Spraying identification control method and system of intelligent ecological robot

Abstract

The invention provides a spraying identification control method and system of an intelligent ecological robot, and relates to the technical field of spraying control of intelligent ecological robots. The spraying identification control method of the intelligent ecological robot comprises the following steps: obtaining a spraying condition index; spraying judgment is carried out; obtaining a spraying uniformity index; and obtaining a spraying quality index. According to the method, the spraying condition index is obtained by combining the environment influence parameter and the preset environment parameter, whether stacking spraying is conducted or not is judged, and then the spraying uniformity index is obtained by combining the area uniformity parameter, the robot uniformity parameter and the preset uniformity parameter; and finally, the spraying quality index is obtained in combination with the spraying quality parameters and the preset quality parameters, quality adjustment is carried out, the effect of more accurately carrying out spraying control of the intelligent ecological robot is achieved, and the problem that in the prior art, the matching degree of spraying control of the intelligent ecological robot and the environment is not high is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of spray control of an intelligent ecological robot, and in particular to a spray identification control method and system of an intelligent ecological robot. Background Art

[0002] With the rapid development of the Internet of Things, artificial intelligence and big data technologies, the spray recognition ability of smart ecological robots has ushered in an unprecedented leap. The Internet of Things technology has built a wide and dense perception network for robots, enabling robots to collect environmental data from farmland, factories or other application scenarios in real time and accurately, including but not limited to key indicators such as soil moisture, air temperature, light intensity and crop growth status. These data are wirelessly transmitted to the cloud or edge computing platform through IoT devices, providing a solid foundation for subsequent accurate decision-making. The integration of artificial intelligence technology has given robots powerful data processing and analysis capabilities. Through machine learning algorithms, robots can automatically learn and identify the best spraying mode under different environmental conditions. Deep learning technology further enhances the image recognition ability of robots, enabling them to accurately distinguish crop types, growth stages and pests and diseases, so as to formulate more personalized spraying strategies. These strategies not only take into account the actual needs of crops, but also take into account the requirements of water conservation and environmental protection. The support of big data technology enables robots to conduct in-depth mining and analysis based on massive historical data to discover the laws and trends hidden behind the data. By learning and using these rules, the robot can continuously optimize its own spraying decision model and improve the accuracy and efficiency of the spraying operation. At the same time, big data technology also promotes the collaborative work of various links in the smart ecosystem, realizing the intelligent management of the entire chain from data collection and processing to decision-making execution.

[0003] Existing methods mainly use image acquisition devices such as cameras to capture image information of the target area. Through image recognition technology and machine vision algorithms, the images are analyzed and processed to identify the areas and objects that need to be sprayed.

[0004] For example, the invention patent with announcement number: CN110825118B announces a multi-UAV collaborative farmland spraying method based on a deep learning algorithm, including: first, evenly dividing the farmland into N small areas of the same size, and using the camera on the exploration machine to collect crop images in each small area; second, inputting the crop images into the neural network model in the intelligent controller on the exploration machine, and outputting the category of the crops in each small area; then, the exploration machine divides the small areas corresponding to the same category into a group, and uses a genetic algorithm to plan the optimal path according to the coordinates of each group of small areas, and sends it to the target machine; finally, the target machine implements the operation corresponding to the category according to the optimal path. At the same time, the target machines cooperate with each other and return the coordinate information to the exploration machine in real time through the communication protocol.

[0005] For example, the patent application with publication number: CN114690821A discloses a garden intelligent maintenance control system and method based on the Internet of Things, including: a garden information acquisition module, a wireless receiving module, a 5G gateway terminal, a remote control terminal, an RFID area real-time positioning module, a sprinkler irrigation module, a sprinkler mobile robot, a central processing unit, a lateral blower module and a ceiling covering module; the central processing unit is electrically connected to the lateral blower module and the ceiling covering module.

[0006] However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the present application found that the above technology has at least the following technical problems:

[0007] In the prior art, when faced with complex and changeable natural or industrial environments, the accuracy and stability of the robot's spray recognition may be affected, resulting in uneven watering and waste of water resources, leading to the problem that the smart ecological robot's spray control is not highly matched with the environment. Summary of the invention

[0008] The embodiment of the present application solves the problem in the prior art that the spray control of the smart ecological robot is not well matched with the environment by providing a spray recognition control method and system for the smart ecological robot, thereby achieving more accurate spray control of the smart ecological robot.

[0009] The embodiment of the present application provides a spray recognition control method of an intelligent ecological robot, comprising the following steps:

[0010] S1, obtain the environmental impact parameters of the preset stacking area, and obtain the spray condition index according to the environmental impact parameters and the preset environmental parameters, wherein the spray condition index is used to evaluate the suitability of the preset stacking area for spraying; S2, based on the preset condition judgment index threshold value obtained from the preset database and the spray condition index, determine whether to send a prompt for stacking spraying to the smart ecological robot, and when the spray condition index is not lower than the preset condition judgment index threshold value, execute S3; S3, obtain the regional uniformity parameters of the preset stacking area and the robot uniformity parameters of the smart ecological robot, and determine the appropriateness of the preset stacking area according to the regional uniformity parameters, the robot uniformity parameters and the preset uniformity parameters. S4, obtaining the spray uniformity index of the preset stacking area, and judging whether to send a prompt for spray adjustment to the smart ecological robot based on the spray uniformity index and a preset uniformity index threshold obtained from a preset database, wherein the spray uniformity index is used to evaluate the uniformity of the smart ecological robot's spraying in the preset stacking area; S5, obtaining the spray quality parameters of the preset stacking area, and obtaining the spray quality index according to the spray quality parameters and the preset quality parameters, and sending a prompt to the smart ecological robot for quality adjustment based on the spray quality index and a preset quality index threshold obtained from a preset database, wherein the spray quality index is used to evaluate the quality of the smart ecological robot's spraying in the preset stacking area.

[0011] Optionally, the specific process of obtaining the environmental impact parameters of the preset stacking area is as follows: the preset stacking area is monitored by preset monitoring equipment to obtain the environmental impact parameters, the preset monitoring equipment includes an evaporating dish, an electronic scale, a pyranometer, a laser rangefinder, a temperature sensor and a barometer, and the environmental impact parameters include solar radiation intensity, water surface energy loss, ambient temperature, evaporation temperature and ambient air pressure.

[0012] Optionally, the specific acquisition process of the spray condition index is as follows: combining the environmental impact parameters and the preset environmental parameters obtained from the preset database to obtain the evaporation rate deviation and the evaporation rate deviation, the preset environmental parameters include the preset evaporation rate threshold, the preset evaporation rate threshold, the latent heat of water evaporation and the surface heat transfer coefficient, the evaporation rate deviation represents the deviation value between the evaporation rate of the spray liquid of the smart ecological robot in the preset time period and the preset evaporation rate threshold, the evaporation rate deviation represents the deviation value between the evaporation rate of the spray liquid of the smart ecological robot in the preset time period and the preset evaporation rate threshold; the spray condition index is obtained according to the evaporation rate deviation and the preset evaporation amount deviation, and the spray condition index is calculated using the following formula:

[0013]

[0014] In the formula, X trepresents the spraying condition index of the smart ecological robot in the tth preset time period, t=1,2,...,i, t represents the number of the preset time period, i represents the total number of preset time periods, ΔE t represents the evaporation rate deviation of the spray liquid of the smart ecological robot in the tth preset time period, ΔM t represents the evaporation rate deviation of the spray liquid of the smart ecological robot in the tth preset time period, I t represents the solar radiation intensity of the spray liquid of the smart ecological robot in the tth preset time period, L t represents the energy loss of the water surface in the preset stacking area during the t-th preset time period, H t represents the spray thickness of the spray liquid of the smart ecological robot in the tth preset time period, C 1t represents the ambient temperature in the preset stacking area during the tth preset time period, C 2t represents the evaporation temperature of the spray liquid of the smart ecological robot in the tth preset time period, P t represents the ambient air pressure in the preset stacking area in the t-th preset time period, E0 represents the preset evaporation rate threshold, M0 represents the preset evaporation rate threshold, γ represents the surface heat transfer coefficient, ε represents the latent heat of water evaporation, and e represents a natural constant.

