Coupler hydraulic control method, system and terminal

Abstract

The invention relates to a coupler hydraulic control method and system and a terminal, and relates to the field of couplers. The coupler hydraulic control method comprises the steps that the internal pressure value of a coupler is obtained; when the internal pressure value is lower than a preset reference pressure value, calculating a difference value between the internal pressure value and the reference pressure value as a pressure difference value; when the pressure difference value exceeds a preset reference difference value, acquiring a pressure change duration; a pressure abnormity reason is matched from a preset pressure database according to the pressure change duration; when the reason for the pressure abnormity is preset liquid leakage abnormity, leakage point detection is carried out through a preset leakage point detection method to obtain a leakage area; and based on the leakage area, controlling a preset repairing device to carry out leakage point repairing by a preset repairing method. The method has the effect of improving the repairing efficiency.

Description

Technical Field

[0001] The present invention relates to the field of couplers, and in particular to a coupler hydraulic control method, system and terminal. Background Art

[0002] A coupler is a device used to connect or match different components and systems to enable effective transmission, conversion or collaborative work of energy, signals, etc.

[0003] Couplers, including hydraulic couplings, primarily use liquid as their working medium, transmitting torque through the liquid's kinetic energy. Damage to the coupler's piping can cause liquid leakage, affecting the coupler's proper operation. Damage detection for coupler piping is typically performed by measuring the pressure inside the coupler.

[0004] The pressure value inside the coupler will not only change due to pipeline damage, so relying solely on understanding the pressure value inside the coupler for damage detection is not accurate enough, thereby reducing the subsequent repair efficiency and needs to be improved. Summary of the Invention

[0005] In order to improve repair efficiency, the present invention provides a coupler hydraulic control method, system and terminal.

[0006] In a first aspect, the present invention provides a coupler hydraulic control method, which adopts the following technical solution:

[0007] A coupler hydraulic control method, comprising:

[0008] Get the internal pressure value of the coupler;

[0009] When the internal pressure value is lower than a preset reference pressure value, the difference between the internal pressure value and the reference pressure value is calculated as a pressure difference value;

[0010] When the pressure difference value exceeds the preset reference difference value, the pressure change duration is obtained;

[0011] Match the cause of pressure abnormality from the preset pressure database based on the duration of pressure change;

[0012] When the cause of the pressure abnormality is a preset liquid leakage abnormality, a leak point detection is performed using a preset leak point detection method to determine the leakage area;

[0013] Based on the leakage area, the preset repair device is controlled to repair the leak point using the preset repair method.

[0014] By adopting the above technical solution, first obtain the internal pressure value of the coupler. When the internal pressure value is lower than the reference pressure value, calculate the pressure difference value from the reference value. If the pressure difference value exceeds the reference difference value, obtain the pressure change duration, and match the pressure anomaly cause from the pressure database according to the pressure change duration. If the anomaly cause is liquid leakage anomaly, then adopt the leak point detection method to determine the leakage area, and further control the repair device to perform leak point repair according to the repair method, so as to improve the repair efficiency.

[0015] Optionally, the leak point detection method includes:

[0016] When the pressure anomaly cause is a preset liquid leakage anomaly, control the preset opening and closing valve to perform sequential opening and closing in a preset valve opening and closing sequence, and during the closing of the opening and closing valve, obtain the closing pressure value;

[0017] When the closing pressure value is inconsistent with the internal pressure value, obtain the opening and closing detection duration;

[0018] Determine the abnormal valve number according to the opening and closing detection duration, the valve opening and closing sequence, and the preset reference detection duration;

[0019] Match the abnormal valve position from the preset number database according to the abnormal valve number;

[0020] Determine the leakage area according to the abnormal valve position;

[0021] Based on the leakage area, control the repair device to perform leak point repair according to the repair method.

[0022] Optionally, the repair method includes:

[0023] Obtain the regional image information of the leakage area;

[0024] Determine the leakage position and the position size according to the regional image information, the preset leakage characteristics, and the reference object;

[0025] Match the amount of repair material used and the shape of the repair material from the preset repair database according to the position size;

[0026] Control the preset trimming device to correct the shape of the preset repair material according to the shape of the repair material;

[0027] After the trimming is completed, control the repair device to plug the repair material with the amount of repair material used to the leakage position. When the plugging is completed, control the preset lighting device to irradiate the leakage position with a preset light intensity value, and obtain the lighting duration;

[0028] Determine the reference lighting duration according to the amount of repair material used, the shape of the repair material, and the light intensity value;

[0029] When the illumination duration is consistent with the reference illumination duration, control the illumination device to stop illumination to complete the leak repair.

[0030] Optionally, it further includes a pressure anomaly detection method:

[0031] When the reason for the pressure anomaly is not the preset liquid leakage anomaly, control the coupler to suspend operation, and after a preset suspension duration, obtain the swing amplitude value of the detection ball preset inside the coupler;

[0032] When the swing amplitude value does not fall within the preset reference swing interval, calculate the difference between the swing amplitude value and the minimum value of the reference swing interval as the swing difference value;

[0033] Match the liquid viscosity value from the preset viscosity database according to the swing difference value;

[0034] When the liquid viscosity value exceeds the preset reference viscosity value, report a liquid viscosity prompt.

[0035] Optionally, it further includes a leakage verification method:

[0036] When the liquid viscosity value exceeds the preset reference viscosity value, determine the reference swing difference value according to the liquid viscosity value;

[0037] When the swing difference value is inconsistent with the reference swing difference value, obtain the detection ball position information of the detection ball;

[0038] Match the abnormal detection ball number from the preset number database according to the detection ball position information;

[0039] Determine the amplitude anomaly area according to the abnormal detection ball number;

[0040] Based on the amplitude anomaly area, control the repair device to perform area repair by the repair method.

