Water jet form control method, device and equipment and storage medium

Abstract

The invention relates to the technical field of flushing control, in particular to a water jet form control method, device and equipment and a storage medium, and the method comprises the steps that operation information is acquired to confirm a cleaning mode and mode working parameters corresponding to the cleaning mode, and the cleaning mode comprises sweeping injection and spot injection; controlling an electrified water washing device to start based on the mode operation parameters; the rotating angle of the mechanical arm, the water pressure value of the high-pressure water pipeline and the water flow at the nozzle are monitored in real time, in the spraying mode, the corrected water pressure value is calculated, and the power of the high-pressure pump is optimized based on the corrected water pressure value through a first PID regulator; in the spot mode, a real-time energy value is calculated, a second PID regulator is adopted, and the opening degree of the electric proportional valve is optimized based on the real-time energy value; according to the method, the power of the high-pressure pump and the opening degree of the electric proportional valve are dynamically adjusted through the two PID regulators respectively, response can be made in time according to changes of real-time working parameters, and the jet flow form in the cleaning process is effectively optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of flushing control, and particularly to a method, device, equipment and storage medium for controlling the shape of a water jet. Background Art

[0002] In the current field of live water flushing devices, traditional technologies mainly rely on conventional mechanical control methods; for example, a live water flushing device modified based on a 12-ton water tank fire truck adjusts the power of its high-pressure water pump mainly by an operator manually controlling the accelerator pedal; however, this manual control mode has obvious deficiencies: First, the accuracy of manual control highly depends on the personal skills and experience level of the operator, which makes it difficult to ensure the stability of the water pump power output and water pressure; this instability not only reduces the efficiency of the cleaning operation, but may also have a negative impact on the quality of the cleaning operation, and at the same time poses a potential threat to the overall safety of live working.

[0003] In addition, in the manual mechanical control mode, the acquisition and display of the operation data of the live water flushing device mainly rely on mechanical pointer meters and electric control buttons, and these devices lack digital, visual and data storage functions; this not only limits the operator's ability to monitor and analyze the vehicle operation status in real time, but also makes it difficult to review historical data and evaluate long-term performance.

[0004] It can be seen that the existing technology still needs to be improved. Summary of the Invention

[0005] In order to overcome the deficiencies of the existing technology, the purpose of the present invention is to provide a method for controlling the shape of a water jet, which can quickly respond to the real-time parameter changes of a live water flushing device by dynamically adjusting the power of a high-pressure pump and the opening of an electro-hydraulic proportional valve, optimize the water pressure and flow rate, and improve the shape of the water jet.

[0006] The first aspect of the present invention provides a method for controlling the shape of a water jet, including: obtaining operation information, confirming a cleaning mode based on the operation information, where the cleaning mode includes a sweeping mode and a point shooting mode; calling preset mode operation parameters based on the confirmed cleaning mode, and controlling the live water flushing device to start working based on the called preset mode operation parameters; obtaining and preprocessing the real-time working parameters fed back by the live water flushing device, where the real-time working parameters include the real-time rotation angle of the robotic arm, the real-time water pressure value of the high-pressure water pipeline, and the real-time water flow rate at the nozzle; when the cleaning mode is the sweeping mode, confirming a corrected water pressure value based on the real-time rotation angle, and using a first PID regulator to adjust the power of the high-pressure pump by combining the corrected water pressure value and the real-time water pressure value; when the cleaning mode is the point shooting mode, calculating a real-time energy value based on the real-time water flow rate and the real-time water pressure value, and using a second PID regulator to adjust the opening of the electro-hydraulic proportional valve based on the real-time energy value.

[0007] Optionally, in the first implementation manner of the first aspect of the present invention, for the obtaining of the operation information and the confirmation of the cleaning mode based on the operation information, where the cleaning mode includes a sweeping mode and a spot shooting mode, it includes: obtaining operation information, where the operation information includes an operation scenario, and the operation scenario includes low-level equipment cleaning and high-level equipment cleaning; when the operation scenario is low-level equipment cleaning, the cleaning mode is the spot shooting mode; when the operation scenario is high-level equipment cleaning, the cleaning mode is the sweeping mode.

