Multi-vehicle multi-water-pump dynamic coordination control method, system and device and storage medium

Abstract

The invention discloses a multi-vehicle and multi-water-pump dynamic coordination control method, system and device and a storage medium, and belongs to the technical field of drainage emergency rescuing. The method comprises the steps that when it is detected that the distance between a target and a first drainage emergency vehicle is larger than the maximum drainage distance of a single pump or the lift of one drainage emergency vehicle is smaller than a preset value, the first drainage emergency vehicle is started; a plurality of water pumps on a plurality of drainage emergency vehicles are started; controlling the power of each drainage emergency vehicle and the control parameters of each water pump in a relay mode, and in the process, in response to the fact that any one relay drainage emergency vehicle fails, performing power adjustment on each relay drainage emergency vehicle; the total drainage distance of all the started drainage emergency vehicles is larger than or equal to the distance between the target drainage emergency vehicle and the first drainage emergency vehicle, and the total lift of all the started drainage emergency vehicles is larger than a preset value. According to the invention, the drainage distance and the lift are greatly improved by distributing sounds in different states and self-adaptive power, and the cooperation efficiency is high.

Description

Technical Field

[0001] The present invention relates to a method, system, device and storage medium for dynamic coordinated control of multiple vehicles and multiple water pumps, and belongs to the technical field of drainage emergency. Background Art

[0002] Existing drainage rescue vehicles generally have the following technical bottlenecks when performing drainage rescue:

[0003] Physical limitations of a single pump: A single pump is limited by its head (typically ≤10m) and hose length (≤100m), making it incapable of meeting long-distance drainage needs. For example, the 4000 high-flow emergency drainage vehicle, while capable of discharging 6,000m³ / h, relies on multiple pumps connected in parallel, limiting the reach of its hoses. Furthermore, while multiple vehicles working together can extend the reach of their hoses, the lack of effective coordinated management between the vehicles results in low pump efficiency and unsatisfactory remote drainage results.

[0004] Moreover, when multiple drainage rescue vehicles work together, it is difficult to adjust the coordination strategy according to the actual situation, such as whether only one drainage rescue vehicle is needed to complete the specific drainage work, or whether multiple drainage rescue vehicles are required to work together regardless of the specific scenario. The current coordination strategy lacks the necessary coordination flexibility.

[0005] Based on the above analysis, how to ensure that multiple drainage rescue vehicles can adaptively adjust their control strategies according to actual working scenarios is a technical problem that urgently needs to be solved in this field.

[0006] It should be noted that the above information disclosed in this background technology section is only used to understand the background technology of the present invention concept, and therefore, the above description is not considered to constitute information of related technology. Summary of the Invention

[0007] The purpose of the present invention is to provide a method, system, device and storage medium for dynamic coordinated control of multiple vehicles and multiple water pumps to solve the problem of low efficiency of multi-vehicle cooperation in the prior art.

[0008] To achieve the above objectives, the present invention is implemented by adopting the following technical solutions:

[0009] In a first aspect, the present invention provides a multi-vehicle multi-water pump dynamic coordinated control method, comprising:

[0010] In response to detecting that the distance between the target and the first drainage rescue vehicle is less than or equal to the maximum drainage distance of a single pump, and the lift of the drainage rescue vehicle is greater than a preset value, starting multiple water pumps on the first drainage rescue vehicle; and / or,

[0011] In response to detecting that the distance between the target and the first drainage rescue vehicle is greater than the maximum drainage distance of a single pump, or detecting that the lift of a drainage rescue vehicle is less than a preset value, starting multiple water pumps on multiple drainage rescue vehicles;

[0012] The power of each drainage rescue vehicle and the control parameters of each water pump are controlled in a relay mode. During this process, in response to detecting a fault in any of the relay drainage rescue vehicles, the power of each relay drainage rescue vehicle is adjusted so that the total drainage distance of all the activated drainage rescue vehicles is greater than or equal to the distance between the target and the first drainage rescue vehicle, and the total lift of all the activated drainage rescue vehicles is greater than a preset value.

