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

Abstract

The application discloses a multi-vehicle multi-water-pump dynamic coordination control method, system and device and a storage medium, belongs to the technical field of drainage rescue, and comprises the following steps: in response to detecting that the distance between a target and a first drainage rescue vehicle is greater than the maximum drainage distance of a single pump or detecting that the lift of one drainage rescue vehicle is less than a preset value, starting multiple water pumps on multiple drainage rescue vehicles; controlling the power of each drainage rescue vehicle and the control parameters of each water pump in a relay mode; in the process, in response to detecting that any one of the relayed drainage rescue vehicles fails, adjusting the power of each relayed drainage rescue vehicle, so that the total drainage distance of all the started 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 started drainage rescue vehicles is greater than the preset value. The application realizes a substantial increase in the drainage distance and the lift through response to different states and adaptive power distribution, and has high cooperation efficiency.

Description

Technical Field

[0001] This invention relates to a method, system, device, and storage medium for dynamic coordinated control of multiple vehicles and multiple water pumps, belonging to the field of drainage and emergency rescue technology. Background Technology

[0002] Existing drainage and emergency rescue vehicles generally face the following technical bottlenecks when conducting drainage and emergency rescue operations:

[0003] Physical limitations of a single pump: A single water pump is limited by its head (usually ≤10m) and hose length (≤100m), making it unable to meet the needs of long-distance drainage. For example, although the 4000-type high-flow-rate drainage emergency vehicle has a total drainage capacity of 6000m³ / h, the hose extension distance is still limited due to the parallel operation of multiple pumps on a single vehicle. Furthermore, while the hose extension distance can be increased when multiple vehicles cooperate, the lack of effective coordination and management among the vehicles results in low pump efficiency and unsatisfactory long-distance drainage performance in practice.

[0004] Furthermore, when multiple drainage and emergency rescue vehicles work together, it is difficult to adjust the coordination strategy according to the actual situation. For example, is it possible to determine whether only one drainage and emergency rescue vehicle is needed to complete the specific drainage work, or whether multiple drainage and emergency rescue vehicles need 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 and emergency rescue vehicles can adaptively adjust their control strategies according to the actual working scenario is a technical problem that urgently needs to be solved in this field.

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

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

[0008] To achieve the above objectives, the present invention employs the following technical solution:

[0009] In a first aspect, the present invention provides a dynamic coordinated control method for multiple vehicles and multiple water pumps, comprising:

[0010] In response to the detection that the distance between the target and the first drainage emergency vehicle is less than or equal to the maximum drainage distance of a single pump, and that the head of a drainage emergency vehicle is greater than a preset value, multiple pumps on the first drainage emergency vehicle are activated; and / or,

[0011] In response to the detection that the distance between the target and the first drainage emergency vehicle is greater than the maximum drainage distance of a single pump, or the detection that the head of a drainage emergency vehicle is less than a preset value, multiple water pumps on multiple drainage emergency vehicles are activated.

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

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

[0014] ;

[0015] ;

[0016] ;

[0017] in, Indicates the maximum drainage distance of a single pump. This indicates the head of a drainage and emergency rescue vehicle. This indicates the density of water. Represents gravitational acceleration. Indicates the friction loss along the friction path. This represents a preset constant. This indicates the diameter of the drainage pipes in the drainage emergency vehicle. This indicates the water flow velocity in the drainage and emergency rescue vehicle. This indicates the water flow rate in the first drainage and emergency rescue vehicle. It represents pi (π).

[0018] Furthermore, the relay-mode control of the power of each drainage emergency vehicle and the control parameters of each water pump includes calculating the power of the drainage emergency vehicle using the following formula:

[0019] ;

[0020] in, Indicates the first The power of a drainage and emergency rescue vehicle This indicates the density of water. Represents gravitational acceleration. This indicates the water flow rate in the first drainage and emergency rescue vehicle. Indicates the preceding The total head of the drainage and emergency rescue vehicles Indicates the preceding The total head of the drainage and emergency rescue vehicles Indicates the mechanical efficiency coefficient;

[0021] The power of the drainage and emergency rescue vehicle is controlled based on the calculated power.

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

[0023] ;

[0024] in, Indicates the target power of the water pump. This indicates the rated power of the water pump. This indicates the adjusted pump speed. This indicates the pump speed corresponding to its rated power;

[0025] Calculated To achieve this, the pump speed is controlled.