[0015] Optionally, the specific process of judging whether to send a prompt to the smart ecological robot to perform stack spraying is as follows: obtaining a preset condition judgment index threshold from a preset database, comparing the preset condition judgment index threshold with the spray condition index, and when the spray condition index is not lower than the preset condition judgment index threshold, it is judged that the operation can continue; when the spray condition index is lower than the preset condition judgment index threshold, it indicates that it is not suitable to continue the operation and sends a prompt to the preset personnel to stop the operation.

[0016] Optionally, the specific method for obtaining the regional uniformity parameters is: monitoring the preset stacking area through a preset uniformity monitoring device to obtain the regional uniformity parameters, the regional uniformity parameters include spray density, spray angle and flow rate, and the preset uniformity monitoring device includes a laser rangefinder, a pressure gauge, a laser particle size analyzer, a laser angle meter and a flow meter; the specific method for obtaining the robot uniformity parameters is: monitoring the smart ecological robot through a preset uniformity monitoring device to obtain the robot uniformity parameters, the robot uniformity parameters include nozzle cross-sectional area, nozzle pressure and nozzle diameter.

[0017] Optionally, the specific acquisition process of the spray uniformity index is as follows: a first spray flow deviation and a second spray flow deviation are obtained by combining a regional uniformity parameter, a robot uniformity parameter and a preset uniformity parameter obtained from a preset database, wherein the preset uniformity parameter includes a preset first flow threshold and a preset second flow threshold, wherein the first spray flow deviation represents a deviation value between the spray liquid flow of the smart ecological robot and the preset first flow threshold within a preset time period, and the second spray flow deviation represents a deviation value between the spray liquid flow of the smart ecological robot and the preset second flow threshold within a preset time period; a first uniform distribution weight and a second uniform distribution weight are obtained from a preset database, and a spray uniformity index is obtained by combining the first spray flow deviation and the second spray flow deviation, wherein the spray uniformity index is calculated using the following formula:

[0018]

[0019] Where Y t represents the spray uniformity index of the smart ecological robot in the t-th preset time period, t=1,2,...,i, t represents the number of the preset time period, i represents the total number of preset time periods, ΔQ 1t represents the first spray flow deviation of the spray liquid of the smart ecological robot in the tth preset time period, ΔQ 2t represents the second spray flow deviation of the spray liquid of the smart ecological robot in the tth preset time period, a represents the flow coefficient, A t represents the nozzle cross-sectional area of ​​the smart ecological robot in the tth preset time period, f t represents the nozzle pressure of the smart ecological robot in the tth preset time period, ρ t represents the spray density of the spray liquid of the smart ecological robot in the tth preset time period, θ t represents the spraying angle of the spraying liquid of the smart ecological robot in the tth preset time period, D t represents the nozzle diameter of the smart ecological robot in the tth preset time period, V t represents the flow rate of the spraying liquid of the intelligent ecological robot in the tth preset time period, Q1 represents the preset first flow threshold, Q2 represents the preset second flow threshold, α1 represents the first uniform distribution weight, α2 represents the second uniform distribution weight, and e represents a natural constant.

[0020] Optionally, the specific process of judging whether to send a prompt for spray adjustment to the smart ecological robot based on the spray uniformity index and the preset uniformity index threshold obtained from the preset database is as follows: B1, obtain the preset spray pressure threshold and the preset multiple from the preset database, send a prompt to the smart ecological robot to gradually increase the preset spray pressure threshold by the preset multiple, and monitor the spray uniformity index at the same time. When the spray uniformity index is higher than the preset uniformity index threshold, stop the operation, otherwise continue to execute B2; B2, send a prompt to the smart ecological robot to adjust the spray angle, and monitor the spray uniformity index at the same time. When the spray uniformity index is higher than the preset uniformity index threshold, stop the operation, otherwise continue to execute B3; B3, send a prompt to the preset personnel to adjust the nozzle diameter of the smart ecological robot, and monitor the spray uniformity index at the same time. When the spray uniformity index is higher than the preset uniformity index threshold, stop the operation, otherwise continue to execute B3; Stop execution when the uniformity index is higher than the preset uniformity index threshold, otherwise continue to execute B4; B4, send a prompt to the preset spray control center to process the spray data to obtain qualified spray-related data, and output the spray output result after the preset high-performance server receives the qualified spray-related data; transmit the spray output result to the preset spray control center; the preset spray control center is used to dynamically adjust the intensity and time of the spray according to the spray output result; the spray output result includes the prediction results of the ore pile drying process and spray control suggestions; the spray data processing means edge processing of the corresponding spray-related data when the spray uniformity index is higher than the preset uniformity index threshold; the edge processing means processing based on the preset edge computing device; the qualified spray-related data means the spray-related data after spray data processing.

[0021] Optionally, the specific process of obtaining the spray quality index is as follows: obtain spray quality parameters by monitoring a preset stacking area through a preset effect monitoring device, the preset effect monitoring device includes a flow meter, a laser rangefinder and a timer, and the spray quality parameters include spray volume, spray area, total spray time and single spray cycle time; obtain spray intensity deviation and spray frequency deviation by combining the spray quality parameters and the preset quality parameters obtained from the preset database, the preset quality parameters include a preset spray intensity threshold and a preset spray frequency threshold, the spray intensity deviation represents the deviation value between the spray intensity of the smart ecological robot and the preset spray intensity threshold within the preset time period, and the spray frequency deviation represents the deviation value between the spray frequency of the smart ecological robot and the preset spray frequency threshold within the preset time period; obtain the preset first quality weight and the preset first quality weight from the preset database, and obtain the spray quality index by combining the spray intensity deviation and the spray frequency deviation; the spray quality index is calculated using the following formula:

[0022]

[0023] In the formula, Z trepresents the spray quality index of the smart ecological robot in the t-th preset time period, t=1,2,...,i, t represents the number of the preset time period, i represents the total number of preset time periods, ΔS t It represents the spray intensity deviation of the spray liquid of the smart ecological robot in the t-th preset time period, ΔN t represents the spray frequency deviation of the spray liquid of the smart ecological robot in the tth preset time period, q t A represents the spraying amount of the spraying liquid of the smart ecological robot in the tth preset time period, t represents the spraying area of ​​the smart ecological robot in the tth preset time period, N t represents the total spraying time of the smart ecological robot in the tth preset time period, T t It represents the duration of a single spraying cycle of the intelligent ecological robot in the tth preset time period, S0 represents the preset spraying intensity threshold, N0 represents the preset spraying frequency threshold, δ1 represents the preset first mass weight, δ2 represents the preset second mass weight, and e represents a natural constant.

[0024] Optionally, the specific process of sending prompts to the smart ecological robot for quality adjustment based on the spray quality index and the preset quality index threshold obtained from the preset database is as follows: C1, obtain the spray volume threshold, the spray duration threshold and the preset multiple from the preset database; C2, send a prompt to the smart ecological robot to increase the spray volume threshold step by step by the preset multiple, and monitor the spray quality index at the same time. When the spray quality index is higher than the preset quality index threshold, stop the operation, otherwise continue to execute C3; C3, send a prompt to the smart ecological robot to increase the spray duration threshold step by step by the preset multiple, and monitor the spray quality index at the same time. When the spray quality index is higher than the preset quality index threshold, stop the execution.

[0025] An embodiment of the present application provides a spray recognition and control system for an intelligent ecological robot, including a spray condition index acquisition module, a spray judgment module, a spray uniformity index acquisition module and a spray quality index acquisition module: wherein the spray condition index acquisition module is used to acquire environmental impact parameters of a preset stacking area, and acquire a spray condition index according to the environmental impact parameters and preset environmental parameters, and the spray condition index is used to evaluate the suitability of spraying in the preset stacking area; the spray judgment module is used to determine whether to send a prompt for stacking spraying to the intelligent ecological robot based on a preset condition judgment index threshold value obtained from a preset database and the spray condition index, and when the spray condition index is not lower than the preset condition judgment index threshold value, the function of the spray uniformity index acquisition module is executed; the spray uniformity index acquisition module is used to acquire the preset stacking area The regional uniformity parameters and the robot uniformity parameters of the smart ecological robot are obtained, and a spray uniformity index is obtained according to the regional uniformity parameters, the robot uniformity parameters and the preset uniformity parameters; based on the spray uniformity index and the preset uniformity index threshold obtained from the preset database, it is determined whether to send a prompt for spray adjustment to the smart ecological robot, and the spray uniformity index is used to evaluate the uniformity of the smart ecological robot spraying in the preset stacking area; the spray quality index acquisition module is used to obtain the spray quality parameters of the preset stacking area, and obtain the spray quality index according to the spray quality parameters and the preset quality parameters; based on the spray quality index and the preset quality index threshold obtained from the preset database, a prompt is sent to the smart ecological robot for quality adjustment, and the spray quality index is used to evaluate the quality of the smart ecological robot spraying in the preset stacking area.