[0013] Furthermore, the maximum drainage distance of a single pump is calculated by the following formula:

[0014] ;

[0015] ;

[0016] ;

[0017] in, Indicates the maximum drainage distance of a single pump. Indicates the lift of a drainage rescue vehicle. represents the density of water, represents the acceleration due to gravity, represents the resistance loss along the way, Indicates a preset constant, Indicates the diameter of the drainage pipe in the drainage rescue vehicle. Indicates the water flow rate in the drainage rescue vehicle, Indicates the water flow in the first drainage rescue vehicle, Represents pi.

[0018] Furthermore, the control of the power of each drainage rescue vehicle and the control parameters of each water pump in the relay mode includes calculating the power of the drainage rescue vehicle by the following formula:

[0019] ;

[0020] in, Indicates the The power of a drainage rescue vehicle, represents the density of water, represents the acceleration due to gravity, Indicates the water flow in the first drainage rescue vehicle, Before The total lift of the drainage rescue vehicle, Before The total lift of the drainage rescue vehicle, represents the mechanical efficiency coefficient;

[0021] The power of the drainage rescue vehicle is controlled with the calculated power as the target.

[0022] Furthermore, the control of the power of each drainage rescue vehicle and the control parameters of each water pump in the relay mode includes calculating the speed of the water pump by the following formula:

[0023] ;

[0024] in, represents the target power of the water pump, Indicates the rated power of the pump. Indicates the speed of the water pump after adjustment. Indicates the speed of the pump corresponding to the rated power;

[0025] Calculated As the goal, the speed of the water pump is controlled.

[0026] Furthermore, after controlling the power of each drainage rescue vehicle and the control parameters of each water pump in the relay mode, if the water flow of the second drainage rescue vehicle and the water flow of the first drainage rescue vehicle If the absolute value of the difference is less than or equal to the preset water flow rate, the current power operation is maintained.

[0027] Furthermore, the fault includes hardware fault, communication fault and power loss fault;

[0028] The hardware failures include mechanical jamming of the water pump and burning of the inverter due to overload;

[0029] The communication failure includes a wireless module packet loss rate greater than 30%;

[0030] The power loss fault includes power loss of the generator set in the drainage rescue vehicle.

[0031] Furthermore, the power adjustment of each drainage rescue vehicle of the relay includes:

[0032] like Among the drainage rescue vehicles If a drainage rescue vehicle breaks down, the power of the relay drainage rescue vehicles shall be adjusted so that the drainage rescue vehicles that have not broken down meet the following conditions:

[0033] ;

[0034] in, Indicates the The maximum lift of a drainage rescue vehicle that has not experienced any failure, It represents the total required head;

[0035] When adjusting the power, the power of the drainage rescue vehicle without any fault is calculated using the following formula:

[0036] ;

[0037] in, represents the density of water, represents the acceleration due to gravity, Indicates the water flow in the first drainage rescue vehicle, Indicates the The lift of a drainage rescue vehicle that has no faults, Represents the mechanical efficiency coefficient.

[0038] In a second aspect, the present invention provides a multi-vehicle multi-water pump dynamic coordinated control system, comprising:

[0039] The single-vehicle mode control module is configured to: in response to detecting that the distance between the target and the first drainage rescue vehicle is less than or equal to the maximum drainage distance of a single pump, and the lift of the drainage rescue vehicle is greater than a preset value, start the multiple water pumps on the first drainage rescue vehicle;

[0040] The relay mode starting module is configured to: in response to detecting that the distance between the target and the first drainage rescue vehicle is greater than the maximum drainage distance of a single pump, or detecting that the head of a drainage rescue vehicle is less than a preset value, start multiple water pumps on multiple drainage rescue vehicles;

[0041] The dynamic coordination control module is configured to: control the power of each drainage rescue vehicle and the control parameters of each water pump in a relay mode. During this process, in response to detecting a failure in any of the relay drainage rescue vehicles, the power of each relay drainage rescue vehicle is adjusted so that the total drainage distance of all the activated drainage rescue vehicles is greater than or equal to the distance between the target and the first drainage rescue vehicle, and the total lift of all the activated drainage rescue vehicles is greater than a preset value.