[0008] Optionally, in the second implementation manner of the first aspect of the present invention, for the calling of preset mode operation parameters based on the confirmed cleaning mode and the control of the live water flushing device to start working based on the called preset mode operation parameters, it includes: when the cleaning mode is the spot shooting mode, calling the preset operation parameters of the spot shooting mode, where the operation parameters of the spot shooting mode include a set energy value, a set water pressure value, and a set spot shooting pulse width; when the cleaning mode is the sweeping mode, calling the preset operation parameters of the sweeping mode, where the operation parameters of the sweeping mode include a set rotation angle range, a set water pressure value, and a set moving speed of the robotic arm; controlling the live water flushing device to start working based on the called operation parameters of the spot shooting mode or the sweeping mode.

[0009] Optionally, in the third implementation manner of the first aspect of the present invention, for the obtaining and preprocessing of the real-time working parameters fed back by the live water flushing device, where the real-time working parameters include the real-time rotation angle of the robotic arm, the real-time water pressure value of the high-pressure water pipeline, and the real-time water flow rate at the nozzle, it includes: obtaining the real-time working parameters fed back by the live water flushing device, where the real-time working parameters include the real-time rotation angle of the robotic arm, the real-time water pressure value of the high-pressure water pipeline, and the real-time water flow rate at the nozzle; using the Kalman filter mode to perform noise reduction processing on the real-time rotation angle, the real-time water pressure value, and the real-time water flow rate respectively to complete the preprocessing of the real-time working parameters.

[0010] Optionally, in the fourth implementation manner of the first aspect of the present invention, when the cleaning mode is the sweeping mode, for the confirmation of the corrected water pressure value based on the real-time rotation angle, using the first PID regulator, and adjusting the power of the high-pressure pump by combining the corrected water pressure value and the real-time water pressure value, it includes: when the cleaning mode is the sweeping mode, confirming the water pressure compensation coefficient based on the real-time rotation angle, and confirming the rotation speed factor based on the set moving speed of the robotic arm; calculating the corrected water pressure value according to the water pressure compensation coefficient, the rotation speed factor, and the set water pressure value; using the first PID regulator to adjust the power of the high-pressure pump by combining the corrected water pressure value and the real-time water pressure value so that the deviation between the corrected water pressure value and the real-time water pressure value ≤ the preset maximum sweeping deviation threshold; if the real-time water pressure value ≥ the preset pressure upper limit threshold, generating an emergency stop instruction.

[0011] Optionally, in the fifth implementation manner of the first aspect of the present invention, when the cleaning mode is the spot spraying mode, calculating a real-time energy value based on the real-time water flow rate and the real-time water pressure value, and using a second PID regulator to adjust the opening degree of the electro-hydraulic proportional valve based on the real-time energy value, includes: when the cleaning mode is the spot spraying mode, calculating a real-time energy value based on the real-time water flow rate, the real-time water pressure value, and the set spot spraying pulse width; using a second PID regulator to adjust the opening degree of the electro-hydraulic proportional valve by combining the real-time energy value and the set energy value, so that the deviation between the real-time energy value and the set energy value is ≤ the preset maximum energy threshold; if the real-time water flow rate is less than the preset blockage set threshold, generating an emergency stop instruction.

[0012] Optionally, in the sixth implementation manner of the first aspect of the present invention, the water jet form control method further includes: when a job is completed, obtaining job process information, where the job process information includes the called mode operation parameters, the real-time working parameters, and the high-pressure pump frequency adjustment information or the electro-hydraulic proportional valve opening degree adjustment information; performing formatting processing on the job process information, and converting the formatted job process information into the CSV format; storing the job process information after format conversion into a preselected data storage module.

[0013] The second aspect of the present invention provides a water jet form control device, including: a confirmation module, configured to obtain job information and confirm a cleaning mode based on the job information, where the cleaning mode includes a sweeping mode and a spot spraying mode; a calling module, configured to call preset mode operation parameters based on the confirmed cleaning mode, and control a live water flushing device to start working based on the called preset mode operation parameters; a processing module, configured to obtain and preprocess real-time working parameters fed back by the live water flushing device, where the real-time working parameters include the real-time rotation angle of the robotic arm, the real-time water pressure value of the high-pressure water pipeline, and the real-time water flow rate at the nozzle; a first adjustment module, configured to, when the cleaning mode is the sweeping mode, confirm a corrected water pressure value based on the real-time rotation angle, and use a first PID regulator to adjust the power of the high-pressure pump by combining the corrected water pressure value and the real-time water pressure value; a second adjustment module, configured to, when the cleaning mode is the spot spraying mode, calculate a real-time energy value based on the real-time water flow rate and the real-time water pressure value, and use a second PID regulator to adjust the opening degree of the electro-hydraulic proportional valve based on the real-time energy value.

