Dust suppression robot and control method thereof

Abstract

The embodiment of the invention provides a dust suppression robot and a control method thereof, and relates to the field of dust suppression. The medicament box is fixed on the movable chassis and is used for accommodating a dust suppressant; the operation pipeline is fixed to the movable chassis and communicates with the agent box, and the operation pipeline is provided with a spraying opening used for spraying the dust suppressant; the agent pump is arranged on the operation pipeline and used for driving the dust suppressant to be sprayed out from the spraying opening; wherein the spraying opening comprises a sedimentation spraying opening which is arranged on the side of the operation pipeline and is used for spraying the dust suppressant into the air; the film forming nozzle is arranged at the end, facing the ground, of the operation pipeline and used for spraying a dust suppressant to the ground. The dust suppression robot can be applied to strong wind scenes and has good dust suppression capacity.

Description

Technical Field

[0001] The present invention relates to the field of dust suppression, and particularly to a dust suppression robot and a control method thereof. Background Art

[0002] A large amount of dust is generated at construction sites, mining sites and other places. This kind of dust will not only pollute the environment, but for the tailing dust in the mining site, the dust may contain tailing slag with toxic factors, which may cause harm to the human body, so it is necessary to suppress the dust.

[0003] In the related technical solutions, a drone is used to spray a dust suppressant to suppress dust. However, the drone is difficult to fly stably in a strong wind scenario, so the effect of suppressing dust is limited. Summary of the Invention

[0004] The present invention provides a dust suppression robot and a control method thereof, which are used to solve the technical problem of how to still have a good dust suppression effect in a strong wind scenario.

[0005] In the first aspect of the embodiments of the present invention, a dust suppression robot is provided. The dust suppression robot includes: a mobile chassis; a chemical tank fixed to the mobile chassis for containing a dust suppressant; an operation pipeline fixed to the mobile chassis and communicating with the chemical tank, the operation pipeline having a spraying port for spraying the dust suppressant; a chemical pump provided in the operation pipeline for driving the dust suppressant to be ejected from the spraying port; wherein, the spraying port includes: a sedimentation spraying port provided on the side of the operation pipeline for spraying the dust suppressant into the air; a film-forming spraying port provided at the end of the operation pipeline facing the ground for spraying the dust suppressant onto the ground.

[0006] In some embodiments, the film-forming spraying port is provided with a flow nozzle for outputting the dust suppressant in a flow shape onto the ground; wherein, in the direction from the operation pipeline to the ground, the area of the cross-section of the flow nozzle increases, and the ratio of the area of the largest cross-section of the flow nozzle to the area of the smallest cross-section is less than a ratio threshold, and the cross-section is a plane perpendicular to the direction from the operation pipeline to the ground.

[0007] In some embodiments, the operation pipelines are located on both sides of the mobile chassis, and the sedimentation spraying port has a fog nozzle for outputting the dust suppressant in a fog shape into the air.

[0008] In some embodiments, the dust suppression robot further includes a remaining amount sensor located in the chemical tank for obtaining the remaining amount of the dust suppressant in the chemical tank.

[0009] In some embodiments, the mobile chassis includes: a mobile vehicle body fixedly connected to the chemical agent tank and the operation pipeline; mobile tracks connected to the mobile vehicle body for driving the mobile vehicle body to move.

[0010] In some embodiments, the mobile chassis further includes: a fuel tank for storing fuel; an internal combustion engine for obtaining the fuel and driving the mobile chassis to move; a generator connected to the internal combustion engine for generating electric energy; an electric energy storage unit for storing electric energy; and an electric motor for obtaining the electric energy from the electric energy storage unit and driving the mobile chassis to move.

[0011] The second aspect of the embodiments of the present invention provides a control method for a dust suppression robot. The control method is applied to the dust suppression robot provided in the first aspect of the above embodiments. The control method includes: controlling the mobile chassis based on a predetermined route to make the dust suppression robot move along the predetermined route, and controlling the chemical agent pump to spray the dust suppressant in the chemical agent tank from the sedimentation nozzles and the film-forming nozzles; obtaining the remaining amount of the dust suppressant in the chemical agent tank by the remaining amount sensor, and storing the current position of the dust suppression robot in a state where the remaining amount is lower than a remaining amount threshold; determining the shortest route between the current position and the chemical agent replenishment position based on the current position and the chemical agent replenishment position closest to the current position; controlling the mobile chassis to move to the chemical agent replenishment position based on the shortest route to replenish the dust suppressant at the chemical agent replenishment position; controlling the mobile chassis to return from the chemical agent replenishment position to the current position based on the shortest route, and continuing to move along the predetermined route from the current position.

