The basic information characteristic value acquisition module is used to analyze the basic information of the stacking and obtain the basic information characteristic value of the stacking.

[0075] The need to start running judgment module is used to analyze the stacking status and determine whether the dust suppression robot corresponding to the stacking needs to start running.

[0076] The operation judgment module can be started, which is used to analyze the environment in which the dust suppression robot that needs to start running is located and judge whether the dust suppression robot can start running.

[0077] The travel plan comparison module is used to analyze the track position status of the dust suppression robot that can start running and obtain the travel plan of the dust suppression robot by comparison.

[0078] The spray arm deployment plan comparison module is used to obtain the dust suppression robot's spray arm deployment plan based on the basic information eigenvalues ​​of the stacking and the dust suppression robot's travel plan.

[0079] It needs to be explained that the above-mentioned method and system for deploying the spray arm of an intelligent dust suppression robot sharing a track are provided to conduct a detailed analysis of the stacking information, which helps to accurately assess the dust risk and the required dust suppression intensity, thereby optimizing the use of dust suppression resources and judging whether the dust suppression robot needs to be started. It can avoid starting the robot unnecessarily, thereby saving energy and extending the service life of the equipment. By analyzing the humidity, wind speed and other parameters of the environment in which it is located, it can ensure that the robot operates under suitable conditions, avoid inefficient or even ineffective operations, and further improve operating efficiency. Based on the characteristic values ​​of the basic information of the stack and the robot's travel plan, the best spray arm deployment plan is compared to ensure the uniformity and effective coverage of watering, further reduce dust and reduce the waste of water resources.

[0080] The above content is merely an example and explanation of the structure of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the scope of protection of the present invention.

Claims

1. A method for deploying the spraying arm of a track-sharing intelligent dust suppression robot, characterized in that: The following steps are involved: Analyze the basic information of the stacking to obtain the characteristic value of the basic information of the stacking; Analyze the stacking status to determine whether the dust suppression robot corresponding to the stack needs to start running; Analyze the environment where the dust suppression robot needs to start running to determine whether the dust suppression robot can start running; Analyze the track position status of the dust suppression robot that can start running, and compare it to obtain the movement plan of the dust suppression robot; Based on the basic information eigenvalues ​​of the stack and the movement plan of the dust suppression robot, the deployment plan of the dust suppression robot's spray arm is obtained by comparison; The specific analysis process for determining whether the dust suppression robot can start running is as follows: Obtaining a data set of the environment in which the dust suppression robot is located. The data set of the environment in which the dust suppression robot is located specifically includes the wind speed in the environment in which the dust suppression robot is located, the precipitation in the environment in which the dust suppression robot is located, and the absolute value of the difference between the temperature in the environment in which the dust suppression robot is located and the reference temperature; Based on the acquired environmental data set of the dust suppression robot, a comprehensive analysis is performed to obtain an environmental evaluation value of the dust suppression robot. The environmental evaluation value of the dust suppression robot is used as an analysis basis for determining whether the dust suppression robot can start operating. Comparing the evaluation value of the environment in which the dust suppression robot is located with the reference evaluation value of the environment in which the dust suppression robot is located stored in the database; If the evaluation value of the environment in which the dust suppression robot is located is higher than or equal to the reference evaluation value of the environment in which the dust suppression robot is located, the dust suppression robot corresponding to the evaluation value of the environment in which the dust suppression robot is located can start operation; If the environmental assessment value of the dust suppression robot is lower than the reference assessment value of the environment in which the dust suppression robot is located, the dust suppression robot corresponding to the environmental assessment value of the dust suppression robot cannot start operation.

2. The method for deploying the spray arm of the track-sharing intelligent dust suppression robot according to claim 1 is characterized in that: The basic information of the stack is analyzed, and the specific analysis process is as follows: Obtaining a basic stacking information data set, wherein the basic stacking information data set specifically includes a maximum stacking height, a stacking area, and a total stacking volume; Based on the acquired basic information dataset of stacking, the basic information eigenvalues ​​of stacking are obtained through comprehensive analysis. The basic information eigenvalues ​​of stacking are used as the analysis basis for comparing the deployment plan of the spraying arm of the dust suppression robot.