[0026] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0027] 1. Determine whether to send a prompt to the smart ecological robot for stacking spraying through the obtained spray condition index, then obtain the spray uniformity index by combining the regional uniformity parameter, the robot uniformity parameter and the preset uniformity parameter, and finally obtain the spray quality index by combining the spray quality parameter and the preset quality parameter, and send a prompt to the smart ecological robot for quality adjustment, thereby achieving a comprehensive improvement in spray control, and then achieving more accurate spray control of the smart ecological robot, effectively solving the problem of low matching between the spray control of the smart ecological robot and the environment in the prior art.

[0028] 2. Monitor the preset stacking area through the preset monitoring equipment to obtain environmental impact parameters, then monitor the preset stacking area through the preset uniformity monitoring equipment to obtain regional uniformity parameters, then monitor the smart ecological robot through the preset uniformity monitoring equipment to obtain robot uniformity parameters, finally monitor the preset stacking area through the preset effect monitoring equipment to obtain spray quality parameters, thereby achieving an improvement in the accuracy of obtaining spray control data, and then achieving an improvement in the reliability of the source of spray control data.

[0029] 3. By judging whether to send a prompt to the smart ecological robot to spray the stack based on the preset condition judgment index threshold and the spray condition index obtained from the preset database, and then judging whether to send a prompt to the smart ecological robot to make spray adjustments based on the spray uniformity index and the preset uniformity index threshold obtained from the preset database, and finally sending a prompt to the smart ecological robot to make quality adjustments based on the spray quality index and the preset quality index threshold obtained from the preset database, the possibility of human error is reduced, thereby improving the reliability and stability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A flow chart of a spray recognition control method of an intelligent ecological robot provided in an embodiment of the present application;

[0031] Figure 2 A statistical diagram of the changes in the spray condition index provided in the embodiment of the present application;

[0032] Figure 3 A schematic diagram of the structure of a spray recognition control system of an intelligent ecological robot provided in an embodiment of the present application;

[0033] Figure 4 A schematic diagram of the structure of the intelligent ecological robot provided in the embodiment of the present application;

[0034] Figure 5 A schematic diagram of a heat and moisture transfer physical model provided in an embodiment of the present application;

[0035] Figure 6 A spray response control diagram provided for an embodiment of the present application. DETAILED DESCRIPTION

[0036] The embodiment of the present application solves the problem in the prior art that the spray control of the smart ecological robot is not well matched with the environment by providing a spray recognition and control method and system for the smart ecological robot. The spray condition index is obtained by combining the environmental impact parameters and the preset environmental parameters, and it is determined whether to send a prompt to the smart ecological robot to perform stacking spraying. Then, the spray uniformity index is obtained by combining the regional uniformity parameters, the robot uniformity parameters and the preset uniformity parameters. Finally, the spray quality index is obtained by combining the spray quality parameters and the preset quality parameters, and a prompt is sent to the smart ecological robot for quality adjustment, thereby achieving more accurate spray control of the smart ecological robot.

[0037] The technical solution in the embodiment of the present application is to solve the problem that the spray control of the above-mentioned smart ecological robot is not highly matched with the environment. The overall idea is as follows:

[0038] By obtaining the spray condition index and judging whether to perform stack spraying, the spray uniformity index is obtained by combining the regional uniformity parameters, robot uniformity parameters and preset uniformity parameters, and finally the spray quality index is obtained by combining the spray quality parameters and preset quality parameters and performing quality adjustment, thereby achieving a more accurate spray control effect of the smart ecological robot.

[0039] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0040] like Figure 1As shown, it is a flow chart of a spray identification and control method of an intelligent ecological robot provided in an embodiment of the present application, and the method includes the following steps: S1, obtaining environmental impact parameters of a preset stacking area, and obtaining a spray condition index according to the environmental impact parameters and preset environmental parameters, the spray condition index is used to evaluate the suitability of spraying in the preset stacking area, and the environmental impact parameters are used to describe the degree of influence of the environment on the spraying of the intelligent ecological robot in the preset stacking area; S2, based on the preset condition judgment index threshold value obtained from the preset database and the spray condition index, judging whether to send a prompt for stacking spraying to the intelligent ecological robot, when the spray condition index is not lower than the preset condition judgment index threshold value, executing S3; S3, obtaining regional uniformity parameters of the preset stacking area and robot uniformity parameters of the intelligent ecological robot, obtaining a spray uniformity index according to the regional uniformity parameters, the robot uniformity parameters and the preset uniformity parameters, and The uniformity index and the preset uniformity index threshold obtained from the preset database determine whether to send a prompt for spray adjustment to the smart ecological robot. The spray uniformity index is used to evaluate the uniformity of the smart ecological robot's spraying in the preset stacking area. The spray adjustment is used to adjust the spray uniformity index to be higher than the preset uniformity index threshold. The uniformity parameter is used to describe the uniformity of the smart ecological robot's spraying in the preset stacking area; S4, obtain the spray quality parameters of the preset stacking area, obtain the spray quality index according to the spray quality parameters and the preset quality parameters, and send a prompt to the smart ecological robot for quality adjustment based on the spray quality index and the preset quality index threshold obtained from the preset database. The spray quality index is used to evaluate the quality of the smart ecological robot's spraying in the preset stacking area. The quality adjustment is used to adjust the spray quality index to be higher than the preset quality index threshold. The spray quality parameters are used to describe the quality of the smart ecological robot's spraying in the preset stacking area.

[0041] In this embodiment, the spray condition index is the premise and basis of the spray operation. Under the premise that the spray condition index meets the preset condition judgment index threshold, the spray uniformity index further ensures the effect of the spray operation. If the spray uniformity index is lower than the preset condition judgment index threshold, it means that the spraying is not uniform enough, which may cause uneven distribution of moisture inside the stack, affecting the stability of the stack and subsequent processing. The spray quality index is the ultimate manifestation of the effect of the spray operation. When both the spray condition index and the spray uniformity index meet the requirements, the level of the spray quality index directly reflects the quality of the spray operation. For example, in the bulk cargo yard at the terminal, the level of the spray quality index directly reflects the impact of the spray operation on the quality of the goods, storage stability and subsequent processing procedures. High-quality spraying operations can not only effectively control the humidity of the goods and reduce the loss of goods caused by improper humidity, but also improve the stability of the stack and reduce the risk of safety accidents; it realizes more accurate spray control of the smart ecological robot.

[0042] Optionally, the specific process of obtaining the environmental impact parameters of the preset stacking area is as follows: monitor the preset stacking area by preset monitoring equipment to obtain the environmental impact parameters, the preset monitoring equipment includes an evaporating dish, an electronic scale, a pyranometer, a laser rangefinder, a temperature sensor and a barometer, and the environmental impact parameters include solar radiation intensity, water surface energy loss, ambient temperature, evaporation temperature and ambient air pressure.