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

[0027] Furthermore, the faults include hardware faults, communication faults, and power loss faults;

[0028] The hardware failures include mechanical jamming of the water pump and overload burnout of the frequency converter.

[0029] The communication failures include wireless module packet loss rates exceeding 30%;

[0030] The power loss faults include power loss in the generator set of the drainage and emergency rescue vehicle.

[0031] Furthermore, the power of each drainage and emergency rescue vehicle in the docking operation is adjusted, including:

[0032] like There are drainage and rescue vehicles If one of the drainage and emergency rescue vehicles malfunctions, the power of the other drainage and emergency rescue vehicles will be adjusted to ensure that the other vehicles that are not malfunctioning meet the following conditions:

[0033] ;

[0034] in, Indicates the first The maximum head of a drainage emergency vehicle that has not experienced any malfunctions. Indicates total demand head;

[0035] When adjusting power, the power of a drainage emergency vehicle that has not experienced a malfunction is calculated using the following formula:

[0036] ;

[0037] in, This indicates the density of water. Represents gravitational acceleration. This indicates the water flow rate in the first drainage and emergency rescue vehicle. Indicates the first The head of the drainage and emergency rescue vehicles that did not malfunction. This represents the mechanical efficiency coefficient.

[0038] Secondly, the present invention provides a dynamic coordination control system for multiple vehicles and multiple water pumps, 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 emergency vehicle is less than or equal to the maximum drainage distance of a single pump, and that the head of a drainage emergency vehicle is greater than a preset value, start multiple water pumps on the first drainage emergency vehicle.

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

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

[0042] Thirdly, the present invention provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the steps of the multi-vehicle multi-pump dynamic coordination control method described in any one of the first aspects.

[0043] Fourthly, the present invention also provides a dynamic coordination control device for multiple vehicles and multiple water pumps, comprising:

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

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

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

[0047] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0048] The present invention provides a dynamic coordination control method, device, storage medium and equipment for multiple vehicles and multiple water pumps. By responding to different states of multiple vehicles and multiple water pumps and through adaptive power allocation, it can quickly and efficiently achieve a significant increase in drainage distance and head. In this process, the coordination efficiency is high and the energy utilization efficiency is optimized. Attached Figure Description

[0049] Figure 1 This is a flowchart of a dynamic coordination control method for multiple vehicles and multiple water pumps provided in some embodiments;

[0050] Figure 2 These are schematic diagrams of multi-vehicle relay drainage operations provided in some embodiments;

[0051] Figure 3 These are power allocation flowcharts provided in some embodiments;

[0052] Figure 4 These are flowcharts illustrating the power adjustment process when a drainage emergency vehicle malfunctions, provided in some embodiments.

[0053] Figure 5 These are schematic diagrams of the dynamic coordination control device for multiple vehicles and multiple water pumps provided in some embodiments;

[0054] Figure 6 This is a block diagram illustrating the implementation principle of a dynamic coordination control method for multiple vehicles and multiple water pumps provided in some embodiments. Detailed Implementation

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

[0056] Research has found that when multiple drainage and emergency rescue vehicles work together, it is difficult to adjust the coordination strategy according to the actual situation. For example, is it possible to determine whether only one drainage and emergency rescue vehicle is needed to complete the specific drainage work, or whether multiple drainage and emergency rescue vehicles need 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 and emergency rescue vehicles can adaptively adjust their control strategies according to the actual working scenario is a technical problem that urgently needs to be solved in this field.

[0058] The defects in the above solutions and the reasons for their occurrence are the results of the inventors' practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure should be considered as the inventors' contributions to this disclosure.

[0059] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

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

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

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

[0063] In some embodiments, the above mode can be controlled by the control module in each drainage and emergency rescue vehicle, or one of the control modules can be set as the master control module to execute and schedule the above control commands.

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

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

[0066] This invention responds to different states of multiple vehicles and multiple water pumps and achieves a significant increase in drainage distance and head through adaptive power allocation, while maintaining high collaboration efficiency and optimizing energy utilization efficiency.

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

[0068] At least one embodiment also provides a dynamic coordinated control method for multiple vehicles and multiple water pumps, the specific implementation of which includes:

[0069] Step 1: Parameter Acquisition.