[0042] In a third aspect, the present invention provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the multi-vehicle and multi-water pump dynamic coordinated control method described in any one of the first aspects are implemented.

[0043] In a fourth aspect, the present invention further provides a multi-vehicle multi-water pump dynamic coordinated control device, comprising:

[0044] The central controller is electrically connected to the control modules of each drainage rescue vehicle;

[0045] a readable storage medium, electrically connected to the central controller;

[0046] In which, the central controller is configured to execute the steps of the multi-vehicle and multi-water pump dynamic coordination control method as described in the first aspect stored in the readable storage medium, and send the corresponding instructions of the single-vehicle mode and relay mode obtained after execution to the control modules of each drainage rescue vehicle.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The multi-vehicle and multi-water pump dynamic coordinated control method, device, storage medium and equipment provided by the present invention respond to the different states of the multi-vehicle and multi-water pumps and achieve a significant increase in drainage distance and head quickly and efficiently through adaptive power distribution. In this process, the collaborative efficiency is high and the energy utilization efficiency is optimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a flow chart of a multi-vehicle multi-water pump dynamic coordinated control method provided by some embodiments;

[0050] Figure 2 is a schematic diagram of a multi-vehicle relay drainage operation provided by some embodiments;

[0051] Figure 3 is a power allocation flow chart provided by some embodiments;

[0052] Figure 4 is a flow chart of power adjustment when a drainage rescue vehicle fails, provided by some embodiments;

[0053] Figure 5 This is a principle block diagram of a multi-vehicle multi-water pump dynamic coordinated control device provided by some embodiments;

[0054] Figure 6 It is a block diagram of the implementation principle of the multi-vehicle multi-water pump dynamic coordinated control method provided in some embodiments. DETAILED DESCRIPTION

[0055] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0056] Research has found that when multiple drainage rescue vehicles work together, it is difficult to adjust the coordination strategy according to actual conditions, such as whether only one drainage rescue vehicle is needed to complete the specific drainage work, or whether multiple drainage rescue vehicles are required to work together regardless of the specific scenario. The current coordination strategy lacks the necessary coordination flexibility.

[0057] Therefore, how to ensure that multiple drainage rescue vehicles can adaptively adjust their control strategies according to actual working scenarios is a technical problem that urgently needs to be solved in this field.

[0058] The defects in the above solutions and the causes of their occurrence are the results obtained by the inventors after practice and careful research. Therefore, the process of discovering the above problems and the solutions proposed by the present disclosure in this article should be the contributions made by the inventors to the present disclosure during the disclosure process.

[0059] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0060] like Figure 1 As shown, at least one embodiment provides a method for dynamic coordinated control of multiple vehicles and multiple water pumps, which specifically includes at least one of the following implementation methods.

[0061] When executing the single-vehicle mode, in response to detecting that the distance between the target and the first drainage rescue vehicle is less than or equal to the maximum drainage distance of a single pump, and the lift of the drainage rescue vehicle is greater than a preset value, starting multiple water pumps on the first drainage rescue vehicle;

[0062] When executing the relay mode, in response to detecting that the distance between the target and the first drainage rescue vehicle is greater than the maximum drainage distance of a single pump, or detecting that the head of a drainage rescue vehicle is less than a preset value, multiple water pumps on multiple drainage rescue vehicles are started; the power of each drainage rescue vehicle and the control parameters of each water pump are controlled in the relay mode. During this process, in response to detecting a failure of any relay drainage rescue vehicle, the power of each relay drainage rescue vehicle is adjusted so that the total drainage distance of all started drainage rescue vehicles is greater than or equal to the distance between the target and the first drainage rescue vehicle, and the total head of all started drainage rescue vehicles is greater than the preset value.

[0063] In some embodiments, the above modes can be controlled by the control modules in each drainage rescue vehicle, or one of the control modules can be set as the main control module to execute and dispatch the above control instructions.