[0043] In this embodiment, the sunshine intensity meter usually uses a photoelectric device (such as a silicon photocell) to convert an optical signal into an electrical signal for measurement, and the sunshine intensity meter and the barometer are placed at a preset position point in the preset stacking area. The preset position point is selected in the preset stacking area through on-site survey of an area without building obstruction, and the data of solar radiation intensity and ambient air pressure at a preset time are recorded and read and the average value of the two is taken, and an electronic scale is used to measure the mass change of the evaporating dish in a preset time period, and the energy loss on the water surface is calculated by the mass reduction. Temperature sensors are respectively installed at the preset position point in the preset stacking area and the preset point of the evaporation liquid level inside the evaporating dish, and the data of the temperature sensors are recorded and read. The ambient temperature is obtained by taking the average value of the data of the temperature sensors at the preset position point in the preset stacking area, and the evaporation temperature of the water in the evaporating dish is obtained by taking the average value of the data of the temperature sensors at the preset point of the evaporation liquid level inside the evaporating dish; more accurate spray control of the intelligent ecological robot is achieved.

[0044] Optionally, the specific acquisition process of the spray condition index is as follows: the evaporation rate deviation and the evaporation rate deviation are obtained by combining the environmental impact parameters and the preset environmental parameters obtained from the preset database, the preset environmental parameters include the preset evaporation rate threshold, the preset evaporation rate threshold, the latent heat of water evaporation and the surface heat transfer coefficient, the evaporation rate deviation represents the deviation value between the evaporation rate of the spray liquid of the smart ecological robot in the preset time period and the preset evaporation rate threshold, and the evaporation rate deviation represents the deviation value between the evaporation rate of the spray liquid of the smart ecological robot in the preset time period and the preset evaporation rate threshold; the spray condition index is obtained according to the evaporation rate deviation and the preset evaporation amount deviation, and the spray condition index is calculated using the following formula:

[0045]

[0046] Where, X t represents the spraying condition index of the smart ecological robot in the tth preset time period, t=1,2,...,i, t represents the number of the preset time period, i represents the total number of preset time periods, ΔE t represents the evaporation rate deviation of the spray liquid of the smart ecological robot in the tth preset time period, ΔM t represents the evaporation rate deviation of the spray liquid of the smart ecological robot in the tth preset time period, I trepresents the solar radiation intensity of the spray liquid of the smart ecological robot in the tth preset time period, L t represents the energy loss of the water surface in the preset stacking area during the tth preset time period, H t represents the spray thickness of the spray liquid of the smart ecological robot in the tth preset time period, C 1t represents the ambient temperature in the preset stacking area during the tth preset time period, C 2t represents the evaporation temperature of the spray liquid of the smart ecological robot in the tth preset time period, P t represents the ambient air pressure in the preset stacking area in the t-th preset time period, E0 represents the preset evaporation rate threshold, M0 represents the preset evaporation rate threshold, γ represents the surface heat transfer coefficient, ε represents the latent heat of water evaporation, and e represents a natural constant.

[0047] In this embodiment, the preset evaporation rate threshold is represented by the mean of the evaporation rate data in the preset database, the preset evaporation rate threshold is represented by the mean of the evaporation rate data in the preset database, the water evaporation latent heat is represented by the mean of the historical water evaporation latent heat data in the preset database, and the surface heat transfer coefficient is represented by the mean of the historical surface heat transfer coefficient data in the preset database.

[0048] The algorithm of this embodiment combines the environmental impact parameters and comprehensively analyzes to obtain the spray condition index. The environmental impact parameters in this formula have a common regulatory relationship. For example, the solar radiation intensity directly affects the heating of the water surface. The increase in solar radiation intensity may increase the energy loss of the water surface. When the solar radiation intensity is high, the ambient temperature may also increase accordingly. The ambient temperature indirectly affects the evaporation temperature by affecting the heat exchange between the water surface and the surrounding air. The ambient air pressure affects the density and fluidity of the air. Low air pressure usually means that the air density is small and the fluidity is enhanced, which is conducive to the evaporation process. When the preset evaporation rate threshold M0 is greater than The preset evaporation rate threshold E0 is greater than When the evaporation rate deviation and evaporation rate deviation are positive, when the evaporation rate deviation and evaporation rate deviation are negative, feedback is given to the preset personnel to stop the operation. With the increase of solar radiation intensity and ambient temperature, the energy loss of the water surface, the evaporation temperature and the ambient air pressure decrease, and the spray condition index increases, which means that the solar radiation intensity and ambient temperature are positively correlated with the spray condition index, and the energy loss of the water surface, the evaporation temperature and the ambient air pressure are negatively correlated with the spray condition index. Therefore, accurate analysis is carried out by establishing a mathematical form;

[0049] Assume that the evaporation rate deviation ranges from 0 to 0.5, unit: m 3 / h, the evaporation deviation range is 0-0.5, unit: kg / (m 2 *s), such as Figure 2As shown, it is a statistical chart of the changes in the spray condition index provided in the embodiment of the present application. It can be seen from the figure that as the evaporation rate deviation and the evaporation rate deviation gradually increase, the evaporation amount may decrease, the environmental dryness is low, and the spray condition index gradually decreases, which means that the suitability of the preset stacking area for spraying gradually decreases. For example, in the bulk cargo yard of the terminal, the storage of goods (such as coal, ore, etc.) often requires spraying to control dust, maintain humidity or meet other specific storage conditions. The suitability of spraying directly affects the storage quality of the goods, the environmental control effect and the operating efficiency; it realizes more accurate spray control of the smart ecological robot.

[0050] Optionally, the specific process of determining whether to send a prompt to the smart ecological robot to perform stack spraying is as follows: obtaining a preset condition judgment index threshold from a preset database, comparing the preset condition judgment index threshold with the spray condition index, and when the spray condition index is not lower than the preset condition judgment index threshold, it is determined that the operation can continue; when the spray condition index is lower than the preset condition judgment index threshold, it indicates that it is not suitable to continue the operation and a prompt is sent to the preset personnel to stop the operation.

[0051] In this embodiment, the preset condition judgment index threshold is represented by the mean value of the condition judgment index data in the preset database. For example, the preset temperature control device is a temperature regulating fan, and the preset covering device is a sunshade or sunshade net. The temperature regulating fan is used to enhance air circulation to reduce the regional temperature. The sunshade or sunshade net can effectively block direct sunlight and reduce the light intensity and temperature of the stacking area. According to the shape, size and arrangement of the stack, a spray position that can cover the entire stacking surface is selected. For example, in the bulk cargo yard of the terminal, since the cargo is closely stacked and may be exposed to direct sunlight, heat is easily accumulated inside the stack, resulting in an increase in temperature. In order to reduce the regional temperature, a temperature regulating fan can be installed to enhance air circulation; more accurate spray control of the smart ecological robot is achieved.

[0052] Optionally, the specific method for obtaining regional uniformity parameters is: monitoring the preset stacking area through a preset uniformity monitoring device to obtain regional uniformity parameters, the regional uniformity parameters include spray density, spray angle and flow rate, the preset uniformity monitoring equipment includes a laser rangefinder, a pressure gauge, a laser particle size analyzer, a laser angle meter and a flow meter; the specific method for obtaining the robot uniformity parameters is: monitoring the smart ecological robot through a preset uniformity monitoring device to obtain the robot uniformity parameters, the robot uniformity parameters include nozzle cross-sectional area, nozzle pressure and nozzle diameter.

[0053] In this embodiment, during the spraying operation, a flow meter is used to measure the amount of liquid passing through the spray system per unit time. At the same time, a laser rangefinder or other measuring tools are used to determine the area covered by the spray to obtain the spray density (the spray density is obtained by dividing the amount of liquid by the area covered by the spray). The laser angle meter can directly display the value of the spray angle. A flow meter is installed at a preset position segment on the spray pipe, and the volume of liquid flowing through the preset position segment within a preset time period is recorded and the average value is taken to obtain the flow rate. The laser rangefinder directly measures the diameter of the nozzle and then obtains the cross-sectional area of ​​the nozzle. A pressure gauge is installed at a preset position point at the nozzle outlet to directly read the pressure value of the nozzle when it is working and take the average value of the data at multiple position points as the final measurement data; more accurate spraying control of the smart ecological robot is achieved.