[0012] In some embodiments, the mobile chassis further includes a wind speed sensor. The controlling the chemical agent pump to spray the chemical agent in the chemical agent tank from the sedimentation nozzles and the film-forming nozzles includes: obtaining the wind speed by the wind speed sensor, controlling the rotation speed of the chemical agent pump based on the wind speed, and spraying the dust suppressant in the chemical agent tank from the sedimentation nozzles and the film-forming nozzles, where the rotation speed is positively correlated with the wind speed.

[0013] In some embodiments, the dust suppression robot further includes an obstacle avoidance radar. Both the controlling the mobile chassis to move to the chemical agent replenishment position based on the shortest route and the controlling the mobile chassis to return from the chemical agent replenishment position to the current position based on the shortest route include: obtaining the obstacles on the shortest route based on the obstacle avoidance radar, and controlling the mobile chassis to bypass the obstacles and continue to move forward along the shortest route.

[0014] In some embodiments, the mobile chassis further includes a fuel tank and an electrical energy storage unit. Controlling the mobile chassis to move to the chemical replenishment position based on the shortest route to replenish the dust suppressant at the chemical replenishment position includes: controlling the mobile chassis to move to the chemical replenishment position based on the shortest route; while replenishing the dust suppressant at the chemical replenishment position, replenishing fuel into the fuel tank and storing electrical energy in the electrical energy storage unit.

[0015] An embodiment of the present invention provides a dust suppression robot, which includes a mobile chassis, a chemical tank fixed to the mobile chassis and used for accommodating a dust suppressant, a spraying port that is communicated with the chemical tank and has a spraying opening for spraying the dust suppressant, and a chemical pump arranged on the operation pipeline for driving the dust suppressant to be ejected from the spraying opening. The mobile chassis can move along a predetermined route while the chemical pump drives the dust suppressant in the chemical tank to be ejected from the spraying opening of the operation pipeline, so that the dust suppressant can be sprayed to different positions within a predetermined area along with the movement of the mobile chassis. The mobile chassis of the dust suppression robot is supported on the ground and has a stronger wind resistance ability compared to an unmanned aerial vehicle. Among them, the spraying opening includes a sedimentation spraying port and a film-forming spraying port. The sedimentation spraying port is arranged on the side of the operation pipeline for spraying the dust suppressant into the air. The film-forming spraying port is arranged at the end of the operation pipeline facing the ground for spraying the dust suppressant onto the ground. The sedimentation spraying port is used to spray the dust suppressant into the air, and the dust suppressant will move together with the dust in the air, so that even in a strong wind scenario, it can adsorb the suspended dust in the air. At the same time, the film-forming spraying port faces the ground and is used to directly spray the dust suppressant onto the ground. The dust suppressant stays in the air for a very short time, so it is less affected by the wind, and thus can still effectively form a dust suppression film on the ground in a strong wind scenario, and further improve the dust suppression ability of the dust suppression robot in a strong wind scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of a dust suppression robot provided by an embodiment of the present invention; Figure 2 It is a schematic structural diagram of an operation pipeline in the dust suppression robot provided by an embodiment of the present invention; Figure 3 It is an assembly schematic diagram of an operation pipeline and a flow nozzle in the dust suppression robot provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the relative position relationship between an operation pipeline and a mobile chassis in the dust suppression robot provided by an embodiment of the present invention; Figure 5 It is an exploded view of an operation pipeline and a fog nozzle in the dust suppression robot provided by an embodiment of the present invention; Figure 6Schematic assembly diagram of a chemical agent tank and a remaining amount sensor in the dust suppression robot provided by the embodiment of the present invention; Figure 7 Explosion diagram of a mobile chassis and a chemical agent tank in the dust suppression robot provided by the embodiment of the present invention; Figure 8 Schematic assembly diagram of a mobile chassis, an internal combustion engine, a fuel tank, and an electric energy storage unit in the dust suppression robot provided by the embodiment of the present invention; Figure 9 Schematic flow diagram of the control method of the first dust suppression robot provided by the embodiment of the present invention; Figure 10 Schematic flow diagram of the control method of the second dust suppression robot provided by the embodiment of the present invention.