[0064] In other embodiments, an independent multi-vehicle multi-water pump dynamic coordination control device can also be used, which is electrically connected to each control module through a central controller, and the corresponding instructions of the single-vehicle mode and relay mode obtained after execution are sent to each control module.

[0065] Furthermore, in some embodiments, the preset value may be set to 10 meters.

[0066] The present invention responds to the different states of multiple vehicles and multiple water pumps and achieves a significant increase in drainage distance and lift quickly and efficiently through adaptive power distribution. In this process, the collaborative efficiency is high and the energy utilization efficiency is optimized.

[0067] At least one embodiment also provides a method for dynamic coordinated control of multiple vehicles and multiple water pumps, the specific implementation of which is based on the following system: a vehicle group consisting of at least two drainage rescue vehicles (set to N vehicles in this embodiment). Each drainage rescue vehicle includes: multiple water pumps, an on-board generator set (200kW level, supporting parallel power supply of multiple pumps), a sensor module (flow, pressure and speed monitoring) and a wireless communication module (supporting TDMA protocol, delay ≤ 200ms). In this embodiment, the water pump is specifically a submersible electric pump (single pump flow 500-1000m³ / h, head 10m, IP68 protection level). Figure 2 As shown, the first vehicle pumps water from the flooded area A, and then drains the water to the drainage area B through each relay vehicle in turn.

[0068] At least one embodiment further provides a multi-vehicle multi-water pump dynamic coordinated control method, the specific implementation of which includes:

[0069] Step 1: Parameter collection.

[0070] like Figure 3 As shown, after the water pump is started, the water flow in the first drainage rescue vehicle is obtained in real time through the water pump speed and flow measurement module The inverter synchronously collects the lift of a drainage rescue vehicle and the power of a drainage rescue vehicle .

[0071] Step 2: Determine relay requirements.

[0072] First calculate the maximum drainage distance of a single pump using the following formula:

[0073] ;

[0074] ;

[0075] ;

[0076] in, Indicates the maximum drainage distance of a single pump. Indicates the lift of a drainage rescue vehicle. represents the density of water, represents the acceleration due to gravity, represents the resistance loss along the way, Indicates a preset constant, Indicates the diameter of the drainage pipe in the drainage rescue vehicle. Indicates the water flow rate in the drainage rescue vehicle, Indicates the water flow in the first drainage rescue vehicle, Represents pi.

[0077] like Figure 3 As shown, when the transmission distance (the distance between the target and the first drainage rescue vehicle) is less than or equal to the maximum drainage distance of a single pump, and the lift of a drainage rescue vehicle is greater than 10m, there is no need for a relay drainage rescue vehicle, and only the first drainage rescue vehicle needs to be started to meet the drainage needs; when the transmission distance (the distance between the target and the first drainage rescue vehicle) is greater than the maximum drainage distance of a single pump, or the lift of a drainage rescue vehicle is less than 10m, the relay drainage rescue vehicle and the water pump on it need to be started.

[0078] Step 3: Dynamic power allocation.

[0079] like Figure 3 As shown, the power of each drainage rescue vehicle and the control parameters of each water pump are controlled in a relay mode, specifically, by the following method:

[0080] The power of the drainage rescue vehicle is calculated using the following formula:

[0081] ;

[0082] in, Indicates the The power of a drainage rescue vehicle, represents the density of water, represents the acceleration due to gravity, Indicates the water flow in the first drainage rescue vehicle, Before The total lift of the drainage rescue vehicle, Before The total lift of the drainage rescue vehicle, represents the mechanical efficiency coefficient, which is generally between 0.8 and 0.9, and is 0.85 in this embodiment;

[0083] The power of the drainage rescue vehicle is controlled with the calculated power as the target.

[0084] Calculate the pump speed using the following formula:

[0085] ;

[0086] in, represents the target power of the water pump, Indicates the rated power of the pump. Indicates the speed of the water pump after adjustment. Indicates the speed of the pump corresponding to the rated power;

[0087] Calculated For the purpose, the speed of the water pump is controlled by the frequency converter to match the flow of the preceding vehicle and avoid the water hammer effect.