[0054] Optionally, the specific acquisition process of the spray uniformity index is as follows: a first spray flow deviation and a second spray flow deviation are obtained by combining the regional uniformity parameter, the robot uniformity parameter and the preset uniformity parameter obtained from the preset database, the preset uniformity parameter includes a preset first flow threshold and a preset second flow threshold, the first spray flow deviation represents the deviation value between the spray liquid flow of the smart ecological robot and the preset first flow threshold within the preset time period, and the second spray flow deviation represents the deviation value between the spray liquid flow of the smart ecological robot and the preset second flow threshold within the preset time period; the first uniform distribution weight and the second uniform distribution weight are obtained from the preset database, and the spray uniformity index is obtained by combining the first spray flow deviation and the second spray flow deviation, the first uniform distribution weight is used to evaluate the influence of the first spray flow deviation on the spray uniformity index, and the second uniform distribution weight is used to evaluate the influence of the second spray flow deviation on the spray uniformity index, and the spray uniformity index is calculated using the following formula:

[0055]

[0056] Where Y t represents the spray uniformity index of the smart ecological robot in the t-th preset time period, t=1,2,...,i, t represents the number of the preset time period, i represents the total number of preset time periods, ΔQ 1t represents the first spray flow deviation of the spray liquid of the smart ecological robot in the tth preset time period, ΔQ 2t represents the second spray flow deviation of the spray liquid of the smart ecological robot in the tth preset time period, a represents the flow coefficient, A t represents the nozzle cross-sectional area of ​​the smart ecological robot in the tth preset time period, f t represents the nozzle pressure of the smart ecological robot in the tth preset time period, ρ t represents the spray density of the spray liquid of the smart ecological robot in the tth preset time period, θt represents the spraying angle of the spraying liquid of the smart ecological robot in the tth preset time period, D t represents the nozzle diameter of the smart ecological robot in the tth preset time period, V t represents the flow rate of the spraying liquid of the intelligent ecological robot in the tth preset time period, Q1 represents the preset first flow threshold, Q2 represents the preset second flow threshold, α1 represents the first uniform distribution weight, α2 represents the second uniform distribution weight, and e represents a natural constant.

[0057] In this embodiment, the preset first flow threshold is represented by the average value of the spray flow data of the historical time period in the preset database, and the preset second flow threshold is represented by the average value of the spray flow data of the historical spray position in the preset database.

[0058] Specifically, the sum of the first uniform distribution weight and the second uniform distribution weight is 1, for example, the first uniform distribution weight is 0.5, and the second uniform distribution weight is 0.5; the first uniform distribution weight is the weight corresponding to the preset nozzle pressure value in the preset database, which indicates the influence of the nozzle pressure value on the spray uniformity index. When used, the weight corresponding to the preset nozzle pressure value can be directly obtained from the preset database, and the corresponding relationship can be a pre-set mapping relationship. For example, the nozzle pressure in the spray control training set and the weight corresponding to the preset nozzle pressure value in the preset database form a mapping set, and the real-time nozzle pressure is input into the mapping set to obtain the corresponding weight, wherein the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. In this example, its value range is [0, 1].

[0059] The algorithm of this embodiment combines the regional uniformity parameter and the robot uniformity parameter, and comprehensively analyzes to obtain the spray uniformity index. In this formula, there is a common adjustment relationship between the regional uniformity parameter and the robot uniformity parameter. For example, the larger the cross-sectional area, the more liquid is sprayed from the nozzle under the same pressure, thereby affecting the spray density. The greater the pressure, the faster the liquid is sprayed from the nozzle, and the flow rate may also increase accordingly, thereby affecting the spray density. The change in diameter directly affects the cross-sectional area, and then affects the flow rate, flow velocity and spray density. Assuming that the preset first flow threshold is greater than The preset second flow threshold is greater than When the first spray flow deviation and the second spray flow deviation are positive values, when the first spray flow deviation and the second spray flow deviation are negative values, feedback is given to the preset personnel to perform system maintenance or stop operation. With the increase of nozzle cross-sectional area, nozzle pressure, spray angle, nozzle diameter and flow rate, the spray density decreases and the spray uniformity index gradually increases, which means that the nozzle cross-sectional area, nozzle pressure, spray angle, nozzle diameter and flow rate are positively correlated with the spray uniformity index, and the spray density is negatively correlated with the spray uniformity index; therefore, precise analysis is performed by establishing a mathematical form.

[0060] Assuming that the range of the first spray flow deviation is 0.01-0.9, unit: L / min, the range of the second spray flow deviation is 0.01-0.9, unit: L / min, the first uniform distribution weight is 0.5, and the second uniform distribution weight is 0.5, then as shown in Table 1, it is a statistical table of changes in the spray uniformity index provided in the embodiment of the present application:

[0061] Table 1 Statistics of changes in spray uniformity index

[0062]

[0063] It can be seen from the table that as the deviation of the first spray flow rate and the deviation of the second spray flow rate gradually increase, the spray uniformity index gradually decreases, which means that the uniformity of the spraying of the smart ecological robot in the preset stacking area gradually decreases. For example, in the bulk cargo yard of the terminal, the uniformity of the spraying plays a vital role in cargo preservation, environmental control, and reducing dust. The spray uniformity index is one of the key indicators to measure the performance of the spray system. It reflects whether the degree of wetness of the spray coverage area is consistent. When the spray uniformity decreases, some areas may be too wet and cause damage to the cargo, while other areas may still be dry, failing to effectively suppress dust, thereby affecting the overall environmental quality and work efficiency of the yard; achieving more accurate spray control of the smart ecological robot.

[0064] Optionally, the specific process of judging whether to send a prompt for spray adjustment to the smart ecological robot based on the spray uniformity index and a preset uniformity index threshold obtained from a preset database is as follows: B1, obtain a preset spray pressure threshold and a preset multiple from the preset database, send a prompt to the smart ecological robot to gradually increase the preset spray pressure threshold by a preset multiple, and monitor the spray uniformity index at the same time. When the spray uniformity index is higher than the preset uniformity index threshold, stop the operation, otherwise continue to execute B2; B2, send a prompt to the smart ecological robot to adjust the spray angle, and monitor the spray uniformity index at the same time. When the spray uniformity index is higher than the preset uniformity index threshold, stop the operation, otherwise continue to execute B3; B3, send a prompt to the preset personnel to adjust the nozzle diameter of the smart ecological robot, and monitor the spray uniformity index at the same time. When the spray uniformity index is higher than the preset uniformity index threshold, stop the operation, otherwise continue to execute B3; When the uniformity index is higher than the preset uniformity index threshold, execution is stopped, otherwise continue to execute B4; B4, send a prompt to the preset spray control center for spray data processing to obtain qualified spray related data, and when the preset high-performance server receives the qualified spray related data, it outputs the spray output result; the spray output result is transmitted to the preset spray control center; the preset spray control center is used to dynamically adjust the intensity and time of the spray according to the spray output result; the spray output result includes the prediction results of the ore pile drying process and spray control suggestions; spray data processing means edge processing of the corresponding spray related data when the spray uniformity index is higher than the preset uniformity index threshold; edge processing means processing based on the preset edge computing device; qualified spray related data means spray related data (spray pressure, angle, etc.) that have been processed by spray data.

[0065] In this embodiment, the preset spray pressure threshold is represented by the mean value of the spray pressure data in the preset database. The preset multiple is generally 1, 2, 3, etc., and a command is sent to the smart ecological robot to adjust the spray angle until the preset maximum spray angle. The nozzle diameter can be adjusted by replacing the nozzle. The adjustment steps should be performed step by step to avoid excessive one-time adjustment causing system instability or damage. The spray pressure can be increased by gradually increasing the preset spray pressure threshold. If the spray uniformity index is still not higher than the preset uniformity index threshold after executing step B3, it is fed back to the preset personnel for system maintenance. Under certain wind speed and ambient temperature, when the air humidity is higher, the concentration of residual infiltrated liquid water in the ore pile is higher, and the ore pile drying effect is worse; more accurate spray control of the smart ecological robot is achieved.