[0041] Optionally, it further includes the steps after matching the abnormal detection ball number from the preset number database according to the detection ball position information:

[0042] Match the installation duration from the preset time database according to the abnormal detection ball number;

[0043] Determine the dirt adhesion degree according to the installation duration;

[0044] Determine the influence weight value according to the dirt adhesion degree and the preset dirt weight value;

[0045] Determine the actual weight value according to the influence weight value and the preset reference weight value;

[0046] Modify the reference swing range from a preset swing database according to the actual weight value, and define the modified reference swing range as the swing difference range;

[0047] When the amplitude difference value does not fall within the swing difference range, determine the amplitude anomaly area according to the abnormal detection ball number;

[0048] Based on the amplitude anomaly area, control the repair device to perform area repair by the repair method.

[0049] Optionally, it further includes a flushing method:

[0050] When the internal light transmission value is lower than the preset reference light transmission value, obtain the pipeline material information of the coupler;

[0051] Determine the flushing liquid according to the pipeline material information;

[0052] Match the flushing intensity value and the reference flushing duration from a preset flushing database according to the internal light transmission value;

[0053] Based on the flushing liquid, control a preset flushing device to flush the pipeline with the flushing intensity value. When flushing, obtain the flushing duration, and control the detection ball to perform self-cleaning by a preset self-cleaning method;

[0054] When the flushing duration is consistent with the reference flushing duration, control the flushing device to stop flushing, and control a preset drying device to dry the pipeline;

[0055] After the pipeline drying is completed, control a preset replenishing device to perform liquid replenishment.

[0056] Optionally, the self-cleaning method includes:

[0057] When the flushing device is flushing the pipeline, obtain the weight distribution information of the detection ball;

[0058] Determine the dirt distribution according to the weight distribution information;

[0059] Determine the rotary cleaning parameters according to the dirt distribution and the preset flushing direction;

[0060] Based on the rotary cleaning parameters, control the detection ball to perform rotary cleaning and update the weight distribution information;

[0061] When the updated weight distribution information is consistent with the preset uniform distribution information, determine the rotation speed according to the updated weight distribution information, the detection ball position information, and the flushing intensity value, and control the detection ball to perform self-rotation based on the rotation speed.

[0062] In a second aspect, the present application provides a hydraulic control system for a coupler, adopting the following technical solution:

[0063] A hydraulic control system for a coupler, comprising:

[0064] An acquisition module, configured to acquire internal pressure values, pressure change duration, closing pressure values, opening and closing detection duration, regional image information, illumination duration, contraction image information, lighting image information, swing amplitude values, detection ball position information, pipeline material information, flushing duration, and weight distribution information;

[0065] A memory, configured to store a program of any of the above-mentioned hydraulic control methods for the coupler;

[0066] A processor, configured to load and execute the program stored in the memory.

[0067] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution:

[0068] An intelligent terminal, comprising a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, which is any of the above-mentioned hydraulic control methods for the coupler.

[0069] In summary, the present application includes at least one of the following beneficial technical effects:

[0070] 1. By first acquiring the internal pressure value of the coupler, when the internal pressure value is lower than the reference pressure value, calculate the pressure difference value from the reference value. If the pressure difference value exceeds the reference difference value, acquire the pressure change duration, and match the pressure anomaly cause from the pressure database according to the pressure change duration. If the anomaly cause is liquid leakage anomaly, adopt a leak point detection method to determine the leakage area, and then control the repair device to perform leak point repair according to the repair method, thereby improving the repair efficiency;

[0071] 2. When the pressure anomaly cause is not liquid leakage anomaly, first control the coupler to suspend operation. After the suspension duration, acquire the swing amplitude value of the detection ball inside the coupler. If the swing amplitude value is not within the reference swing range, calculate the difference between it and the minimum value of the reference swing range, that is, the swing difference value. Match the liquid viscosity value from the viscosity database according to the swing difference value. Once the liquid viscosity value exceeds the reference viscosity value, report a liquid viscosity prompt, thereby ensuring the stable operation and working efficiency of the coupler;

[0072] 3. By associating the number of the detection ball with the installation duration, and then considering the influence of factors such as dirt on the swing, continuously correct the swing judgment standard, and repair the abnormal area, it can ensure that the abnormal detection and processing of the coupler are more accurate and detailed, and ensure the normal operation and stable performance of the coupler. Description of the Drawings

[0073] Figure 1It is the flowchart of a coupler hydraulic control method in an embodiment of the present invention;

[0074] Figure 2 It is the flowchart of a leak point detection method in an embodiment of the present invention;

[0075] Figure 3 It is the flowchart of a repair method in an embodiment of the present invention;

[0076] Figure 4 It is the flowchart of a pressure anomaly detection method in an embodiment of the present invention;

[0077] Figure 5 It is the flowchart of a leakage verification method in an embodiment of the present invention;

[0078] Figure 6 It is the flowchart of the steps after matching the abnormal detection ball number from the preset number database according to the detection ball position information in an embodiment of the present invention;

[0079] Figure 7 It is the flowchart of a flushing method in an embodiment of the present invention;

[0080] Figure 8 It is the flowchart of a self-cleaning method in an embodiment of the present invention. Detailed implementation manners

[0081] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0082] The embodiments of the present application disclose a coupler hydraulic control method.