[0017] Description of reference numerals 10. Mobile chassis; 11. Mobile vehicle body; 12. Mobile track; 13. Protective shell; 14. Fuel tank; 15. Electric energy storage unit; 16. Internal combustion engine; 18. Generator; 20. Chemical agent tank; 21. Remaining amount sensor; 30. Operation pipeline; 31. Spraying port; 311. Sedimentation spraying port; 312. Film-forming spraying port; 313. Stream nozzle; 314. Atomizing nozzle; 40. Chemical agent pump. Detailed implementation manners

[0018] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] For each specific technical feature in each of the various embodiments described in the detailed implementation manners, various combinations can be made without conflict. For example, different embodiments can be formed by combining different specific technical features. To avoid unnecessary repetition, various possible combination manners of each specific technical feature in the present invention will not be described separately.

[0020] Here, it should also be noted that in order to avoid obscuring the present invention due to unnecessary details, only the structures and / or processing steps closely related to the solution of the present invention are shown in the drawings, and other details less related to the present invention are omitted.

[0021] In addition, it should be noted that the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. In the following description, the terms "first", "second", etc. are only used to distinguish different objects and do not indicate any identity or relationship between the objects. It should be understood that the orientation descriptions such as "above", "below", "inside", "outside", etc. represent the orientations in the normal use state.

[0022] In the following specific embodiments, the dust suppression robot can be applied to any scenario where dust needs to be suppressed. Exemplarily, the dust suppression robot can be applied to a construction site or a tailings pond. According to different types of dust to be suppressed, the dust suppressant sprayed by the dust suppression robot can be replaced. The structure and function of the dust suppression robot will be described below in combination with each embodiment.

[0023] In some embodiments, as Figure 1 shown, the dust suppression robot includes: a mobile chassis 10, a chemical agent tank 20, an operation pipeline 30, and a chemical agent pump 40. The mobile chassis 10 is used to drive the chemical agent tank 20 and the operation pipeline 30 to move along a predetermined trajectory. The mobile chassis 10 can be any structure capable of movement. Exemplarily, the mobile chassis 10 can be a wheeled chassis, a semi-tracked chassis or a full-tracked chassis. At the same time, the mobile chassis 10 can also provide an installation space for the chemical agent tank 20 and the operation pipeline 30. The chemical agent tank 20 and the operation pipeline 30 are both fixed to the mobile chassis 10 and move together with the mobile chassis 10. The chemical agent pump 40 is arranged on the operation pipeline 30. During the movement of the mobile chassis 10, the chemical agent pump 40 operates to extract the dust suppressant from the chemical agent tank 20 and spray the dust suppressant from the spray port 31 of the operation pipeline 30. Among them, the predetermined route of the mobile chassis 10 enables the dust suppression robot to traverse all reachable positions within a predetermined area, so that the dust suppressant can be sprayed throughout the predetermined area to achieve the dust suppression effect in this area. The principle of dust suppressant suppressing dust will be further described below in combination with the position and structure of the spray port.

[0024] As Figure 2As shown, the spraying nozzle 31 includes a sedimentation spraying nozzle 311 and a film-forming spraying nozzle 312. The sedimentation spraying nozzle 311 is arranged on the side of the operation pipeline 30 and is used to spray the dust suppressant into the air. By spraying the dust suppressant into the air, the floating dust in the air can be adsorbed and made to fall to the ground. At the same time, the film-forming spraying nozzle 312 is used to spray the dust suppressant onto the ground so that the dust suppressant can bond the dust on the ground to form a dust suppression film. This film can prevent the dust on the ground from being lifted into the air, thereby further suppressing dust. The principle of how the dust prevention robot can still effectively suppress dust in a strong wind scenario is described below. First, the dust suppression robot has a mobile chassis supported on the ground. Compared with an unmanned aerial vehicle, it can reliably resist the influence of strong winds on the dust suppression robot. Moreover, the sedimentation spraying nozzle 311 is used to spray the dust suppressant into the air, and the dust suppressant will move along with the dust in the air, so that even in a strong wind scenario, the suspended dust in the air can be adsorbed. At the same time, the film-forming spraying nozzle 312 faces the ground and is used to directly spray the dust suppressant onto the ground. The dust suppressant stays in the air for a very short time, so it is less affected by the wind force. Therefore, it can still effectively form a dust suppression film on the ground in a strong wind scenario, and further improve the dust suppression ability of the dust suppression robot in a strong wind scenario.