[0066] Optionally, the specific process of obtaining the spray quality index is as follows: obtain the spray quality parameters by monitoring the preset stacking area through the preset effect monitoring equipment, the preset effect monitoring equipment includes a flow meter, a laser rangefinder and a timer, and the spray quality parameters include spray volume, spray area, total spray time and single spray cycle time; obtain the spray intensity deviation and spray frequency deviation by combining the spray quality parameters and the preset quality parameters obtained from the preset database, the preset quality parameters include a preset spray intensity threshold and a preset spray frequency threshold, the spray intensity deviation represents the deviation value between the spray intensity of the smart ecological robot and the preset spray intensity threshold within the preset time period, and the spray frequency deviation represents the deviation value between the spray frequency of the smart ecological robot and the preset spray frequency threshold within the preset time period; obtain the preset first quality weight and the preset first quality weight from the preset database, and obtain the spray quality index by combining the spray intensity deviation and the spray frequency deviation, the preset first quality weight is used to evaluate the influence of the spray intensity deviation on the spray quality index, and the preset second quality weight is used to evaluate the influence of the spray frequency deviation on the spray quality index; the spray quality index is calculated using the following formula:

[0067]

[0068] In the formula, Z t represents the spray quality index of the smart ecological robot in the t-th preset time period, t=1,2,...,i, t represents the number of the preset time period, i represents the total number of preset time periods, ΔS t It represents the spray intensity deviation of the spray liquid of the smart ecological robot in the t-th preset time period, ΔN t represents the spray frequency deviation of the spray liquid of the smart ecological robot in the tth preset time period, q t A represents the spraying amount of the spraying liquid of the smart ecological robot in the tth preset time period, t represents the spraying area of ​​the smart ecological robot in the tth preset time period, N t represents the total spraying time of the smart ecological robot in the tth preset time period, T t It represents the duration of a single spraying cycle of the intelligent ecological robot in the tth preset time period, S0 represents the preset spraying intensity threshold, N0 represents the preset spraying frequency threshold, δ1 represents the preset first mass weight, δ2 represents the preset second mass weight, and e represents a natural constant.

[0069] In this embodiment, the selected flow meter is installed at the water outlet of the smart ecological robot spraying system to accurately measure the spraying volume. The total spraying time and the single spraying cycle time are recorded using a timer. The preset stacking area is scanned using a laser rangefinder to obtain the spraying area. The preset spray intensity threshold is represented by the mean of the spray intensity data in the preset database, and the preset spray frequency threshold is represented by the mean of the spray frequency data in the preset database.

[0070] Specifically, the sum of the preset first quality weight and the preset second quality weight is 1, for example, the preset first quality weight is 0.5, and the preset second quality weight is 0.5; the preset first quality weight is the weight corresponding to the preset spray area value in the preset database, which represents the influence of the spray area value on the spray quality index. When used, the weight corresponding to the preset spray area value can be directly obtained from the preset database, and the corresponding relationship can be a pre-set mapping relationship. For example, the spray area in the spray control training set and the weight corresponding to the preset spray area value in the preset database form a mapping set, and the real-time spray area is input into the mapping set to obtain the corresponding weight, wherein the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. In this example, its value range is [0, 1].

[0071] The algorithm of this embodiment combines the spray quality parameters and comprehensively analyzes to obtain the spray quality index. In this formula, there is a common regulatory relationship between the spray quality parameters. For example, generally speaking, the larger the spray volume, the larger the spray area that can be covered in theory. However, due to the diffusion of water flow and the limitations of the ground's absorption capacity, the rate of increase of the spray area will gradually slow down, or may even remain unchanged. When the total spray time is constant, the size of the spray volume directly affects the uniformity and depth of the spray. Too much spray volume will cause the water to be lost quickly, while too little spray volume may not be able to fully penetrate the soil or cover the surface of the stack. The duration of a single spray cycle determines the frequency of spraying. Shorter cycle durations mean more frequent spraying, which helps to keep the surface of the stack moist, but may also lead to waste of water resources and excessive spraying. Assuming that the preset spray intensity threshold is greater than The preset spray frequency threshold is greater than When the spray intensity deviation and the spray frequency deviation are positive, when the spray intensity deviation and the spray frequency deviation are negative, feedback is given to the preset personnel to perform system maintenance or stop the operation. With the increase of spray volume and total spray time, the spray area and the duration of a single spray cycle decrease, and the spray quality index gradually increases, which means that the spray volume and the total spray time are positively correlated with the spray quality index, and the spray area and the duration of a single spray cycle are negatively correlated with the spray quality index. Therefore, by establishing a mathematical form for precise analysis, more accurate spray control of the smart ecological robot is achieved.

[0072] Optionally, the specific process of sending prompts to the smart ecological robot for quality adjustment based on the spray quality index and the preset quality index threshold obtained from the preset database is as follows C1, obtaining the spray volume threshold, the spray duration threshold and the preset multiple from the preset database; C2, sending prompts to the smart ecological robot to increase the spray volume threshold step by step by the preset multiple, while monitoring the spray quality index, and when the spray quality index is higher than the preset quality index threshold, stop the operation, otherwise continue to execute C3; C3, sending prompts to the smart ecological robot to increase the spray duration threshold step by step by the preset multiple, while monitoring the spray quality index, and when the spray quality index is higher than the preset quality index threshold, stop execution.

[0073] In this embodiment, the spray volume threshold is represented by the mean of the spray volume data in the preset database, and the spray duration threshold is represented by the mean of the spray duration data in the preset database. The preset multiples are generally 1 times, 2 times, 3 times, etc. The spray volume can be increased step by step by increasing the spray volume threshold, and the spray duration can be increased step by step by increasing the spray duration threshold. After executing step C3, if the spray quality index is still not higher than the preset quality index threshold, it is fed back to the preset personnel for system maintenance. In the dry bulk terminal yard, the stacking of materials such as coal and ore is prone to generate dust, which pollutes the environment. Adjustment based on the spray quality index reduces environmental pollution and improves spray quality; more accurate spray control of the smart ecological robot is achieved.

[0074] like Figure 3As shown, it is a structural schematic diagram of a spray recognition control system of an intelligent ecological robot provided in an embodiment of the present application. The spray recognition control system of an intelligent ecological robot provided in an embodiment of the present application includes: a spray condition index acquisition module, a spray judgment module, a spray uniformity index acquisition module and a spray quality index acquisition module: wherein the spray condition index acquisition module is used to obtain the environmental impact parameters of the preset stacking area, and obtain the spray condition index according to the environmental impact parameters and the preset environmental parameters. The spray condition index is used to evaluate the suitability of spraying in the preset stacking area, and the environmental impact parameters are used to describe the degree of influence of the environment on the spraying of the intelligent ecological robot in the preset stacking area; the spray judgment module is used to judge whether to send a prompt for stacking spraying to the intelligent ecological robot based on the preset condition judgment index threshold obtained from the preset database and the spray condition index, and when the spray condition index is not lower than the preset condition judgment index threshold, the function of the spray uniformity index acquisition module is executed; the spray uniformity index acquisition module is used to obtain the regional uniformity parameters of the preset stacking area and the robot uniformity of the intelligent ecological robot Uniformity parameters, obtain the spray uniformity index according to the regional uniformity parameters, the robot uniformity parameters and the preset uniformity parameters, determine whether to send a prompt for spray adjustment to the smart ecological robot based on the spray uniformity index and the preset uniformity index threshold obtained from the preset database, the spray uniformity index is used to evaluate the uniformity of the smart ecological robot's spraying in the preset stacking area, the spray adjustment is used to adjust the spray uniformity index to be higher than the preset uniformity index threshold, and the uniformity parameters are used to describe the uniformity of the smart ecological robot's spraying in the preset stacking area; the spray quality index acquisition module is used to obtain the spray quality parameters of the preset stacking area, obtain the spray quality index according to the spray quality parameters and the preset quality parameters, send a prompt to the smart ecological robot for quality adjustment based on the spray quality index and the preset quality index threshold obtained from the preset database, the spray quality index is used to evaluate the quality of the smart ecological robot's spraying in the preset stacking area, the quality adjustment is used to adjust the spray quality index to be higher than the preset quality index threshold, and the spray quality parameters are used to describe the quality of the smart ecological robot's spraying in the preset stacking area.