[0088] like Figure 3 As shown, after the power distribution is completed, the water flow of the second drainage rescue vehicle is determined and the water flow of the first drainage rescue vehicle If the absolute value of the difference is less than or equal to 5%* , the system is stable and maintains the current power operation.

[0089] Step 4: Power distribution after a fault occurs in the pipeline.

[0090] like Figure 4 As shown in the figure, if the drainage rescue vehicle in the pipeline has the following faults:

[0091] Hardware failure: water pump mechanically stuck, inverter overloaded and burned;

[0092] Communication failure: wireless module packet loss rate > 30% (triggering redundancy switching);

[0093] Power loss due to various reasons within the generator set.

[0094] If any of the above faults occur, the total drainage capacity requirement cannot be met. The controller will find out which pipeline or which pump or pumps in which pipelines have failed, trigger the fault power adjustment mode, and adjust the power of each drainage rescue vehicle as follows:

[0095] like Among the drainage rescue vehicles If a drainage rescue vehicle breaks down, the power of the relay drainage rescue vehicles shall be adjusted so that the drainage rescue vehicles that have not broken down meet the following conditions:

[0096] ;

[0097] in, Indicates the The maximum lift of a drainage rescue vehicle that has not experienced any failure, It represents the total required head;

[0098] When adjusting the power, the power of the drainage rescue vehicle without any fault is calculated using the following formula:

[0099] ;

[0100] in, represents the density of water, represents the acceleration due to gravity, Indicates the water flow in the first drainage rescue vehicle, Indicates the The lift of a drainage rescue vehicle that has no faults, Represents the mechanical efficiency coefficient.

[0101] In this embodiment, the control method is implemented through a coordinated control mechanism. The coordinated control mechanism includes a central controller that dynamically adjusts the parameters of each vehicle's water pump based on real-time data (flow, head, power), and supports the following modes: Cascade boosting mode: multiple vehicles are connected in series to increase the total head (such as the first vehicle =10m, relay car =15m, total lift reaches 25m); Redundant fault-tolerant mode: when a car fails, the remaining car groups automatically take over the load.

[0102] like Figure 4 As shown, after the power distribution is completed again when a fault occurs, the water flow of the second drainage rescue vehicle is determined. and the water flow of the first drainage rescue vehicle If the absolute value of the difference is less than or equal to 5%* , the system is stable and maintains the current power operation.

[0103] In some embodiments, the above modes can be controlled by the control modules in each drainage rescue vehicle, or one of the control modules can be set as the main control module to execute and dispatch the above control instructions.

[0104] In other embodiments, an independent multi-vehicle multi-water pump dynamic coordination control device can also be used, which is electrically connected to each control module through a central controller, and the corresponding instructions of the single-vehicle mode and relay mode obtained after execution are sent to each control module.

[0105] In some embodiments, the preset value may be set to 10 meters.

[0106] Based on technical concepts similar to those of the above embodiments, this embodiment provides a method for dynamic coordinated control of multiple vehicles and multiple water pumps. Its specific application scenario is urban flooding. The specific implementation includes the following steps:

[0107] Step 1: The first vehicle is deployed in the flooded area A and measured after starting. =600m³ / h, =10m, take parameters f=0.02, D=0.3m, calculate L1:

[0108] .

[0109] Step 2: The target drainage distance (the distance between the target and the first drainage rescue vehicle) is 300 meters, and the total lift is 25 meters. The relay mode is triggered, and the second drainage rescue vehicle is awakened through the controller multimodal communication.

[0110] Step 3: Calculate the power required by the relay drainage rescue vehicle.

[0111] P2=1000·9.81·0.167·(25-10) / 0.85≈28.7kW.

[0112] If the water pump used =22kW rated power corresponding to speed ,but ; then output =28kW (η=0.85), adjust the water pump speed to 3200r / min.

[0113] Step 4: The two vehicles are connected in series through a water hose, with a total drainage distance of more than 300m and a head added to 25m to meet the drainage requirements.