[0025] An embodiment of the present invention provides a dust suppression robot, which includes a mobile chassis, a medicine tank fixed to the mobile chassis and used to accommodate the dust suppressant, a spraying nozzle communicated with the medicine tank and having a spraying port for spraying the dust suppressant, and a medicine pump arranged on the operation pipeline for driving the dust suppressant to be ejected from the spraying port. The mobile chassis can move along a predetermined route, and at the same time, the medicine pump drives the dust suppressant in the medicine tank to be ejected from the spraying port of the operation pipeline, so that the dust suppressant can be sprayed to different positions within a predetermined area along with the movement of the mobile chassis. The mobile chassis of the dust suppression robot is supported on the ground and has a stronger ability to resist wind force compared with an unmanned aerial vehicle. Among them, the spraying nozzle includes a sedimentation spraying nozzle and a film-forming spraying nozzle. The sedimentation spraying nozzle is arranged on the side of the operation pipeline and is used to spray the dust suppressant into the air. The film-forming spraying nozzle is arranged at the end of the operation pipeline facing the ground and is used to spray the dust suppressant onto the ground. The sedimentation spraying nozzle is used to spray the dust suppressant into the air, and the dust suppressant will move along with the dust in the air, so that even in a strong wind scenario, the suspended dust in the air can be adsorbed. At the same time, the film-forming spraying nozzle faces the ground and is used to directly spray the dust suppressant onto the ground. The dust suppressant stays in the air for a very short time, so it is less affected by the wind force. Therefore, it can still effectively form a dust suppression film on the ground in a strong wind scenario, and further improve the dust suppression ability of the dust suppression robot in a strong wind scenario.

[0026] In some embodiments, such as Figure 3As shown, the film-forming nozzle 312 is provided with a flow nozzle 313 for outputting a stream-shaped dust suppressant to a point. That is, the film-forming nozzle 312 is not used to spray the dust suppressant more widely and evenly onto the ground. Instead, a certain concentration of the dust suppressant needs to be sprayed in the form of a stream onto a certain ground area so that a dust suppression film can be formed on the ground in this area. Specifically, in the direction from the operation pipeline 30 towards the ground, the cross-sectional area of the flow nozzle 313 increases. This cross-sectional area is a plane perpendicular to the direction from the operation pipeline 30 towards the ground, so that the dust suppressant in the operation pipeline 30 can be diffused and sprayed to a certain extent within a ground area, thereby improving the generation efficiency of the dust suppression film. However, if the area where the flow nozzle 313 diffuses the dust suppressant is too large, it may not only lead to too low a concentration of the dust suppressant sprayed in a unit area, resulting in the inability to effectively form a dust suppression film, but also the overly dispersed dust suppressant is difficult to resist the influence of wind. Therefore, it is also necessary to limit the diffusion of the flow nozzle 313, that is, the ratio of the area of the largest cross-section of the flow nozzle 313 to the area of the smallest cross-section is less than a proportionality threshold. This proportionality threshold can be, for example, 1.3, so as to limit the diffusion effect of the flow nozzle 313 on the dust suppressant, while enabling the flow nozzle 313 to have a certain efficiency in forming a dust suppression film, improving the formation effect of the dust suppression film and the ability of the stream of the dust suppressant to resist the influence of wind. Optionally, the stream of the dust suppressant ejected by the flow nozzle 313 can be fan-shaped or conical; optionally, there are multiple flow nozzles 313, and there is a certain overlapping area between the streams of the dust suppressant sprayed by adjacent flow nozzles 313.

[0027] In some embodiments, as Figure 4 shown, the operation pipeline 30 is located on both sides of the mobile chassis 10, as Figure 5 shown, the sedimentation nozzle 311 is provided with a fog nozzle 314 for outputting a fog-shaped dust suppressant into the air. By arranging the operation pipeline on both sides of the mobile chassis 10, the dust suppressant can adsorb the suspended dust in the air on both sides of the mobile chassis 10 and make the dust fall to the ground. At the same time, the fog nozzle 314 can make the dust suppressant more widely diffuse into the air, so as to more effectively adsorb the suspended dust in the air.