[0014] The third aspect of the present invention provides a water jet form control device, where the water jet form control device includes: a memory and at least one processor, and instructions are stored in the memory; at least one of the processors calls the instructions in the memory, so that the water jet form control device executes each step of the water jet form control method described in any one of the above.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium, on which instructions are stored, and when the instructions are executed by a processor, each step of the water jet form control method described in any one of the above is implemented.

[0016] In the technical solution of the present invention, the power of the high-pressure pump and the opening of the electro-hydraulic proportional valve are dynamically adjusted by the first PID regulator and the second PID regulator respectively, which can quickly respond to the change of the real-time working parameters of the live water flushing device, optimize the water pressure and water flow rate during the cleaning process, that is, improve the form of the water jet, improve the cleaning quality and cleaning efficiency, ensure the stability and reliability of the cleaning operation. In addition, it also reduces the energy consumption and cost of the cleaning operation. Description of the Drawings

[0017] Figure 1 It is a logic flowchart of the water jet form control method provided by the embodiment of the present invention; Figure 2 It is a structural schematic diagram of the water jet form control device provided by the embodiment of the present invention; Figure 3 It is a structural schematic diagram of the water jet form control equipment provided by the embodiment of the present invention. Detailed Embodiments

[0018] The present invention provides a water jet form control method, device, equipment and storage medium. In the present invention, the terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order different from that shown or described here. In addition, the term "comprising" or "having" and any variation thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or equipment that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0019] The present application discloses a method for controlling the shape of a water jet. The charged water flushing device to which it is applicable includes an engine, a power take-off, a high-pressure pump, a multi-orifice nozzle group, an electro-hydraulic proportional valve, and a robotic arm; the multi-orifice nozzle group includes three nozzles with different diameters, and the three nozzles are connected in series in the high-pressure pipeline through an electric switching valve; the electro-hydraulic proportional valve is installed upstream of the nozzle, and a flowmeter for detecting the real-time water flow rate is located between the electro-hydraulic proportional valve and the nozzle and is close to the outlet of the nozzle; the end of the robotic arm is equipped with a rotary joint, and through the cooperation of a servo motor and a planetary reducer, the robotic arm can rotate horizontally by 360 degrees, and through the drive of a hydraulic cylinder, the robotic arm can vertically pitch between -30 degrees and 90 degrees; the engine is the power source of the entire device, and the mechanical energy generated by burning diesel or gasoline drives the high-pressure pump to operate; the power take-off serves as a power transmission hub, and distributes and transfers the rotational power of the engine to the high-pressure pump through a gearbox; the water inlet of the high-pressure pump is connected to a water storage tank through a water inlet pipeline, and the water outlet of the high-pressure pump is sequentially connected to the electro-hydraulic proportional valve and the multi-orifice nozzle group through a high-pressure pipeline. A pressure sensor for obtaining the real-time pressure value is arranged at the three-way joint of the high-pressure pipeline.

[0020] For ease of understanding, the specific process of the embodiment of the present invention is described below. Please refer to Figure 1 , an embodiment of the method for controlling the shape of a water jet in the embodiment of the present invention includes: 101. Obtain operation information, and confirm a cleaning mode based on the operation information. The cleaning mode includes a sweeping mode and a spot spraying mode; In this embodiment, the operation information is input by an operator through a remote control or an operation panel; by obtaining the operation information to confirm the cleaning mode, a suitable cleaning method can be selected for different operation scenarios. Whether it is the sweeping mode or the spot spraying mode, it can meet the actual operation requirements, thereby improving the cleaning efficiency and cleaning effect of the charged water flushing device.