3. The method for deploying the spray arm of the track-sharing intelligent dust suppression robot according to claim 1 is characterized in that: The specific analysis process for determining whether the dust suppression robot corresponding to the stack needs to start running is as follows: Obtain a stacking state data set, and based on the obtained stacking state data set, perform a comprehensive analysis to obtain a stacking state evaluation value, which is used as an analysis basis for determining whether the dust suppression robot corresponding to the stack needs to start operating; comparing the stacking state evaluation value with a stacking state reference evaluation value stored in a database; If the stacking state evaluation value is higher than or equal to the stacking state reference evaluation value, the dust suppression robot corresponding to the stacking state evaluation value needs to start running; If the stacking state evaluation value is lower than the stacking state reference evaluation value, the dust suppression robot corresponding to the stacking state evaluation value does not need to start running.

4. The method for deploying the spray arm of a track-sharing intelligent dust suppression robot according to claim 3, characterized in that: The stacking status data set specifically includes stacking humidity, dust concentration in the stacking area, and dust diffusion speed in the stacking area.

5. The method for deploying the spray arm of the track-sharing intelligent dust suppression robot according to claim 1, characterized in that: The specific analysis process of the environmental evaluation value of the dust suppression robot is as follows: Wherein, ω is the environmental assessment value of the dust suppression robot, fs is the wind speed of the dust suppression robot, js is the precipitation of the dust suppression robot, wc is the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature, σ1 is the compensation factor of the set wind speed of the dust suppression robot, σ2 is the compensation factor of the set precipitation of the dust suppression robot, σ3 is the compensation factor of the absolute value of the difference between the ambient temperature of the dust suppression robot and the reference temperature, and e is a natural constant.

6. The method for deploying the spray arm of the track-sharing intelligent dust suppression robot according to claim 1, characterized in that: The comparison results in a moving plan for the dust suppression robot, and the specific analysis process is as follows: Obtaining a track position status dataset of the dust suppression robot, which specifically includes the track running speed of the dust suppression robot, the distance between the dust suppression robot and the nearest obstacle in front of the track, and the distance between the dust suppression robot and the target stack; Based on the acquired dust suppression robot track position state data set, the track position state characteristic value of the dust suppression robot is obtained through comprehensive analysis. The track position state characteristic value of the dust suppression robot is used as the analysis basis for obtaining the dust suppression robot's travel plan by comparison. The dust suppression robot track position state characteristic value is compared with the dust suppression robot travel plan corresponding to each dust suppression robot track position state characteristic value stored in the database to obtain the dust suppression robot travel plan corresponding to the dust suppression robot track position state characteristic value.

7. The method for deploying the spray arm of a track-sharing intelligent dust suppression robot according to claim 6, characterized in that: The specific analysis process of the track position state characteristic value of the dust suppression robot is as follows: Where δ is the characteristic value of the dust suppression robot track position state, ys is the track running speed of the dust suppression robot, za is the distance between the dust suppression robot and the nearest obstacle in front of the track, mb is the distance between the dust suppression robot and the target stack, τ1 is the compensation factor of the set dust suppression robot track running speed, τ2 is the compensation factor of the set dust suppression robot and the nearest obstacle in front of the track, and τ3 is the compensation factor of the set distance between the dust suppression robot and the target stack.

8. The method for deploying the spray arm of a track-sharing intelligent dust suppression robot according to claim 1, characterized in that: The comparison results in a deployment plan for the dust suppression robot's spray arm. The specific analysis process is as follows: The basic information characteristic values ​​of the stacking and the movement plan of the dust suppression robot are stored as designated labels, and the designated labels are compared with the dust suppression robot spray arm deployment plans corresponding to each designated label stored in the database to obtain the dust suppression robot spray arm deployment plan corresponding to the designated label.

9. A track-shared intelligent dust suppression robot spray arm deployment system, applied to the track-shared intelligent dust suppression robot spray arm deployment method according to any one of claims 1 to 8, characterized in that: It includes a basic information characteristic value acquisition module, a need to start running judgment module, an ability to start running judgment module, a travel plan comparison module and a spray arm deployment plan comparison module, among which: The basic information characteristic value acquisition module is used to analyze the basic information of the stack to obtain the basic information characteristic value of the stack; The need to start running judgment module is used to analyze the stacking state and determine whether the dust suppression robot corresponding to the stacking needs to start running; The operation start judging module is used to analyze the environment in which the dust suppression robot needs to start running, and judge whether the dust suppression robot can start running; The travel plan comparison module is used to analyze the track position status of the dust suppression robot that can start running and obtain the travel plan of the dust suppression robot by comparison; The spray arm deployment plan comparison module is used to obtain the spray arm deployment plan of the dust suppression robot by comparison based on the basic information characteristic value of the stacking and the dust suppression robot's travel plan.

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