[0028] In some embodiments, as Figure 6 shown, the dust suppression robot further includes a remaining amount sensor 21. The remaining amount sensor 21 is located in the chemical agent tank 20 and is used to obtain the remaining amount of the dust suppressant in the chemical agent tank 20. In a state where it is detected that the remaining amount of the dust suppressant in the chemical agent tank 20 is lower than a preset threshold, it is necessary to prompt the control personnel to replenish the dust suppressant in a timely manner, or control the dust suppression robot to automatically move to the dust suppressant replenishment position to achieve automatic replenishment of the dust suppressant.

[0029] In some embodiments, as Figure 7As shown in the figure, the mobile chassis 10 includes a mobile vehicle body 11 and mobile crawlers 12. The mobile vehicle body 11 is fixedly connected to the chemical agent tank 20 and the operation pipeline 30. That is, the mobile vehicle body 11 is used to provide an installation space for the chemical agent tank 20 and the operation pipeline 30. The mobile crawlers 12 are connected to the mobile vehicle body 11 and are used to drive the mobile vehicle body 11 to move. It can be understood that the mobile chassis 10 forms a full-track vehicle chassis, so that the dust suppression robot has stronger obstacle-crossing ability, and further enables the dust suppression robot to traverse the predetermined area more conveniently. Optionally, as Figure 7 shown, the mobile vehicle body 11 includes a protective shell 13. The chemical agent tank 20 is fixed to the mobile vehicle body 11 and the protective shell 13 surrounds the chemical agent tank 20 to protect the chemical agent tank 20.

[0030] In some embodiments, as Figure 8 shown, the mobile chassis 10 further includes a fuel tank 14, an electric energy storage unit 15, an internal combustion engine 16 and an electric motor. The fuel tank 14 is used to store fuel. The internal combustion engine 16 can obtain fuel and drive the mobile chassis 10 to move. The electric motor can be driven by the electric energy stored in the electric energy storage unit 15 and drive the mobile chassis 10 to move. The mobile chassis 10 further includes a generator 18. The generator 18 is connected to the output shaft of the internal combustion engine 16 so that the internal combustion engine 16 can drive the generator 18 to generate electric energy. It can be understood that the mobile chassis 10 is powered by a hybrid of fuel and electricity, so that the mobile chassis 10 can have strong driving ability in different scenarios and improve the endurance of the mobile chassis 10.

[0031] The embodiment of the present invention also provides a control method for a dust suppression robot. This control method is applied to the dust suppression robot shown in any one of Figures 1 to 8 . The execution subject of this control method can be integrated into the control unit in the dust suppression robot, and the execution subject of this control method can also be an intelligent cloud platform server online. The dust suppression robot transmits the acquired data to this server, and this server sends control instructions to the dust suppression robot based on the acquired data to control the movement of the dust suppression robot and the spraying of the dust suppressant. The steps of this control method will be exemplarily described below with reference to the embodiments.

[0032] In some embodiments, there is a remaining amount sensor in the chemical agent tank. This remaining amount sensor can obtain the remaining amount of the dust suppressant in the chemical agent tank. As Figure 9 shown, Figure 9 is a schematic flow chart of the first control method for the dust suppression robot provided by the embodiment of the present invention. This control method includes: Step S101: Control the mobile chassis based on a predetermined route to make the dust suppression robot move along the predetermined route, and control the chemical agent pump to make the dust suppressant in the chemical agent tank spray out from the sedimentation nozzle and the film-forming nozzle.

[0033] Specifically, during the movement of the dust suppression robot along the predetermined route, it can traverse all passable positions of the site. At the same time, control the chemical agent pump to operate so that the dust suppressant can be ejected from the sedimentation nozzle and the film-forming nozzle. As a result, the particles suspended in the air within the site can be adsorbed and fall to the ground, and a dust suppression film can be formed on the ground. This dust suppression film can prevent the particles on the ground from being lifted, thereby suppressing the dust in the site. Among them, the predetermined route can be manually planned by the operator according to the area, shape, and passable routes of the site, or can be automatically set by the control module according to the area, shape, and passable routes of the site. Optionally, the dust suppression robot is equipped with a satellite positioning device and an acceleration sensor, and can control the dust suppression robot to move along the predetermined route through the combination of satellite positioning and inertial navigation.