[0075] In this embodiment, the spray condition index in the spray condition index acquisition module is used to evaluate the suitability of spraying operations under current environmental conditions and monitor environmental changes in the yard. For example, strong winds may cause the spray mist to spread and reduce the dust suppression effect; high temperature may accelerate water evaporation and increase the spraying frequency. The spray judgment module determines whether the current environment is suitable for spraying operations based on the spray condition index and the preset condition judgment index threshold. The spray uniformity index in the spray uniformity index acquisition module is used to evaluate the uniformity of the smart ecological robot's spraying in the preset stacking area, ensuring that the bulk cargo stacks in the yard are evenly covered by spraying to prevent local areas from being too wet or too dry. The spray quality index in the spray quality index acquisition module is used to evaluate the quality of the smart ecological robot's spraying in the preset stacking area, ensuring that the spraying operation achieves the expected dust suppression effect and water saving goals; more accurate spray control of the smart ecological robot is achieved.

[0076] Specifically, Figure 4 As shown, it is a schematic diagram of the structure of the smart ecological robot provided in the embodiment of the present application, including a walking mechanism 10, a main platform 20, a spraying arm mechanism 30, a spraying mechanism and pipeline 40, an inspection system 50, a security system 60, a stack scanning system 70 and a power supply system 80. The working procedure of the smart ecological robot provided in the embodiment of the present application is as follows: according to the height and width of the yard, the hydraulic control system is started, the hydraulic cylinder works, and each spraying arm is respectively unfolded to meet the yard coverage range;

[0077] Start the generator set, the reducer and the motor rotate, drive the smart ecological robot to walk along the track, and start the booster pump, the nozzle and the spray gun to work at the same time;

[0078] When the smart ecological robot reaches the end point, the generator set and the booster pump are turned off, the smart ecological robot stops walking, and the nozzle spray gun stops working;

[0079] Start the hydraulic control system, the hydraulic cylinder works, retract each spraying arm, and fold it back to its original position, turn off the hydraulic control system, and the spraying and dust suppression operation is completed.

[0080] like Figure 5 As shown in the figure, it is a schematic diagram of the heat and moisture transfer physical model provided in the embodiment of the present application. For example, liquid water is 0.033 kg / m 3 The flux is infiltrated from the porous region boundary, and the infiltration time is 50s. Drying process: Dry air flows in from the inlet at an initial temperature of 300K and a velocity of 0.1m / s. The upper and lower sides of the flow domain are non-slip walls and thermal insulation. In the free flow domain, it is assumed that there is no liquid water, and all moisture leaves the porous medium through the porous domain boundary in the form of steam.

[0081] like Figure 6As shown, it is a spray response control diagram provided in an embodiment of the present application. The embodiment of the present application can obtain the corresponding system dynamic response through the system identification algorithm to control the spraying amount to ensure the temperature and humidity level of the ore pile. The system identification algorithm includes ARMA (Autoregressive Moving Average Model) and ARMAX (Autoregressive Moving Average with Extra Input).

[0082] To summarize, the embodiment of the present application determines whether to send a prompt to the smart ecological robot to perform stack spraying through the acquired spray condition index, then obtains the spray uniformity index by combining the regional uniformity parameters, the robot uniformity parameters and the preset uniformity parameters, and finally obtains the spray quality index by combining the spray quality parameters and the preset quality parameters, and sends a prompt to the smart ecological robot for quality adjustment, thereby achieving an improved comprehensiveness of spray control, and further achieving more accurate spray control of the smart ecological robot, effectively solving the problem of low matching between the spray control of the smart ecological robot and the environment in the prior art.

[0083] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0084] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0085] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0086] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0087] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0088] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A spray recognition control method for an intelligent ecological robot, characterized in that: The following steps are involved: S1, obtaining environmental impact parameters of a preset stacking area, and obtaining a spraying condition index according to the environmental impact parameters and the preset environmental parameters, wherein the spraying condition index is used to evaluate the suitability of spraying in the preset stacking area; S2, judging whether to send a prompt for stack spraying to the smart ecological robot based on the preset condition judgment index threshold and the spray condition index obtained from the preset database, and executing S3 when the spray condition index is not lower than the preset condition judgment index threshold; S3, obtaining the regional uniformity parameters of the preset stacking area and the robot uniformity parameters of the smart ecological robot, obtaining the spray uniformity index according to the regional uniformity parameters, the robot uniformity parameters and the preset uniformity parameters, and judging whether to send a prompt for spray adjustment to the smart ecological robot based on the spray uniformity index and the preset uniformity index threshold obtained from the preset database, wherein the spray uniformity index is used to evaluate the uniformity of the spraying of the smart ecological robot in the preset stacking area; S4, obtain the spray quality parameters of the preset stacking area, obtain the spray quality index according to the spray quality parameters and the preset quality parameters, and send a prompt to the smart ecological robot for quality adjustment based on the spray quality index and the preset quality index threshold obtained from the preset database. The spray quality index is used to evaluate the quality of the smart ecological robot spraying in the preset stacking area.

2. The spray recognition control method of the intelligent ecological robot according to claim 1 is characterized in that: The specific process of obtaining the environmental impact parameters of the preset stacking area is as follows: The preset stacking area is monitored by preset monitoring equipment to obtain environmental impact parameters, wherein the preset monitoring equipment includes an evaporating dish, an electronic scale, a pyranometer, a laser rangefinder, a temperature sensor and a barometer, and the environmental impact parameters include solar radiation intensity, energy loss on the water surface, ambient temperature, evaporation temperature and ambient air pressure.

3. The spray recognition control method of the intelligent ecological robot according to claim 2 is characterized in that: The specific acquisition process of the spray condition index is as follows: The evaporation rate deviation and the evaporation rate deviation are obtained by combining the environmental impact parameters and the preset environmental parameters obtained from the preset database, wherein the preset environmental parameters include a preset evaporation rate threshold, a preset evaporation rate threshold, latent heat of water evaporation and a surface heat transfer coefficient, wherein the evaporation rate deviation represents a deviation value between the evaporation rate of the spraying liquid of the smart ecological robot in a preset time period and the preset evaporation rate threshold, and the evaporation rate deviation represents a deviation value between the evaporation rate of the spraying liquid of the smart ecological robot in a preset time period and the preset evaporation rate threshold; The spray condition index is obtained according to the evaporation rate deviation and the preset evaporation amount deviation, and the spray condition index is calculated using the following formula: Where, X t represents the spraying condition index of the smart ecological robot in the tth preset time period, t=1,2,...,i, t represents the number of the preset time period, i represents the total number of preset time periods, ΔE t represents the evaporation rate deviation of the spray liquid of the smart ecological robot in the tth preset time period, ΔM t represents the evaporation rate deviation of the spray liquid of the smart ecological robot in the tth preset time period, I t represents the solar radiation intensity of the spray liquid of the smart ecological robot in the tth preset time period, L t represents the energy loss of the water surface in the preset stacking area during the t-th preset time period, H t represents the spray thickness of the spray liquid of the smart ecological robot in the tth preset time period, C 1t represents the ambient temperature in the preset stacking area during the tth preset time period, C 2t represents the evaporation temperature of the spray liquid of the smart ecological robot in the tth preset time period, P t represents the ambient air pressure in the preset stacking area in the t-th preset time period, E0 represents the preset evaporation rate threshold, M0 represents the preset evaporation rate threshold, γ represents the surface heat transfer coefficient, ε represents the latent heat of water evaporation, and e represents a natural constant.

4. The spray recognition control method of the intelligent ecological robot according to claim 1 is characterized in that: The specific process of determining whether to send a prompt for stack spraying to the smart ecological robot is as follows: The preset condition judgment index threshold is obtained from the preset database, and the preset condition judgment index threshold is compared with the spray condition index. When the spray condition index is not lower than the preset condition judgment index threshold, it is judged that the operation can continue. When the spray condition index is lower than the preset condition judgment index threshold, it indicates that it is not suitable to continue the operation and a prompt is sent to the preset personnel to stop the operation.

5. The spray recognition control method of the intelligent ecological robot according to claim 1 is characterized in that: The specific method for obtaining the regional uniformity parameter is: Monitor the preset stacking area by using a preset uniformity monitoring device to obtain regional uniformity parameters, wherein the regional uniformity parameters include spray density, spray angle and flow rate, and the preset uniformity monitoring device includes a laser rangefinder, a pressure gauge, a laser particle size analyzer, a laser angle meter and a flow meter; The specific method for obtaining the uniformity parameters of the robot is: The smart ecological robot is monitored by a preset uniformity monitoring device to obtain the uniformity parameters of the robot, wherein the uniformity parameters of the robot include nozzle cross-sectional area, nozzle pressure and nozzle diameter.