[0114] Based on technical concepts similar to those of the above embodiments, this embodiment provides a multi-vehicle multi-pump dynamic coordinated control method, which is specifically applied in a fault recovery scenario. The specific implementation includes the following steps:

[0115] If the required drainage volume is 1200 m³ / h, and only two vehicles are delivering power when the drainage chain is operating normally, and the relay vehicle's water pump fails, the system enters fault power adjustment mode, automatically distributing power to the remaining vehicles and switching the remaining vehicles in the pipeline into the drainage chain to maintain a total drainage volume of ≥1200 m³ / h. If the drainage volume required at the beginning of drainage requires all emergency drainage vehicles in the drainage chain to operate, then when fault power adjustment is entered, the system will use an algorithm to block the fault point and increase the power and speed of the remaining working equipment to meet the demand.

[0116] The initial system configuration is: 3 drainage rescue vehicles (vehicle A, vehicle B, vehicle C), each drainage rescue vehicle is equipped with 2 water pumps (single pump parameters: water flow rate is 600m 3 / h, power is 22kW, head is 10m).

[0117] During normal operation, Car A and Car B start one water pump each, with a total flow rate of 1200m 3 / h, the lift is superimposed in series to 25m (car A provides 10m, car B provides 15m).

[0118] Assume that vehicle B fails and vehicle C takes over its lifting task. The system redistributes power and speed:

[0119] The remaining train sets are: train A (providing 10m lift) and train C (requiring an additional 15m lift).

[0120] Total head requirement: H total =25m.

[0121] Step 1: Calculate the power required by vehicle C

[0122] Car C needs to provide lift =15m, power calculation formula:

[0123] ;

[0124] (Single pump flow).

[0125] Step 2: Adjust the water pump speed of vehicle C.

[0126] According to the pump similarity law, power is proportional to the cube of speed. Rated parameters: Indicates the rated power of the water pump, which is 22kW in this embodiment. It represents the rotation speed of the water pump corresponding to the rated power, which is 2900 r / min in this embodiment.

[0127] The required speed is calculated using the following formula:

[0128] .

[0129] Step 3: Verify water displacement

[0130] Car A and car C each run one water pump, total flow:

[0131] =600×2=1200m 3 / h (meet the needs).

[0132] Based on technical concepts similar to those of the above embodiments, this embodiment provides a multi-vehicle multi-water pump dynamic coordinated control system, including:

[0133] The single-vehicle mode control module is configured to: in response to detecting that the distance between the target and the first drainage rescue vehicle is less than or equal to the maximum drainage distance of a single pump, and the lift of the drainage rescue vehicle is greater than a preset value, start the multiple water pumps on the first drainage rescue vehicle;

[0134] The relay mode starting module is configured to: in response to detecting that the distance between the target and the first drainage rescue vehicle is greater than the maximum drainage distance of a single pump, or detecting that the head of a drainage rescue vehicle is less than a preset value, start multiple water pumps on multiple drainage rescue vehicles;

[0135] The dynamic coordination control module is configured to: control the power of each drainage rescue vehicle and the control parameters of each water pump in a relay mode. During this process, in response to detecting a failure in any of the relay drainage rescue vehicles, the power of each relay drainage rescue vehicle is adjusted so that the total drainage distance of all the activated drainage rescue vehicles is greater than or equal to the distance between the target and the first drainage rescue vehicle, and the total lift of all the activated drainage rescue vehicles is greater than a preset value.

[0136] Based on technical concepts similar to those of the above embodiments, this embodiment provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the multi-vehicle multi-water pump dynamic coordinated control method provided in the above embodiments are implemented:

[0137] In response to detecting that the distance between the target and the first drainage rescue vehicle is less than or equal to the maximum drainage distance of a single pump, and the lift of the drainage rescue vehicle is greater than a preset value, starting multiple water pumps on the first drainage rescue vehicle;

[0138] In response to detecting that the distance between the target and the first drainage rescue vehicle is greater than the maximum drainage distance of a single pump, or detecting that the lift of a drainage rescue vehicle is less than a preset value, starting multiple water pumps on multiple drainage rescue vehicles;