[0021] 102. Call the preset mode operation parameters based on the confirmed cleaning mode, and control the charged water flushing device to start working based on the called preset mode operation parameters; 103. Obtain and preprocess the real-time working parameters fed back by the charged water flushing device. The real-time working parameters include the real-time rotation angle of the robotic arm, the real-time water pressure value of the high-pressure water pipeline, and the real-time water flow rate at the nozzle; In this embodiment, by calling the preset mode operation parameters corresponding to the cleaning mode and combining the real-time working parameters fed back by the charged water flushing device, the rotation angle of the robotic arm, the water pressure value of the high-pressure water pipeline, and the water flow rate at the nozzle can be accurately controlled, ensuring the stability and reliability of the cleaning operation process.

[0022] 104. When the cleaning mode is the sweeping mode, the corrected water pressure value is confirmed based on the real-time rotation angle, and the power of the high-pressure pump is adjusted by using the first PID regulator in combination with the corrected water pressure value and the real-time water pressure value; 105. When the cleaning mode is the spot-shooting mode, the real-time energy value is calculated based on the real-time water flow and the real-time water pressure value, and the second PID regulator is used to adjust the opening of the electric proportional valve based on the real-time energy value.

[0023] The present application discloses a water jet morphology control method, which dynamically adjusts the power of a high-pressure pump and the opening of an electric proportional valve through a first PID regulator and a second PID regulator, respectively, and can respond quickly to changes in real-time working parameters of an electrified water flushing device to optimize the water pressure and water flow rate during the cleaning process, thereby improving the morphology of the water jet, improving the cleaning quality and cleaning efficiency, and ensuring the stability and reliability of the cleaning operation. In addition, it also reduces the energy consumption and cost of the cleaning operation.

[0024] Further, in an embodiment of the present invention, the obtaining of the operation information and confirming the cleaning mode based on the operation information, wherein the cleaning mode includes a scanning mode and a spot-shooting mode, include: 201. Obtaining operation information, where the operation information includes operation scenarios, and the operation scenarios include low-level equipment cleaning and high-level equipment cleaning; 202. When the operation scene is low-level equipment cleaning, the cleaning mode is the spot-shot mode; The low-level equipment may be low-level equipment of a substation, and the spot-shooting mode means using a high-pressure water jet or other cleaning medium to precisely act on dirt in a point-to-point manner to achieve the purpose of removal; for example, the spot-shooting mode can be used to remove stubborn dirt in the gaps between insulators, such as bird droppings; or during live working, when local cleaning of specific areas is required, the spot-shooting mode can be used to minimize the impact on the surrounding environment and effectively avoid arc risks.

[0025] 203. When the operation scene is high-rise equipment cleaning, the cleaning mode is the sweeping mode; In this embodiment, the high-rise equipment may be high-rise insulators of a transmission line. When it is necessary to clean the insulators in pieces, a sweeping mode may be used. The sweeping mode can efficiently cover and clean the surface of each insulator by spraying water evenly and widely, thereby ensuring the uniformity and thoroughness of the cleaning effect. The sweeping mode may also be used for cleaning various complex equipment in a substation, such as transformers. The sweeping mode can effectively remove dirt and impurities on the surface of the equipment by precisely controlling the direction and pressure of the water flow, while ensuring that no damage is caused to the equipment.

[0026] Further, in the embodiment of the present invention, calling the preset mode operation parameters based on the confirmed cleaning mode, and controlling the charged water flushing device to start working based on the called preset mode operation parameters, includes: 301. When the cleaning mode is the point shooting mode, call the preset point shooting mode operation parameters, and the point shooting mode operation parameters include a set energy value, a set water pressure value, and a set point shooting pulse width; In this embodiment, the point shooting mode operation parameters further include a nozzle diameter. When the point shooting mode is adopted, the nozzle diameter can be 7 mm, the set water pressure value can be any value in 5 - 7 MPa, and the set point shooting pulse width can be any value within 0.2 - 1 s; the set energy value is any value in 3.2 - 4.8 kJ; further, according to the nozzle diameter, the following formula can be used to calculate the initial flow value of the nozzle: ; Wherein, is the initial flow value, is the flow coefficient, which is determined by the nozzle material, A is the nozzle area, which is calculated from the nozzle diameter, is the water density, is the set water pressure value; by calculating the initial flow value, the initial opening of the electro-hydraulic proportional valve can be confirmed.