6. The spray recognition control method of the intelligent ecological robot according to claim 5 is characterized in that: The specific process of obtaining the spray uniformity index is as follows: A first spray flow deviation and a second spray flow deviation are obtained by combining the regional uniformity parameter, the robot uniformity parameter and the preset uniformity parameter obtained from the preset database, wherein the preset uniformity parameter includes a preset first flow threshold and a preset second flow threshold, wherein the first spray flow deviation represents a deviation value between the spray liquid flow of the smart ecological robot and the preset first flow threshold within a preset time period, and the second spray flow deviation represents a deviation value between the spray liquid flow of the smart ecological robot and the preset second flow threshold within a preset time period; The first uniform distribution weight and the second uniform distribution weight are obtained from the preset database, and the spray uniformity index is obtained by combining the first spray flow deviation and the second spray flow deviation. The spray uniformity index is calculated using the following formula: Where Y t represents the spray uniformity index of the smart ecological robot in the t-th preset time period, t=1,2,...,i, t represents the number of the preset time period, i represents the total number of preset time periods, ΔQ 1t represents the first spray flow deviation of the spray liquid of the smart ecological robot in the tth preset time period, ΔQ 2t represents the second spray flow deviation of the spray liquid of the smart ecological robot in the tth preset time period, a represents the flow coefficient, A t represents the nozzle cross-sectional area of ​​the smart ecological robot in the tth preset time period, f t represents the nozzle pressure of the smart ecological robot in the tth preset time period, ρ t represents the spray density of the spray liquid of the smart ecological robot in the tth preset time period, θ t represents the spraying angle of the spraying liquid of the smart ecological robot in the tth preset time period, D t represents the nozzle diameter of the smart ecological robot in the tth preset time period, V t represents the flow rate of the spraying liquid of the intelligent ecological robot in the tth preset time period, Q1 represents the preset first flow threshold, Q2 represents the preset second flow threshold, α1 represents the first uniform distribution weight, α2 represents the second uniform distribution weight, and e represents a natural constant.

7. The spray recognition control method of the intelligent ecological robot according to claim 1 is characterized in that: The specific process of judging whether to send a prompt for spray adjustment to the smart ecological robot based on the spray uniformity index and the preset uniformity index threshold obtained from the preset database is as follows: B1, obtain the preset spray pressure threshold and preset multiple from the preset database, send a prompt to the smart ecological robot to gradually increase the preset spray pressure threshold by the preset multiple, and monitor the spray uniformity index at the same time. When the spray uniformity index is higher than the preset uniformity index threshold, stop the operation, otherwise continue to execute B2; B2, send a prompt to the smart ecological robot to adjust the spray angle, and monitor the spray uniformity index at the same time. When the spray uniformity index is higher than the preset uniformity index threshold, stop the operation, otherwise continue to execute B3; B3, send a prompt to the preset personnel to adjust the nozzle diameter of the smart ecological robot, and monitor the spray uniformity index at the same time. When the spray uniformity index is higher than the preset uniformity index threshold, stop executing, otherwise continue to execute B4; B4, sending a prompt to the preset spray control center for spray data processing to obtain qualified spray related data, and when the preset high-performance server receives the qualified spray related data, it outputs the spray output result; Transmit the spray output results to the preset spray control center; The preset spray control center is used to dynamically adjust the intensity and time of the spray according to the spray output result; The spray output results include prediction results of the ore pile drying process and spray control suggestions; The spray data processing means performing edge processing on the corresponding spray related data when the spray uniformity index is higher than the preset uniformity index threshold; The edge processing means processing based on a preset edge computing device; The qualified spray-related data refers to the spray-related data that has been processed by spray data.

8. The spray recognition control method of the intelligent ecological robot according to claim 1 is characterized in that: The specific process of obtaining the spray quality index is as follows: The preset effect monitoring device is used to monitor the preset stacking area to obtain spray quality parameters, wherein the preset effect monitoring device includes a flow meter, a laser rangefinder and a timer, and the spray quality parameters include spray volume, spray area, total spray time and single spray cycle time; The spray intensity deviation and the spray frequency deviation are obtained by combining the spray quality parameter and the preset quality parameter obtained from the preset database, wherein the preset quality parameter includes a preset spray intensity threshold and a preset spray frequency threshold, wherein the spray intensity deviation represents a deviation value between the spray intensity of the smart ecological robot and the preset spray intensity threshold within a preset time period, and the spray frequency deviation represents a deviation value between the spray frequency of the smart ecological robot and the preset spray frequency threshold within a preset time period; Obtain a preset first quality weight and a preset first quality weight from a preset database, and obtain a spray quality index in combination with a spray intensity deviation and a spray frequency deviation; The spray quality index is calculated using the following formula: In the formula, Z t represents the spray quality index of the smart ecological robot in the t-th preset time period, t=1,2,...,i, t represents the number of the preset time period, i represents the total number of preset time periods, ΔS t It represents the spray intensity deviation of the spray liquid of the smart ecological robot in the t-th preset time period, ΔN t represents the spray frequency deviation of the spray liquid of the smart ecological robot in the tth preset time period, q t A represents the spraying amount of the spraying liquid of the smart ecological robot in the tth preset time period, t represents the spraying area of ​​the smart ecological robot in the tth preset time period, N t represents the total spraying time of the smart ecological robot in the tth preset time period, T t It represents the duration of a single spraying cycle of the intelligent ecological robot in the tth preset time period, S0 represents the preset spraying intensity threshold, N0 represents the preset spraying frequency threshold, δ1 represents the preset first mass weight, δ2 represents the preset second mass weight, and e represents a natural constant.

9. The spray recognition control method of the intelligent ecological robot according to claim 1 is characterized in that: The specific process of sending a prompt to the smart ecological robot for quality adjustment based on the spray quality index and the preset quality index threshold obtained from the preset database is as follows: C1, obtain the spraying volume threshold, spraying time threshold and preset multiple from the preset database; C2, sending a prompt to the smart ecological robot to gradually increase the spray volume threshold by a preset multiple, while monitoring the spray quality index. When the spray quality index is higher than the preset quality index threshold, stop the operation, otherwise continue to execute C3; C3, sends a prompt to the smart ecological robot to gradually increase the spraying time threshold by a preset multiple, while monitoring the spraying quality index, and stops execution when the spraying quality index is higher than the preset quality index threshold.

10. A spray recognition control system for an intelligent ecological robot, characterized in that: It includes spray condition index acquisition module, spray judgment module, spray uniformity index acquisition module and spray quality index acquisition module: The spray condition index acquisition module is used to acquire the environmental impact parameters of the preset stacking area, and acquire the spray condition index according to the environmental impact parameters and the preset environmental parameters. The spray condition index is used to evaluate the suitability of spraying in the preset stacking area. The spray judgment module is used to judge whether to send a prompt for stacking spraying to the smart ecological robot based on the preset condition judgment index threshold and the spray condition index obtained from the preset database, and when the spray condition index is not lower than the preset condition judgment index threshold, the function of the spray uniformity index acquisition module is executed; The spray uniformity index acquisition module is used to obtain the regional uniformity parameters of the preset stacking area and the robot uniformity parameters of the smart ecological robot, and obtain the spray uniformity index according to the regional uniformity parameters, the robot uniformity parameters and the preset uniformity parameters. Based on the spray uniformity index and the preset uniformity index threshold obtained from the preset database, it is determined whether to send a prompt for spray adjustment to the smart ecological robot. The spray uniformity index is used to evaluate the uniformity of the smart ecological robot spraying in the preset stacking area; The spray quality index acquisition module is used to obtain the spray quality parameters of the preset stacking area, obtain the spray quality index according to the spray quality parameters and the preset quality parameters, and send prompts to the smart ecological robot for quality adjustment based on the spray quality index and the preset quality index threshold obtained from the preset database. The spray quality index is used to evaluate the quality of the smart ecological robot spraying in the preset stacking area.

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