[0034] Step S102: Obtain the remaining amount of the dust suppressant in the chemical agent tank by the remaining amount sensor. In the state where the remaining amount is lower than the remaining amount threshold, store the current position where the dust suppression robot is located.

[0035] Specifically, during the spraying process, obtain the remaining amount of the dust suppressant in the chemical agent tank by the remaining amount sensor. When the remaining amount is lower than the remaining amount threshold, the dust suppressant needs to be replenished. In order to continue spraying the dust suppressant after the replenishment of the dust suppressant, it is necessary to record the current position of the dust suppression robot. After the replenishment of the dust suppressant is completed, return to this current position to continue spraying the dust suppressant. That is, the breakpoint spraying function of the chemical agent spraying is realized.

[0036] Step S103: Control the mobile chassis to move to the chemical agent replenishment position based on the shortest route to replenish the dust suppressant at the chemical agent replenishment position.

[0037] Among them, the shortest route is the shortest passable route between the current position and the chemical agent replenishment position. That is, during the process of replenishing the dust suppressant, there is no need to return to the chemical agent replenishment position along the original predetermined route, but move to the chemical agent replenishment position along the shortest route, so as to replenish the dust suppressant with higher efficiency.

[0038] Optionally, the dust suppression robot further includes an obstacle avoidance radar. During the movement of the dust suppression robot from the current position to the chemical agent replenishment position, if the obstacle avoidance radar detects an obstacle on the shortest route, control the mobile chassis to bypass the obstacle and continue to move along the shortest route to the chemical agent replenishment position after bypassing the obstacle.

[0039] Optionally, the mobile chassis includes a fuel tank, an electric energy storage unit, an internal combustion engine, and an electric motor. When the dust suppression robot moves to the chemical agent replenishment position, while replenishing the dust suppressant into the chemical agent tank, replenish fuel into the fuel tank and charge the electric energy storage unit, thereby further improving the endurance of the dust suppression robot.

[0040] Step S104: Control the mobile chassis to return from the chemical replenishment position to the current position based on the shortest route, and continue to move along the predetermined route from the current position.

[0041] It can be understood that after the dust suppressant is replenished at the chemical replenishment position, the dust suppression robot is controlled to return from the chemical replenishment position to the stored current position along the shortest route, so that it can continue to move along the predetermined route from the current position, enabling the dust suppression robot to continue to perform the dust suppressant spraying function.

[0042] Optionally, the dust suppression robot further includes an obstacle avoidance radar. During the process of the dust suppression robot returning from the chemical replenishment position to the current position along the shortest route, if the obstacle avoidance radar detects an obstacle on the shortest route, the mobile chassis is controlled to bypass the obstacle and continue to move along the shortest route to the current position after bypassing the obstacle.

[0043] In some embodiments, the mobile chassis further includes a wind speed sensor, as Figure 10 shown, Figure 10 is a schematic flowchart of the control method of the second dust suppression robot provided by the embodiment of the present invention. Different from the Figure 9 control method shown, in Figure 9 step S101 includes: Step S201: Control the mobile chassis based on the predetermined route to enable the dust suppression robot to move along the predetermined route.

[0044] Step S202: Obtain the wind speed from the wind speed sensor, and control the rotation speed of the chemical pump based on the wind speed, so that the dust suppressant in the chemical tank is ejected from the sedimentation nozzle and the film-forming nozzle.

[0045] Among them, the rotation speed of the chemical pump is positively correlated with the wind speed. It can be understood that the higher the wind speed, the higher the possibility that the sprayed dust suppressant is affected by the wind force. Therefore, it is necessary to increase the rotation speed of the chemical pump, so that the dust suppressant can be output from the sedimentation nozzle and the film-forming nozzle with higher hydraulic pressure, and further improve the wind resistance ability of the dust suppressant.

[0046] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A dust suppression robot, characterized in that, The dust suppression robot includes: A mobile chassis; A chemical agent tank, fixed to the mobile chassis and used to contain the dust suppressant; An operation pipeline, fixed to the mobile chassis and communicating with the chemical agent tank, the operation pipeline having a spraying port for spraying the dust suppressant; A chemical agent pump, arranged in the operation pipeline and used to drive the dust suppressant to be ejected from the spraying port; Wherein, the spraying port includes: A sedimentation spraying port, arranged on the side of the operation pipeline and used to spray the dust suppressant into the air; A film-forming spraying port, arranged at the end of the operation pipeline facing the ground and used to spray the dust suppressant onto the ground.