[0027] 302. When the cleaning mode is the sweeping mode, call the preset sweeping mode operation parameters, and the sweeping mode operation parameters include a set rotation angle range, a set water pressure value, and a set manipulator moving speed; In this embodiment, the sweeping mode operation parameters further include a nozzle diameter. When the sweeping mode is adopted, the nozzle diameter can be 3 mm or 12 mm, the set water pressure value is any value in 4 - 10 MPa, and the set moving speed of the manipulator is any value in 8° / s - 15° / s; the set rotation angle range includes a horizontal rotation range and a vertical pitch range, the horizontal rotation range is 30° - 150°, and the vertical pitch range is 45° - 75°.

[0028] 303. Control the charged water flushing device to start working based on the called point shooting mode operation parameters or sweeping mode operation parameters.

[0029] Further, in the embodiment of the present invention, obtaining the real-time working parameters fed back by the charged water flushing device and performing preprocessing, the real-time working parameters include the real-time rotation angle of the manipulator, the real-time water pressure value of the high-pressure water pipeline, and the real-time water flow rate at the nozzle, includes: 401. Obtain the real-time working parameters fed back by the live-line water flushing device. The real-time working parameters include the real-time rotation angle of the robotic arm, the real-time water pressure value of the high-pressure water pipeline, and the real-time water flow rate at the nozzle. 402. Use the Kalman filter mode to perform noise reduction processing on the real-time rotation angle, real-time water pressure value, and real-time water flow rate respectively to complete the preprocessing of the real-time working parameters. In this embodiment, using the Kalman filter mode to perform noise reduction processing on the real-time working parameters can effectively remove noise interference, improve the accuracy and reliability of the real-time working parameters, and provide strong support for subsequent analysis and decision-making.

[0030] Further, in the embodiment of the present invention, when the cleaning mode is the sweeping mode, based on the real-time rotation angle, confirm the corrected water pressure value, and use the first PID regulator to adjust the power of the high-pressure pump in combination with the corrected water pressure value and the real-time water pressure value, including: 501. When the cleaning mode is the sweeping mode, confirm the water pressure compensation coefficient based on the real-time rotation angle, and confirm the rotation speed factor based on the set moving speed of the robotic arm. In this embodiment, pre-construct a mapping table of the rotation angle and the water pressure compensation coefficient ; Based on the pre-constructed mapping table, according to the real-time rotation angle, the corresponding water pressure compensation coefficient can be obtained; subsequently, based on the set moving speed of the robotic arm, by looking up the corresponding relationship table of the moving speed of the robotic arm and the rotation speed factor established through experiments in advance, the corresponding rotation speed factor can be obtained. This rotation speed factor is a specific value and has a corresponding relationship with the moving speed of the robotic arm. For example, when the moving speed of the robotic arm is 8° / s, the rotation speed factor is 0.1; when the moving speed of the robotic arm is 10° / s, the rotation speed factor is 0.15.

[0031] 502. Calculate the corrected water pressure value according to the water pressure compensation coefficient, rotation speed factor, and set water pressure value. In this embodiment, the corrected water pressure value = set water pressure value × water pressure compensation coefficient × (1 - rotation speed factor).

[0032] 503. Use the first PID regulator to adjust the power of the high-pressure pump in combination with the corrected water pressure value and the real-time water pressure value, so that the deviation between the corrected water pressure value and the real-time water pressure value ≤ the preset maximum sweeping deviation threshold. In this embodiment, the preset maximum spraying deviation threshold is 3%; a first PID regulator is used to comprehensively compare and analyze the corrected water pressure value and the real-time water pressure value. Specifically, the first PID regulator continuously calculates the difference between the corrected water pressure value and the real-time water pressure value, and dynamically adjusts the power output of the high-pressure pump accordingly; by dynamically adjusting the power output, the problem of the attenuation of the flushing force at the distal end caused by the divergence of the water flow during the rotation of the robotic arm is effectively solved, enabling the water jet to always maintain the best flushing state, not only improving the operating efficiency of the live water flushing device, but also greatly extending the service life of the high-pressure pump, providing a solid guarantee for the stable operation of the live water flushing device.

[0033] 504. If the real-time water pressure value ≥ the preset upper pressure threshold value, an emergency stop instruction is generated; In this embodiment, the preset upper pressure threshold value is 11 MPa; when the real-time water pressure value exceeds the preset upper pressure threshold value, an emergency stop instruction is generated, avoiding equipment damage or safety accidents caused by too high water pressure, and enhancing the safety and stability of the live water flushing device during operation; the emergency stop instruction includes: cutting off the power transmission of the power take-off, unloading the high-pressure pump, opening the pipeline pressure relief valve, locking all electric valves and braking the robotic arm, as well as audible and visual alarms.