[0083] Refer to Figure 1 , a coupler hydraulic control method includes the following steps:

[0084] Step 100: Obtain the internal pressure value of the coupler.

[0085] The internal pressure value refers to the pressure value inside the pipeline of the coupler. The internal pressure value is measured and obtained by a pressure sensor.

[0086] Step 101: When the internal pressure value is lower than the preset reference pressure value, calculate the difference between the internal pressure value and the reference pressure value as the pressure difference value.

[0087] The reference pressure value refers to the value that the pressure value inside the pipeline of the coupler should at least reach. The reference pressure value is set in advance by those skilled in the art and will not be elaborated here. The pressure difference value refers to the difference when the pressure value inside the pipeline is abnormal. The pressure difference value can be obtained by calculating the difference between the internal pressure value and the reference pressure value.

[0088] When the internal pressure value is lower than the reference pressure value, it indicates that the pressure value inside the pipeline is abnormal, and it is necessary to calculate the pressure difference value for subsequent steps.

[0089] Step 102: When the pressure difference value exceeds the preset reference difference value, obtain the pressure change duration.

[0090] The reference difference value is a value used to assist in judging whether the pressure difference value inside the pipeline is too large. The reference difference value is set in advance by those skilled in the art and will not be elaborated here. The pressure change duration is the duration from when the pressure value inside the pipeline drops from the reference pressure value to the internal pressure value. The pressure change duration is obtained through a preset electronic timer. When the internal pressure value is lower than the reference pressure value, the electronic timer starts timing, and when the pressure difference value exceeds the reference difference value, the electronic timer stops timing and outputs the pressure change duration.

[0091] When the pressure difference value exceeds the reference difference value, it indicates that the pressure difference value inside the pipeline is too large, and it is necessary to obtain the pressure change duration for subsequent steps.

[0092] Step 103: Match the pressure anomaly cause from the preset pressure database according to the pressure change duration.

[0093] The pressure anomaly cause refers to the factors that cause the pressure inside the pipeline to be abnormal. The pressure anomaly causes include liquid leakage anomalies. A liquid leakage anomaly refers to a situation where a certain position of the pipeline is damaged, resulting in the leakage of the liquid inside the pipeline, thereby causing the internal pressure to be abnormal. The liquid leakage anomaly is set in advance by those skilled in the art and will not be elaborated here.

[0094] Through the pressure database, the pressure anomaly cause corresponding to the pressure change duration can be matched. It includes the corresponding relationship between the pressure change duration and the pressure anomaly cause. The pressure database is a manually set database and will not be elaborated here.

[0095] If the pressure change duration is 1 second, it indicates that the pressure inside the pipeline becomes abnormal very quickly, and then the pressure anomaly cause can be matched through the pressure database.

[0096] Step 104: When the pressure anomaly cause is a preset liquid leakage anomaly, perform leak point detection with a preset leak point detection method to obtain the leakage area.

[0097] The leak point detection method refers to a method for detecting the damaged position of a damaged pipeline. The leak point detection method will be described in detail in subsequent steps 200 to 205 and will not be elaborated here. The leakage area refers to the area on the pipeline where damage occurs resulting in liquid leakage. Through the leak point detection method, the leakage area can be obtained, and the specific obtaining method will be described in detail in subsequent steps 200 to 205 and will not be elaborated here.

[0098] Combined with the above description, if the duration of pressure change is 1 second, it indicates that the pressure inside the pipeline changes abnormally very quickly. Furthermore, it can be concluded that the reason for the abnormal pressure inside the pipeline is abnormal liquid leakage. When the reason for the abnormal pressure is abnormal liquid leakage, it indicates that there is a breakage at a certain position of the pipeline. It is necessary to control the preset detection device to detect the leakage point by the leakage point detection method to obtain the leakage area for subsequent steps. The detection device refers to the device used for detecting the leakage point of the pipeline.

[0099] Step 105: Based on the leakage area, control the preset repair device to repair the leakage point by the preset repair method.

[0100] The repair device refers to the device used for repairing the leakage point of the leakage area. The repair method refers to the method used for repairing the leakage point of the leakage area. The specific repair method will be described in detail in subsequent steps 300 to 306 and will not be elaborated here. Control the repair device to repair the leakage point of the leakage area by the repair method for subsequent use.

[0101] Refer to Figure 2 , the leakage point detection method includes the following steps:

[0102] Step 200: When the reason for the abnormal pressure is preset abnormal liquid leakage, control the preset opening and closing valve to perform sequential opening and closing in the preset valve opening and closing sequence, and during the closing of the opening and closing valve, obtain the closing pressure value.

[0103] The opening and closing valve refers to the valve used for controlling the flow of the liquid inside the pipeline. The valve opening and closing sequence refers to the sequence of the opening or closing operations of each valve in a pipeline system containing multiple valves. In this embodiment, multiple opening and closing valves are evenly arranged inside the pipeline of the coupler. The closing pressure value refers to the pressure value inside the pipeline after the opening and closing valve is closed. The closing pressure value is obtained by measuring with a pressure sensor.

[0104] When the reason for the abnormal pressure is abnormal liquid leakage, it is necessary to control the opening and closing valve to perform sequential opening and closing in the valve opening and closing sequence, and each time an opening and closing valve is closed, obtain a closing pressure value for subsequent steps.

[0105] Step 201: When the closing pressure value is inconsistent with the internal pressure value, obtain the opening and closing detection duration.