[0139] The power of each drainage rescue vehicle and the control parameters of each water pump are controlled in a relay mode. During this process, in response to detecting a failure in any of the relay drainage rescue vehicles, the power of each relay drainage rescue vehicle is adjusted so that the total drainage distance of all activated drainage rescue vehicles is greater than or equal to the distance between the target and the first drainage rescue vehicle, and the total lift of all activated drainage rescue vehicles is greater than a preset value. Figure 5 Based on a technical concept similar to the above embodiment, this embodiment provides a multi-vehicle multi-water pump dynamic coordination control device, including:

[0140] The central controller is electrically connected to the control modules of each drainage rescue vehicle; the communication method between the central controller and each control module can adopt existing technologies, such as CAN bus, RS485 and other communication bus methods.

[0141] a readable storage medium electrically connected to the central controller;

[0142] Among them, the central controller is configured to execute the steps of the multi-vehicle and multi-water pump dynamic coordination control method provided in the above embodiment stored in the readable storage medium, and send the corresponding instructions of the single-vehicle mode and relay mode obtained after execution to the control module of each drainage rescue vehicle.

[0143] In some embodiments, the multi-vehicle multi-water pump dynamic coordinated control device can be implemented using industrial computers, computer devices and other equipment.

[0144] See also Figure 6 In some embodiments, the above mode can be controlled by the control modules in each drainage rescue vehicle, or one of the control modules can be set as the main control module to execute and dispatch the above control instructions, thereby realizing a dynamic coordinated control method of multiple vehicles and multiple water pumps.

[0145] In summary, the multi-vehicle multi-water pump dynamic coordinated control method, system, device and storage medium provided by the present invention effectively realizes that when multiple drainage rescue vehicles work together, the coordination strategy is adjusted according to the actual situation, and a drainage rescue vehicle can be adaptively selected according to the scene requirements to complete the specific drainage work, and the coordination of multiple drainage rescue vehicles is considered according to the specific scene, especially when one of the drainage rescue vehicles fails, the power adjustment can be completed, thereby improving the overall flexibility of multi-vehicle coordination, and can be arbitrarily combined to meet the drainage needs of multiple working conditions. It should be understood by those skilled in the art that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0146] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0147] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0148] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0149] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-vehicle multi-pump dynamic coordinated control method, characterized in that: include: In response to detecting that the distance between the target and the first drainage rescue vehicle is less than or equal to the maximum drainage distance of a single pump, and the lift of the drainage rescue vehicle is greater than a preset value, starting multiple water pumps on the first drainage rescue vehicle; and / or, In response to detecting that the distance between the target and the first drainage rescue vehicle is greater than the maximum drainage distance of a single pump, or detecting that the lift of a drainage rescue vehicle is less than a preset value, starting multiple water pumps on multiple drainage rescue vehicles; The power of each drainage rescue vehicle and the control parameters of each water pump are controlled in a relay mode. During this process, in response to detecting a fault in any of the relay drainage rescue vehicles, the power of each relay drainage rescue vehicle is adjusted so that the total drainage distance of all the activated drainage rescue vehicles is greater than or equal to the distance between the target and the first drainage rescue vehicle, and the total lift of all the activated drainage rescue vehicles is greater than a preset value.

2. The multi-vehicle multi-water pump dynamic coordinated control method according to claim 1, characterized in that: The maximum drainage distance of a single pump is calculated using the following formula: ； ； ； in, Indicates the maximum drainage distance of a single pump. Indicates the lift of a drainage rescue vehicle. represents the density of water, represents the acceleration due to gravity, represents the resistance loss along the way, Indicates a preset constant, Indicates the diameter of the drainage pipe in the drainage rescue vehicle. Indicates the water flow rate in the drainage rescue vehicle, Indicates the water flow in the first drainage rescue vehicle, Represents pi.