[0034] Further, in the embodiment of the present invention, when the cleaning mode is the spot spraying mode, the real-time energy value is calculated based on the real-time water flow rate and the real-time water pressure value, and a second PID regulator is used to adjust the opening degree of the electro-hydraulic proportional valve based on the real-time energy value, including: 601. When the cleaning mode is the spot spraying mode, calculate the real-time energy value based on the real-time water flow rate, the real-time water pressure value, and the set spot spraying pulse width; In this embodiment, the real-time energy value is calculated based on the following formula: ; where, is the real-time energy value, is the water density, is the real-time water flow rate, is the set spot spraying pulse width, is the jet velocity, which is related to the real-time water pressure value. Specifically, , where P is the real-time water pressure value.

[0035] 602. Use a second PID regulator to adjust the opening degree of the electro-hydraulic proportional valve in combination with the real-time energy value and the set energy value, so that the deviation between the real-time energy value and the set energy value ≤ the preset maximum energy threshold; In this embodiment, the preset maximum energy threshold is 5%; a second PID regulator is used to comprehensively compare and analyze the real-time energy value and the set energy value. Specifically, the second PID regulator receives the real-time energy value and the set energy value as inputs, calculates the control quantity by comparing the deviation between these two values, and this control quantity is used to adjust the opening degree of the electro-hydraulic proportional valve, thereby changing the actual energy value. The goal of the second PID regulator is to keep the deviation between the real-time energy value and the set energy value within the preset maximum energy threshold to ensure the working stability and control accuracy of the live water flushing device, enable the live water flushing device to adapt to the cleaning requirements under different working conditions, and improve its flexibility and adaptability during operation.

[0036] 603. If the real-time water flow rate is less than the preset blockage setting threshold, an emergency stop command is generated. In this embodiment, the blockage setting threshold is 60% of the theoretical flow rate, and the theoretical flow rate is determined by the nozzle diameter. When the real-time water flow rate is less than the preset blockage setting threshold, an emergency stop command is immediately generated to avoid equipment damage or safety accidents caused by blockage or other reasons.

[0037] Further, in the embodiment of the present invention, the water jet form control method further includes: 701. When a job is completed, job process information is obtained, and the job process information includes the mode operation parameters, real-time working parameters, and high-pressure pump frequency adjustment information or electro-hydraulic proportional valve opening degree adjustment information called. 702. Format the job process information and convert the formatted job process information into CSV format. In this embodiment, the job process information is standardized and sorted according to a preset format, ensuring the accuracy and readability of the job process information, avoiding information confusion or misunderstanding, and providing a reliable basis for subsequent data analysis.

[0038] In this embodiment, converting the formatted job process information into CSV format can conveniently import the job process information into various data analysis tools for further processing and analysis; as a common data format, the CSV format has a wide range of application scenarios and compatibility and can adapt to different data requirements.

[0039] 703. Store the job process information after format conversion in a preselected data storage module. In this embodiment, storing the job process information after format conversion in a preselected data storage module can achieve long-term data preservation and efficient management; it helps operators better track and analyze the job process and improve the working efficiency of live cleaning operations.

[0040] The water jet shape control method in the embodiments of the present invention has been described above. Next, the water jet shape control device in the embodiments of the present invention will be described. Please refer to Figure 2 , an embodiment of the water jet shape control device in the embodiments of the present invention includes: A confirmation module 801, configured to obtain operation information and confirm a cleaning mode based on the operation information, where the cleaning mode includes a sweeping mode and a point shooting mode; An invocation module 802, configured to invoke preset mode operation parameters based on the confirmed cleaning mode, and control the charged water flushing device to start working based on the invoked preset mode operation parameters; A processing module 803, configured to obtain and preprocess real-time working parameters fed back by the charged water flushing device, where the real-time working parameters include the real-time rotation angle of the robotic arm, the real-time water pressure value of the high-pressure water pipeline, and the real-time water flow rate at the nozzle; A first adjustment module 804, configured to, when the cleaning mode is the sweeping mode, confirm a corrected water pressure value based on the real-time rotation angle, and use a first PID regulator to adjust the power of the high-pressure pump by combining the corrected water pressure value and the real-time water pressure value; A second adjustment module 805, configured to, when the cleaning mode is the point shooting mode, calculate a real-time energy value based on the real-time water flow rate and the real-time water pressure value, and use a second PID regulator to adjust the opening degree of the electro-hydraulic proportional valve based on the real-time energy value.