[0106] The opening and closing detection duration refers to the time spent in the process of opening and closing the valve according to the valve opening and closing sequence. The opening and closing detection duration is obtained by an electronic timer. When the opening and closing valve performs sequential opening and closing in the valve opening and closing sequence, the electronic timer starts timing. When the closing pressure value is inconsistent with the internal pressure value, the electronic timer stops timing and outputs the opening and closing detection duration.

[0107] When the closing pressure value is inconsistent with the internal pressure value, it indicates that the internal pressure value has changed when closing the current opening and closing valve, and it is necessary to obtain the opening and closing detection duration for subsequent steps.

[0108] When the closing pressure value is consistent with the internal pressure value, it indicates that there is still no change inside the pipeline. It is necessary to continue to control the opening and closing valve to perform sequential opening and closing according to the valve opening and closing sequence, and continuously obtain the closing pressure value.

[0109] Example: If the number of opening and closing valves is 3, and each valve has its own corresponding number, which are A, B, and C respectively. When valve A is closed, it is necessary to obtain a closing pressure value once. If the currently obtained closing pressure value is consistent with the internal pressure value, it is necessary to control valve A to open again, and then control valve B to close, and obtain a closing pressure value again, and so on, until the closing pressure value is inconsistent with the internal pressure value, and obtain the opening and closing detection duration.

[0110] Step 202: Determine the abnormal valve number according to the opening and closing detection duration, the valve opening and closing sequence, and the preset reference detection duration.

[0111] The reference detection duration refers to the duration used for opening and closing detection of a single opening and closing valve. The reference detection duration is set in advance by those skilled in the art and will not be elaborated here. The abnormal valve number refers to the number of the valve that is closed when the closing pressure value is inconsistent with the internal pressure value. By calculating the quotient of the opening and closing detection duration divided by the reference detection duration, it is possible to know the number of valves that have undergone opening and closing detection. If the quotient has a decimal, the integer part can be directly taken. Finally, by knowing the number of valves that have undergone opening and closing detection and comparing it with the valve opening and closing sequence, the abnormal valve number can be obtained.

[0112] Step 203: Match the abnormal valve position from the preset number database according to the abnormal valve number.

[0113] The abnormal valve position refers to the position of the valve that is being closed when the internal pressure value appears abnormal. Through the number database, the abnormal valve position corresponding to the abnormal valve number can be matched, which contains the corresponding relationship between the abnormal valve number and the abnormal valve position. The number database is a database set by humans and will not be elaborated here.

[0114] Step 204: Determine the leakage area according to the abnormal valve position.

[0115] The leakage area refers to the area on the pipeline where damage occurs and liquid leaks. Through the preset area database, the leakage area corresponding to the abnormal valve position can be matched, which contains the corresponding relationship between the abnormal valve position and the leakage area value. The area database is a database set by humans and will not be elaborated here.

[0116] Step 205: Based on the leakage area, control the repair device to repair the leakage point by the repair method.

[0117] Control the repair device to repair the leakage point of the leakage area by the repair method for subsequent use.

[0118] Refer to Figure 3 , the repair method includes the following steps:

[0119] Step 300: Obtain the area image information of the leakage area.

[0120] The area image information refers to the image of the leakage area. The area image information is obtained by taking pictures with a camera.

[0121] Step 301: Determine the leakage position and position size according to the area image information, preset leakage characteristics, and reference objects.

[0122] The leakage characteristics refer to the characteristics when liquid leakage occurs on the pipeline. The reference object refers to an object used to assist in measuring the actual position and size of various characteristics in the image information. The size and position of the leakage characteristics and the reference object are both set in advance by those skilled in the art and will not be elaborated here. The leakage position refers to the specific position where liquid leakage occurs on the pipeline. The position size refers to the size of the leakage position. Through the preset leakage database, the leakage position and position size corresponding to the area image information, leakage characteristics, and reference object can be matched, which includes the corresponding relationship between the area image information, leakage characteristics, reference object, leakage position, and position size. The leakage database is a manually set database and will not be elaborated here.

[0123] Step 302: Match the amount of repair material and the shape of the repair material from the preset repair database according to the position size.

[0124] The amount of repair material refers to the specific amount of repair material used to repair the leakage position. The shape of the repair material refers to the shape into which the repair material is cut in order to better seal the leakage position. The repair material refers to the material used to repair the leakage position. The specific repair material is set in advance by those skilled in the art and will not be elaborated here. Through the repair database, the amount of repair material and the shape of the repair material corresponding to the position size can be matched, which includes the corresponding relationship between the position size, the amount of repair material, and the shape of the repair material. The repair database is a manually set database and will not be elaborated here.

[0125] Step 303: Control the preset trimming device to correct the shape of the preset repair material according to the shape of the repair material.

[0126] A trimming device refers to a device used to trim the repair material into a corresponding shape. Control the trimming device to trim the repair material to match the shape of the repair material for subsequent steps.

[0127] Step 304: After trimming is completed, control the repair device to seal the amount of repair material to the leakage position. After sealing is completed, control the preset lighting device to irradiate the leakage position with a preset light intensity value, and obtain the lighting duration.

[0128] A lighting device refers to a device used to irradiate the repair material with light. The light intensity value refers to the intensity value used to irradiate the repair material with light. The light intensity value is set in advance by those skilled in the art and will not be elaborated here. The lighting duration refers to the duration of irradiating the repair material at the leakage position with the lighting device. The lighting duration is obtained by timing with an electronic timer. When the lighting device irradiates the repair material at the leakage position with light, the electronic timer starts timing.

[0129] After trimming is completed, control the repair device to seal the amount of repair material to the leakage position. After sealing is completed, control the lighting device to irradiate the leakage position with the light intensity value to accelerate the curing of the repair material, and finally obtain the lighting duration for subsequent steps.