3. The multi-vehicle multi-water pump dynamic coordinated control method according to claim 1, characterized in that: The power of each drainage rescue vehicle and the control parameters of each water pump are controlled in a relay mode, including calculating the power of the drainage rescue vehicle by the following formula: ； in, Indicates the The power of a drainage rescue vehicle, represents the density of water, represents the acceleration due to gravity, Indicates the water flow in the first drainage rescue vehicle, Before The total lift of the drainage rescue vehicle, Before The total lift of the drainage rescue vehicle, represents the mechanical efficiency coefficient; The power of the drainage rescue vehicle is controlled with the calculated power as the target.

4. The multi-vehicle multi-water pump dynamic coordinated control method according to claim 1, characterized in that: The relay mode is used to control the power of each drainage rescue vehicle and the control parameters of each water pump, including calculating the speed of the water pump using the following formula: ； in, represents the target power of the water pump, Indicates the rated power of the pump. Indicates the speed of the water pump after adjustment. Indicates the speed of the pump corresponding to the rated power; Calculated As the goal, the speed of the water pump is controlled.

5. The multi-vehicle multi-water pump dynamic coordinated control method according to claim 1, characterized in that: The power adjustment of each drainage rescue vehicle of the relay includes: like Among the drainage rescue vehicles If a drainage rescue vehicle breaks down, the power of the relay drainage rescue vehicles shall be adjusted so that the drainage rescue vehicles that have not broken down meet the following conditions: ； in, Indicates the The maximum lift of a drainage rescue vehicle that has not experienced any failure, It represents the total required head; When adjusting the power, the power of the drainage rescue vehicle without any fault is calculated using the following formula: ； in, represents the density of water, represents the acceleration due to gravity, Indicates the water flow in the first drainage rescue vehicle, Indicates the The lift of a drainage rescue vehicle that has no faults, Represents the mechanical efficiency coefficient.

6. The multi-vehicle multi-water pump dynamic coordinated control method according to claim 1, characterized in that: After the power of each drainage rescue vehicle and the control parameters of each water pump are controlled in the relay mode, if the water flow Q2 of the second drainage rescue vehicle is equal to the water flow of the first drainage rescue vehicle, If the absolute value of the difference is less than or equal to the preset water flow rate, the current power operation is maintained.

7. The multi-vehicle multi-water pump dynamic coordinated control method according to claim 1, characterized in that: The failures include hardware failures, communication failures and power loss failures; The hardware failures include mechanical jamming of the water pump and burning of the inverter due to overload; The communication failure includes a wireless module packet loss rate greater than 30%; The power loss fault includes power loss of the generator set in the drainage rescue vehicle.

8. A multi-vehicle multi-pump dynamic coordination control system, characterized in that: include: The single-vehicle mode control module is configured to: in response to detecting that the distance between the target and the first drainage rescue vehicle is less than or equal to the maximum drainage distance of a single pump, and the lift of the drainage rescue vehicle is greater than a preset value, start the multiple water pumps on the first drainage rescue vehicle; The relay mode starting module is configured to: in response to detecting that the distance between the target and the first drainage rescue vehicle is greater than the maximum drainage distance of a single pump, or detecting that the head of a drainage rescue vehicle is less than a preset value, start multiple water pumps on multiple drainage rescue vehicles; The dynamic coordination control module is configured to: control the power of each drainage rescue vehicle and the control parameters of each water pump in a relay mode. During this process, in response to detecting a failure in any of the relay drainage rescue vehicles, the power of each relay drainage rescue vehicle is adjusted so that the total drainage distance of all the activated drainage rescue vehicles is greater than or equal to the distance between the target and the first drainage rescue vehicle, and the total lift of all the activated drainage rescue vehicles is greater than a preset value.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the multi-vehicle multi-water pump dynamic coordinated control method according to any one of claims 1 to 7 are implemented.

10. A multi-vehicle multi-pump dynamic coordination control device, characterized in that: include: The central controller is electrically connected to the control modules of each drainage rescue vehicle; a readable storage medium, electrically connected to the central controller; In which, the central controller is configured to execute the steps of the multi-vehicle and multi-water pump dynamic coordinated control method as described in any one of claims 1 to 7 stored in the readable storage medium, and send the corresponding instructions of the single-vehicle mode and relay mode obtained after the execution to the control module of each drainage rescue vehicle.

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