[0041] Based on the same idea as the method in the above embodiments, the device provided in this application can implement the method in the above embodiments.

[0042] Above Figure 2 The water jet shape control device in the embodiments of the present invention is described in detail from the perspective of modular functional entities. Next, the water jet shape control device in the embodiments of the present invention will be described in detail from the perspective of hardware processing.

[0043] Figure 3FIG. 0 is a schematic structural diagram of a water jet flow pattern control device provided by an embodiment of the present invention. The water jet flow pattern control device 900 may vary significantly due to different configurations or performances, and may include one or more central processing units (CPUs) 910 (e.g., one or more processors) and a memory 920, and one or more storage media 930 (e.g., one or more mass storage devices) for storing application programs 933 or data 932. Among them, the memory 920 and the storage media 930 may be transient storage or persistent storage. The program stored in the storage media 930 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the water jet flow pattern control device 900. Further, the processor 910 may be configured to communicate with the storage media 930 and execute a series of instruction operations in the storage media 930 on the water jet flow pattern control device 900 to implement the steps of the water jet flow pattern control method provided in the above method embodiments.

[0044] The water jet flow pattern control device 900 may further include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input / output interfaces 960, and / or one or more operating systems 931, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art can understand that Figure 3 the shown structural diagram of the water jet flow pattern control device does not limit the water jet flow pattern control device, and it may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0045] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium, and when the instructions run on a computer, the computer is caused to execute the steps of the water jet flow pattern control method.

[0046] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described system, device, or unit can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0047] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0048] Finally, it should be noted that the above are only preferred examples of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A water jet morphology control method, characterized in that, Including: Obtain job information, and confirm a cleaning mode based on the job information. The cleaning mode includes a sweeping mode and a point - shooting mode; Call preset mode operation parameters based on the confirmed cleaning mode, and control the charged water flushing device to start working based on the called preset mode operation parameters; Obtain and pre - process the real - time working parameters fed back by the charged water flushing device. The real - time working parameters include the real - time rotation angle of the robotic arm, the real - time water pressure value of the high - pressure water pipeline, and the real - time water flow rate at the nozzle; When the cleaning mode is the sweeping mode, confirm the corrected water pressure value based on the real - time rotation angle, and use a first PID regulator to adjust the power of the high - pressure pump by combining the corrected water pressure value and the real - time water pressure value; When the cleaning mode is the point - shooting mode, calculate the real - time energy value based on the real - time water flow rate and the real - time water pressure value, and use a second PID regulator to adjust the opening of the electro - proportional valve based on the real - time energy value.

2. The water jet flow pattern control method according to claim 1, wherein The obtaining job information, and confirming the cleaning mode based on the job information. The cleaning mode includes a sweeping mode and a point - shooting mode, includes: Obtain job information. The job information includes a job scenario, and the job scenario includes low - level equipment cleaning and high - level equipment cleaning; When the job scenario is low - level equipment cleaning, the cleaning mode is the point - shooting mode; When the job scenario is high - level equipment cleaning, the cleaning mode is the sweeping mode.

3. The water jet flow pattern control method according to claim 1, wherein The calling preset mode operation parameters based on the confirmed cleaning mode, and controlling the charged water flushing device to start working based on the called preset mode operation parameters, includes: When the cleaning mode is the point - shooting mode, call the preset point - shooting mode operation parameters. The point - shooting mode operation parameters include a set energy value, a set water pressure value, and a set point - shooting pulse width; When the cleaning mode is the sweeping mode, call the preset sweeping mode operation parameters. The sweeping mode operation parameters include a set rotation angle range, a set water pressure value, and a set moving speed of the robotic arm; Control the charged water flushing device to start working based on the called point - shooting mode operation parameters or sweeping mode operation parameters.