[0130] Step 305: Determine the reference lighting duration based on the amount of repair material, the shape of the repair material, and the light intensity value.

[0131] The reference lighting duration refers to the duration that needs to be reached when the lighting device irradiates the repair material at the leakage position with light. Through the preset lighting database, the reference lighting duration corresponding to the amount of repair material, the shape of the repair material, and the light intensity value can be matched. It contains the corresponding relationship between the amount of repair material, the shape of the repair material, the light intensity value, and the reference lighting duration. The lighting database is a database set by humans and will not be elaborated here.

[0132] Step 306: When the lighting duration is consistent with the reference lighting duration, control the lighting device to stop lighting to complete the repair of the leakage point.

[0133] When the lighting duration is consistent with the reference lighting duration, it means that the lighting device has completed the lighting of the repair material. Just directly control the lighting device to stop lighting to complete the repair of the leakage point.

[0134] Refer to Figure 4 , the pressure anomaly detection method includes the following steps:

[0135] Step 400: When the reason for the abnormal pressure is not the preset liquid leakage abnormality, control the coupler to suspend operation, and after a preset suspension duration, obtain the swing amplitude value of the detection ball preset inside the coupler.

[0136] The suspension duration refers to the duration used to determine whether the swing amplitude value of the detection ball inside the coupler is abnormal after the coupler suspends operation. The suspension duration is set in advance by those skilled in the art and will not be elaborated here. The detection ball refers to an object arranged inside the pipeline of the coupler for further detecting the internal liquid condition. The swing amplitude value refers to the amplitude value when the detection ball swings inside the pipeline. The swing amplitude value is measured and obtained through an acceleration sensor.

[0137] When the reason for the abnormal pressure is not the liquid leakage abnormality, to determine whether the liquid in the pipeline is viscous, it is necessary to first control the coupler to suspend operation, and after the suspension duration, obtain the swing amplitude value of the detection ball preset inside the coupler for subsequent steps.

[0138] Step 401: When the swing amplitude value does not fall within the preset reference swing interval, calculate the difference between the swing amplitude value and the minimum value of the reference swing interval as the swing difference value.

[0139] The reference swing interval refers to the interval within which the swing amplitude value should fall when the liquid in the pipeline is in a normal state. The reference swing interval is set in advance by those skilled in the art and will not be elaborated here. The swing difference value refers to the difference between the actual swing amplitude value and the normal amplitude value when the swing amplitude of the detection ball deviates from the normal range. The amplitude difference value can be obtained by calculating the difference between the swing amplitude value and the minimum value of the reference swing interval.

[0140] When the swing amplitude value does not fall within the reference swing interval, it indicates that the swing amplitude of the detection ball deviates from the normal range, and it is necessary to calculate the swing difference value for subsequent steps.

[0141] Step 402: Match the liquid viscosity degree value from the preset viscosity database according to the swing difference value.

[0142] The liquid viscosity degree value refers to the quantified value corresponding to the viscosity degree presented by the liquid in the pipeline. Through the viscosity database, the liquid viscosity degree value corresponding to the swing difference value can be matched, which contains the corresponding relationship between the swing difference value and the liquid viscosity degree value. The viscosity database is a manually set database and will not be elaborated here.

[0143] Step 403: When the liquid viscosity degree value exceeds the preset reference viscosity degree value, report a liquid viscosity prompt.

[0144] The reference viscosity value refers to the maximum viscosity value that the liquid in the pipeline can reach when it becomes viscous. The liquid viscosity prompt refers to the prompt when the liquid in the pipeline is too viscous. Both the liquid viscosity prompt and the reference viscosity value are set in advance by those skilled in the art and will not be elaborated here.

[0145] When the liquid viscosity value exceeds the reference viscosity value, it indicates that the liquid in the pipeline is too viscous, and a liquid viscosity prompt needs to be reported.

[0146] Refer to Figure 5 , the leakage detection method includes the following steps:

[0147] Step 500: When the liquid viscosity value exceeds the preset reference viscosity value, determine the reference swing difference value according to the liquid viscosity value.

[0148] The reference swing difference value refers to the difference between the actual swing amplitude value of the detection ball and the minimum value of the established reference swing range when detecting the swing amplitude value of the detection ball due to the change in the liquid viscosity in the pipeline. The reference swing difference value corresponding to the liquid viscosity value can be matched through a preset swing database, which contains the corresponding relationship between the liquid viscosity value and the reference swing difference value. The swing database is a manually set database and will not be elaborated here.

[0149] When the liquid viscosity value exceeds the reference viscosity value, it is necessary to first match the reference swing difference value for subsequent steps.

[0150] Step 501: When the swing difference value is inconsistent with the reference swing difference value, obtain the detection ball position information of the detection ball.

[0151] The detection ball position information refers to the position of the detection ball with an abnormal swing amplitude value. The detection ball position information is obtained through a GPS positioning chip set on the detection ball. When the amplitude difference value is inconsistent with the reference swing difference value, it indicates that there is an abnormality in the area where the detection ball is located, and it is necessary to obtain the detection ball position information of the detection ball for subsequent steps.

[0152] Step 502: Match the abnormal detection ball number from the preset number database according to the detection ball position information.

[0153] The abnormal detection ball number refers to the number of the detection ball set in the area with an abnormality. The abnormal detection ball number corresponding to the detection ball position information can be matched through the number database, which contains the corresponding relationship between the detection ball position information and the abnormal detection ball number. The number database is a manually set database and will not be elaborated here.