2. The dust suppression robot according to claim 1, characterized in that, The film-forming spraying port is provided with a flow nozzle for outputting the dust suppressant in a flow shape onto the ground; Wherein, in the direction from the operation pipeline to the ground, the area of the cross-section of the flow nozzle increases, and the ratio of the area of the largest cross-section of the flow nozzle to the area of the smallest cross-section is less than a proportionality threshold, and the cross-section is a plane perpendicular to the direction from the operation pipeline to the ground.

3. The dust suppression robot according to claim 1, wherein, The operation pipeline is located on both sides of the mobile chassis, and the sedimentation spraying port has a fog nozzle for outputting the dust suppressant in a fog shape into the air.

4. The dust suppression robot according to any one of claims 1 to 3, characterized in that, The dust suppression robot further includes a remaining amount sensor, which is located in the chemical agent tank and used to obtain the remaining amount of the dust suppressant in the chemical agent tank.

5. The dust suppression robot according to any one of claims 1 to 3, characterized in that, The mobile chassis includes: A mobile vehicle body, fixedly connected to the chemical agent tank and the operation pipeline; Mobile tracks, connected to the mobile vehicle body and used to drive the mobile vehicle body to move.

6. The dust suppression robot according to any one of claims 1 to 3, characterized in that, The mobile chassis further includes: A fuel tank, used to store fuel; An internal combustion engine, used to obtain the fuel and drive the mobile chassis to move; A generator, connected to the internal combustion engine and used to generate electric energy; An electric energy storage unit, used to store electric energy; An electric motor, used to obtain the electric energy of the electric energy storage unit and drive the mobile chassis to move.

7. A control method for a dust suppression robot, characterized in that, The control method is applied to the dust suppression robot according to any one of claims 1 to 6, and the chemical agent tank is provided with a remaining amount sensor. The control method includes: Controlling the mobile chassis based on a predetermined route so that the dust suppression robot moves along the predetermined route, and controlling the chemical agent pump to eject the dust suppressant in the chemical agent tank from the sedimentation spraying port and the film-forming spraying port; Obtaining the remaining amount of the dust suppressant in the chemical agent tank by the remaining amount sensor, and storing the current position where the dust suppression robot is located when the remaining amount is lower than the remaining amount threshold; Determining the shortest route between the current position and the chemical agent replenishment position based on the current position and the chemical agent replenishment position closest to the current position; Controlling the mobile chassis to move to the chemical agent replenishment position based on the shortest route to replenish the dust suppressant at the chemical agent replenishment position; Controlling the mobile chassis to return from the chemical agent replenishment position to the current position based on the shortest route, and continuing to move along the predetermined route from the current position.

8. The control method according to claim 7, wherein The mobile chassis further includes a wind speed sensor. The controlling the chemical agent pump to eject the chemical agent in the chemical agent tank from the sedimentation spraying port and the film-forming spraying port includes: The wind speed is obtained by the wind speed sensor, and the rotation speed of the chemical agent pump is controlled based on the wind speed, so that the dust suppressant in the chemical agent tank is ejected from the sedimentation nozzle and the film-forming nozzle, wherein the rotation speed is positively correlated with the wind speed.

9. The control method according to claim 7, characterized in that The dust suppression robot further includes an obstacle avoidance radar. Both the control of moving the mobile chassis to the chemical agent replenishment position based on the shortest route and the control of moving the mobile chassis back to the current position from the chemical agent replenishment position based on the shortest route include: Obtaining obstacles on the shortest route based on the obstacle avoidance radar, and controlling the mobile chassis to bypass the obstacles and continue to move forward along the shortest route.

10. The control method according to claim 7, characterized in that, The mobile chassis further includes a fuel tank and an electric energy storage unit. The control of moving the mobile chassis to the chemical agent replenishment position based on the shortest route to replenish the dust suppressant at the chemical agent replenishment position includes: Controlling the mobile chassis to move to the chemical agent replenishment position based on the shortest route; While replenishing the dust suppressant at the chemical agent replenishment position, replenishing fuel into the fuel tank and storing electric energy in the electric energy storage unit.

Images