4. The water jet flow pattern control method according to claim 2, wherein, The obtaining and pre - processing the real - time working parameters fed back by the charged water flushing device. The real - time working parameters include the real - time rotation angle of the robotic arm, the real - time water pressure value of the high - pressure water pipeline, and the real - time water flow rate at the nozzle, includes: Obtain the real - time working parameters fed back by the charged water flushing device. The real - time working parameters include the real - time rotation angle of the robotic arm, the real - time water pressure value of the high - pressure water pipeline, and the real - time water flow rate at the nozzle; Use the Kalman filtering mode to perform noise reduction processing on the real - time rotation angle, the real - time water pressure value, and the real - time water flow rate respectively to complete the pre - processing of the real - time working parameters.

5. The water jet flow pattern control method according to claim 3, characterized in that The when the cleaning mode is the sweeping mode, confirming the corrected water pressure value based on the real - time rotation angle, and using a first PID regulator to adjust the power of the high - pressure pump by combining the corrected water pressure value and the real - time water pressure value, includes: When the cleaning mode is the sweeping mode, confirm the water pressure compensation coefficient based on the real - time rotation angle, and confirm the rotation speed factor based on the set moving speed of the robotic arm; Calculate the corrected water pressure value according to the water pressure compensation coefficient, the rotation speed factor, and the set water pressure value; Adopt a first PID regulator to adjust the power of the high-pressure pump by combining the corrected water pressure value and the real-time water pressure value, so that the deviation between the corrected water pressure value and the real-time water pressure value ≤ the preset maximum spraying deviation threshold; If the real-time water pressure value ≥ the preset upper pressure threshold, an emergency stop command is generated.

6. The water jet flow pattern control method according to claim 3, wherein, When the cleaning mode is the point spraying mode, calculate the real-time energy value based on the real-time water flow rate and the real-time water pressure value, and adopt a second PID regulator to adjust the opening degree of the electro-hydraulic proportional valve based on the real-time energy value, including: When the cleaning mode is the point spraying mode, calculate the real-time energy value based on the real-time water flow rate, the real-time water pressure value and the set point spraying pulse width; Adopt a second PID regulator to adjust the opening degree of the electro-hydraulic proportional valve by combining the real-time energy value and the set energy value, so that the deviation between the real-time energy value and the set energy value ≤ the preset maximum energy threshold; If the real-time water flow rate is less than the preset blockage setting threshold, an emergency stop command is generated.

7. The water jet flow pattern control method according to claim 1, characterized in that The water jet shape control method further includes: When a job is completed, obtain the job process information, where the job process information includes the called mode operation parameters, real-time working parameters, and high-pressure pump frequency adjustment information or electro-hydraulic proportional valve opening degree adjustment information; Perform formatting processing on the job process information, and convert the formatted job process information into CSV format; Store the job process information after format conversion into a preselected data storage module.

8. A water jet shape control device, characterized in that, Include: A confirmation module for obtaining job information and confirming the cleaning mode based on the job information, where the cleaning mode includes a spraying mode and a point spraying mode; A calling module for calling the preset mode operation parameters based on the confirmed cleaning mode, and controlling the live water flushing device to start working based on the called preset mode operation parameters; A processing module for obtaining and preprocessing the real-time working parameters fed back by the live water flushing device, where the real-time working parameters include the real-time rotation angle of the robotic arm, the real-time water pressure value of the high-pressure water pipeline, and the real-time water flow rate at the nozzle; A first adjustment module for, when the cleaning mode is the spraying mode, confirming the corrected water pressure value based on the real-time rotation angle, and adopting a first PID regulator to adjust the power of the high-pressure pump by combining the corrected water pressure value and the real-time water pressure value; A second adjustment module for, when the cleaning mode is the point spraying mode, calculating the real-time energy value based on the real-time water flow rate and the real-time water pressure value, and adopting a second PID regulator to adjust the opening degree of the electro-hydraulic proportional valve based on the real-time energy value.

9. A water jet morphology control device, characterized in that, The water jet shape control device includes: a memory and at least one processor, and instructions are stored in the memory; At least one of the processors calls the instructions in the memory, so that the water jet shape control device executes each step of the water jet shape control method according to any one of claims 1-7.

10. A computer-readable storage medium, on which instructions are stored, characterized in that, When the instructions are executed by the processor, each step of the water jet shape control method according to any one of claims 1-7 is implemented.

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