[0154] Step 503: Determine the amplitude abnormal area according to the abnormal detection ball number.

[0155] The amplitude anomaly area refers to the area where the detection ball with an abnormal swing amplitude value is located. Through a preset anomaly database, the amplitude anomaly area corresponding to the abnormal detection ball number can be matched, which contains the corresponding relationship between the abnormal detection ball number and the amplitude anomaly area. The anomaly database is a manually set database and will not be elaborated here.

[0156] Example: If the abnormal detection ball number is A, the corresponding amplitude anomaly area is area a. If the abnormal detection ball number is B, the corresponding amplitude anomaly area is area b.

[0157] Step 504: Based on the amplitude anomaly area, control the repair device to perform area repair by the repair method.

[0158] Control the repair device to perform area repair on the amplitude anomaly area by the repair method.

[0159] Refer to Figure 6 , and it also includes the steps after matching the abnormal detection ball number from the preset number database according to the detection ball position information:

[0160] Step 600: Match the installation duration from the preset time database according to the abnormal detection ball number.

[0161] The installation duration refers to the duration when the detection ball is installed into the pipeline. Through the time database, the installation duration corresponding to the abnormal detection ball number can be matched, which contains the corresponding relationship between the abnormal detection ball number and the installation duration. The time database is a manually set database and will not be elaborated here.

[0162] Step 601: Determine the dirt adhesion degree according to the installation duration.

[0163] The dirt adhesion degree refers to the degree of dirt adhesion on the outer surface of the detection ball due to the liquid in the pipeline. Through a preset dirt database, the dirt adhesion degree corresponding to the installation duration can be matched, which contains the corresponding relationship between the installation duration and the dirt adhesion degree. The dirt database is a manually set database and will not be elaborated here.

[0164] Step 602: Determine the influence weight value according to the dirt adhesion degree and the preset dirt weight value.

[0165] The dirt weight value refers to the weight value of dirt per unit volume. The dirt weight value is set in advance by those skilled in the art and will not be elaborated here. The influence weight value refers to the value of the excess or deviation of the weight of the detection ball compared to its initial standard weight or the weight range during normal operation due to the dirt adhering to the detection ball. By calculating the product of the dirt adhesion degree and the dirt weight value, the influence weight value can be obtained.

[0166] Step 603: Determine the actual weight value based on the influencing weight value and the preset reference weight value.

[0167] The reference weight value refers to the weight of the detection ball itself. The reference weight value is set in advance by those skilled in the art and will not be elaborated here. The actual weight value refers to the weight of the detection ball with dirt attached at present. The actual weight value can be obtained by calculating the sum of the influencing weight value and the reference weight value.

[0168] Step 604: Correct the reference swing interval from the preset swing database according to the actual weight value, and define the corrected reference swing interval as the swing difference interval.

[0169] Correcting the reference swing interval means that when there is a difference in the weight of the detection ball, there will be a difference in the swing amplitude value, and thus the reference swing interval needs to be corrected. The swing difference interval is the corrected reference swing interval. The reference swing interval corresponding to the actual weight value can be corrected through the swing database, which contains the corresponding relationship between the actual weight value and the corrected reference swing interval. The swing database is a manually set database and will not be elaborated here.

[0170] Step 605: When the amplitude difference value does not fall within the swing difference interval, determine the amplitude anomaly area according to the abnormal detection ball number.

[0171] The amplitude anomaly area refers to the area where the detection ball with an abnormal swing amplitude value is located. The amplitude anomaly area corresponding to the abnormal detection ball number can be matched through the anomaly database, which contains the corresponding relationship between the abnormal detection ball number and the amplitude anomaly area. When the amplitude difference value does not fall within the swing difference interval, it indicates that there is an anomaly in the area where the detection ball is located, and the amplitude anomaly area needs to be matched for subsequent steps.

[0172] Step 606: Based on the amplitude anomaly area, control the repair device to perform area repair by the repair method.

[0173] Control the repair device to perform area repair on the amplitude anomaly area by the repair method.

[0174] Refer to Figure 7 , the flushing method includes the following steps:

[0175] Step 700: When the internal light transmission value is lower than the preset reference light transmission value, obtain the pipeline material information of the coupler.

[0176] The pipeline material information refers to the specific material used for the pipeline on the coupler. The pipeline material information can be obtained by scanning the barcode on the coupler with a preset barcode scanner. The content obtained after the barcode scanner scans the barcode corresponds to the pipeline material information.

[0177] When the internal light transmittance value is lower than the reference light transmittance value, it is necessary to obtain the pipeline material information of the coupler for subsequent steps.

[0178] Step 701: Determine the flushing liquid according to the pipeline material information.

[0179] The flushing liquid refers to the liquid used for flushing the pipeline. Through a preset flushing database, the flushing liquid corresponding to the pipeline material information can be matched. It contains the corresponding relationship between the pipeline material information and the flushing liquid. The flushing database is a manually set database and will not be elaborated here.

[0180] Step 702: Match the flushing intensity value and the reference flushing duration from the preset flushing database according to the internal light transmittance value.

[0181] The flushing intensity value refers to the intensity value required for flushing the pipeline. The reference flushing duration refers to the duration required for flushing the pipeline. Through the flushing database, the flushing intensity value and the reference flushing duration corresponding to the internal light transmittance value can be matched. It contains the corresponding relationship between the internal light transmittance value, the flushing intensity value, and the reference flushing duration.

[0182] Step 703: Based on the flushing liquid, control the preset flushing device to flush the pipeline with the flushing intensity value. When flushing, obtain the flushing duration and control the detection ball to perform self-cleaning with a preset self-cleaning method.

[0183] The flushing device refers to the device used for flushing the inside of the pipeline. The flushing duration refers to the duration for the flushing device to flush the inside of the pipeline. The flushing duration is obtained through an electronic timer. When the flushing device starts flushing, the electronic timer starts timing. The self-cleaning method refers to the method for the detection ball to perform self-cleaning on the dirt attached to its outer surface. The specific self-cleaning method will be described in detail in subsequent steps 800 to 804 and will not be elaborated here.

[0184] Control the flushing device to deliver the flushing liquid to the inside of the pipeline with the flushing intensity value to flush the pipeline. And when flushing, obtain the flushing duration and control the detection ball to perform self-cleaning with the self-cleaning method.

[0185] Step 704: When the flushing duration is consistent with the reference flushing duration, control the flushing device to stop flushing and control the preset drying device to dry the pipeline.

[0186] The drying device refers to the device used for drying the flushed pipeline. When the flushing duration is consistent with the reference flushing duration, it indicates that the flushing is completed. Control the flushing device to stop flushing and, after stopping flushing, control the drying device to dry the pipeline for subsequent steps.

[0187] Step 705: After the pipeline drying is completed, control a preset replenishing device to perform liquid replenishment.

[0188] The replenishing device refers to a device used to replenish liquid to the dried pipeline. After the pipeline drying is completed, control the replenishing device to replenish liquid into the pipeline.

[0189] Refer to Figure 8 , the self-cleaning method includes the following steps:

[0190] Step 800: When the flushing device flushes the pipeline, obtain the weight distribution information of the detection ball.

[0191] The weight distribution information refers to the distribution status of the weight of the detection ball at its various parts or different positions. The weight distribution information is measured by a pressure sensor. In this embodiment, a plurality of pressure sensors are evenly covered on the detection ball, and by integrating the pressures obtained by all the pressure sensors, the weight distribution information can be obtained.

[0192] Step 801: Determine the dirt distribution situation according to the weight distribution information.

[0193] The dirt distribution situation refers to the distribution status of the dirt attached to various parts of the detection ball. Through a preset distribution database, the dirt distribution situation corresponding to the weight distribution information can be matched, which contains the corresponding relationship between the weight distribution information and the dirt distribution situation. The distribution database is a manually set database and will not be elaborated here.

[0194] Step 802: Determine the rotary cleaning parameters according to the dirt distribution situation and the preset flushing direction.

[0195] The flushing direction refers to the direction when the flushing device flushes the pipeline. The flushing direction is set in advance by those skilled in the art and will not be elaborated here. The rotary cleaning parameter refers to the angle value of the detection ball rotating with the change of the flushing duration when it is being flushed. To better remove the dirt on the detection ball, it is necessary to first make the dirt evenly distributed on the detection ball. Therefore, the detection ball needs to be tangent to the flushing direction at all times, and thus the detection ball needs to be rotated by a certain angle. Through the flushing database, the rotary cleaning parameters corresponding to the dirt distribution situation and the flushing direction can be matched, which contains the corresponding relationship between the dirt distribution situation, the flushing direction, and the rotary cleaning parameters.

[0196] Step 803: Control the detection ball to perform rotary cleaning based on the rotary cleaning parameters and update the weight distribution information.

[0197] Control the detection ball to rotate and clean according to the rotary cleaning parameters, and obtain the weight distribution information again to update the weight distribution information for subsequent steps.

[0198] Step 804: When the updated weight distribution information is consistent with the preset uniform distribution information, determine the rotation speed based on the updated weight distribution information, the detected ball position information, and the flushing intensity value, and control the detected ball to rotate based on the rotation speed.

[0199] The uniform distribution information refers to the state when the weights on all parts of the detected ball are consistent. The uniform distribution information is preset by those skilled in the art and will not be elaborated here. The rotation speed refers to the speed at which the detected ball rotates around its own axis to achieve a better descaling effect. Through the preset rotation database, the rotation speed corresponding to the updated weight distribution information, the detected ball position information, and the flushing intensity value can be matched, which includes the corresponding relationship between the updated weight distribution information, the detected ball position information, the flushing intensity value, and the rotation speed. The rotation database is a database set by humans and will not be elaborated here.

[0200] When the updated weight distribution information is consistent with the uniform distribution information, it indicates that the weights on all parts of the detected ball are consistent at this time. It is necessary to first match the rotation speed and then control the detected ball to rotate at the rotation speed to achieve a better descaling effect and thus complete the descaling.

[0201] Based on the same inventive concept, an embodiment of the present invention provides a coupler hydraulic control system, including:

[0202] An acquisition module, configured to acquire the internal pressure value, the pressure change duration, the closing pressure value, the opening and closing detection duration, the area image information, the illumination duration, the contraction image information, the lighting image information, the swing amplitude value, the detected ball position information, the pipeline material information, the flushing duration, and the weight distribution information;

[0203] A memory, configured to store a program of a coupler hydraulic control method;

[0204] A processor, configured to load and execute the program stored in the memory.

[0205] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory for a coupler hydraulic control method.

[0206] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0207] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. A hydraulic control method for a coupler, characterized in that, Including: Obtain the internal pressure value of the coupler; When the internal pressure value is lower than the preset reference pressure value, calculate the difference between the internal pressure value and the reference pressure value as the pressure difference value; When the pressure difference value exceeds the preset reference difference value, obtain the pressure change duration; Match the pressure anomaly cause from the preset pressure database according to the pressure change duration; When the pressure anomaly cause is the preset liquid leakage anomaly, perform leak detection with the preset leak detection method to obtain the leakage area; Based on the leakage area, control the preset repair device to repair the leak with the preset repair method.

2. The hydraulic control method of a coupler according to claim 1, characterized in that, The leak detection method includes: When the pressure anomaly cause is the preset liquid leakage anomaly, control the preset opening and closing valve to perform sequential opening and closing in the preset valve opening and closing sequence, and obtain the closing pressure value during the closing of the opening and closing valve; When the closing pressure value is inconsistent with the internal pressure value, obtain the opening and closing detection duration; Determine the abnormal valve number according to the opening and closing detection duration, the valve opening and closing sequence, and the preset reference detection duration; Match the abnormal valve position from the preset number database according to the abnormal valve number; Determine the leakage area according to the abnormal valve position; Based on the leakage area, control the repair device to repair the leak with the repair method.

3. The hydraulic control method of a coupler according to claim 2, wherein The repair method includes: Obtain the area image information of the leakage area; Determine the leakage position and position size according to the area image information, the preset leakage characteristics, and the reference object; Match the amount of repair material used and the shape of the repair material from the preset repair database according to the position size; Control the preset trimming device to correct the shape of the preset repair material according to the shape of the repair material; After the trimming is completed, control the repair device to block the repair material with the amount of repair material to the leakage position. When the blocking is completed, control the preset lighting device to illuminate the leakage position with the preset lighting intensity value, and obtain the lighting duration; Determine the reference lighting duration according to the amount of repair material used, the shape of the repair material, and the lighting intensity value; When the lighting duration is consistent with the reference lighting duration, control the lighting device to stop lighting to complete the leak repair.

4. A hydraulic control method for a coupler according to claim 1, characterized in that, It also includes a pressure anomaly detection method: When the pressure anomaly cause is not the preset liquid leakage anomaly, control the coupler to suspend operation, and after the preset suspension duration, obtain the swing amplitude value of the detection ball preset inside the coupler; When the swing amplitude value does not fall within the preset reference swing range, calculate the difference between the swing amplitude value and the minimum value of the reference swing range as the swing difference value; Match the liquid viscosity value from the preset viscosity database according to the swing difference value; When the liquid viscosity value exceeds the preset reference viscosity value, report a liquid viscosity prompt.

5. A hydraulic control method for a coupler according to claim 4, characterized in that, It also includes a leakage verification method: When the liquid viscosity value exceeds the preset reference viscosity value, determine the reference swing difference value according to the liquid viscosity value; When the swing difference value is inconsistent with the reference swing difference value, obtain the detection ball position information of the detection ball; Match the abnormal detection ball number from the preset number database according to the detection ball position information; Determine the amplitude anomaly area according to the abnormal detection ball number; Controlling a repair device to perform area repair based on an amplitude anomaly area using a repair method.

6. A hydraulic control method for a coupler according to claim 5, characterized in that It further includes steps after matching the abnormal detection ball number from a preset number database according to the detection ball position information: Matching the installation duration from a preset time database according to the abnormal detection ball number; Determining the dirt adhesion degree based on the installation duration; Determining the influence weight value based on the dirt adhesion degree and a preset dirt weight value; Determining the actual weight value based on the influence weight value and a preset reference weight value; Correcting the reference swing range from a preset swing database according to the actual weight value, and defining the corrected reference swing range as the swing difference range; When the amplitude difference value does not fall within the swing difference range, determining the amplitude anomaly area according to the abnormal detection ball number; Controlling a repair device to perform area repair based on the amplitude anomaly area using a repair method.

7. A hydraulic control method for a coupler according to claim 6, characterized in that It further includes a flushing method: When the internal light transmission value is lower than a preset reference light transmission value, obtaining the pipeline material information of the coupler; Determining the flushing liquid according to the pipeline material information; Matching the flushing intensity value and the reference flushing duration from a preset flushing database according to the internal light transmission value; Controlling a preset flushing device to perform pipeline flushing with the flushing intensity value based on the flushing liquid. When flushing, obtaining the flushing duration, and controlling the detection ball to perform self-cleaning using a preset self-cleaning method; When the flushing duration is consistent with the reference flushing duration, controlling the flushing device to stop flushing, and controlling a preset drying device to perform pipeline drying; After completing pipeline drying, controlling a preset replenishing device to perform liquid replenishment.

8. A hydraulic control method for a coupler according to claim 7, characterized in that, The self-cleaning method includes: When the flushing device is performing pipeline flushing, obtaining the weight distribution information of the detection ball; Determining the dirt distribution according to the weight distribution information; Determining the rotary cleaning parameters according to the dirt distribution and a preset flushing direction; Controlling the detection ball to perform rotary cleaning based on the rotary cleaning parameters, and updating the weight distribution information; When the updated weight distribution information is consistent with the preset uniform distribution information, determining the rotation speed according to the updated weight distribution information, the detection ball position information, and the flushing intensity value, and controlling the detection ball to rotate based on the rotation speed.

9. A coupler hydraulic control system, characterized in that, It includes: An acquisition module for acquiring the internal pressure value, pressure change duration, closing pressure value, opening and closing detection duration, area image information, illumination duration, swing amplitude value, detection ball position information, pipeline material information, flushing duration, and weight distribution information; A memory for storing the program of a hydraulic control method for a coupler as described in any one of claims 1 to 8; A processor for loading and executing the program stored in the memory.

10. An intelligent terminal, characterized in that, It includes a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, which is a hydraulic control method for a coupler as described in any one of claims 1 to 8.

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