[0070] like Figure 3 As shown, after the water pump starts, the water flow rate in the first drainage emergency vehicle is obtained in real time through the water pump speed and flow rate measurement module. The frequency converter synchronously collects the head of a drainage emergency vehicle. The power of a drainage and emergency rescue vehicle .

[0071] Step 2: Determine the 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. This indicates the head of a drainage and emergency rescue vehicle. This indicates the density of water. Represents gravitational acceleration. Indicates the friction loss along the friction path. This represents a preset constant. This indicates the diameter of the drainage pipes in the drainage emergency vehicle. This indicates the water flow velocity in the drainage and emergency rescue vehicle. This indicates the water flow rate in the first drainage and emergency rescue vehicle. It represents pi (π).

[0077] like Figure 3 As shown, when the transmission distance (the distance between the target and the first drainage emergency vehicle) is less than or equal to the maximum drainage distance of a single pump, and the head of a drainage emergency vehicle is greater than 10m, no relay drainage emergency vehicle is needed; only the first drainage emergency vehicle needs to be started to complete the drainage requirement. When the transmission distance (the distance between the target and the first drainage emergency vehicle) is greater than the maximum drainage distance of a single pump, or the head of a drainage emergency vehicle is less than 10m, a relay drainage emergency vehicle and its pump need to be started.

[0078] Step 3: Dynamic power allocation.

[0079] like Figure 3 As shown, the power of each drainage emergency vehicle and the control parameters of each water pump are controlled in relay mode. Specifically, this is done through the following method:

[0080] The power of the drainage emergency vehicle can be calculated using the following formula:

[0081] ;

[0082] in, Indicates the first The power of a drainage and emergency rescue vehicle This indicates the density of water. Represents gravitational acceleration. This indicates the water flow rate in the first drainage and emergency rescue vehicle. Indicates the preceding The total head of the drainage and emergency rescue vehicles Indicates the preceding The total head of the drainage and emergency rescue vehicles This represents the mechanical efficiency coefficient, which is generally taken as 0.8 to 0.9, and is taken as 0.85 in this embodiment;

[0083] The power of the drainage and emergency rescue vehicle is controlled based on the calculated power.

[0084] The pump speed can be calculated using the following formula:

[0085] ;

[0086] in, Indicates the target power of the water pump. This indicates the rated power of the water pump. This indicates the adjusted pump speed. This indicates the pump speed corresponding to its rated power;

[0087] Calculated To achieve this, the speed of the water pump is controlled by a frequency converter to match the flow rate of the preceding vehicle and avoid water hammer effect.

[0088] like Figure 3 As shown, after the power distribution is completed, the water flow rate of the second drainage and rescue vehicle is determined. The water flow rate of the first drainage and rescue vehicle The absolute value of the difference, if the absolute value is less than or equal to 5%* If the system remains stable, it will maintain its current power output.

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

[0090] like Figure 4 As shown, if the relay drainage emergency vehicle in the pipeline experiences any of the following malfunctions:

[0091] Hardware failure: water pump mechanically jammed, frequency converter overloaded and burned out;

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

[0093] Power loss caused by 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 identify which pipeline or which pump in which pipeline has failed, triggering the fault power adjustment mode to adjust the power of each drainage emergency vehicle in response, as follows:

[0095] like There are drainage and emergency rescue vehicles If one of the drainage and emergency rescue vehicles malfunctions, the power of the other drainage and emergency rescue vehicles will be adjusted to ensure that the other vehicles that are not malfunctioning meet the following conditions:

[0096] ;

[0097] in, Indicates the first The maximum head of a drainage emergency vehicle that has not experienced any malfunctions. Indicates total demand head;

[0098] When adjusting power, the power of a drainage emergency vehicle that has not experienced a malfunction is calculated using the following formula:

[0099] ;

[0100] in, This indicates the density of water. Represents gravitational acceleration. This indicates the water flow rate in the first drainage and emergency rescue vehicle. Indicates the first The head of the drainage and emergency rescue vehicles that did not malfunction. This represents the mechanical efficiency coefficient.

[0101] In this embodiment, the control method is implemented through a coordinated control mechanism. This mechanism includes a central controller dynamically adjusting the parameters of each pump based on real-time data (flow rate, head, power), supporting the following modes: Cascade boosting mode: multiple pumps are connected in series to increase the total head (e.g., the first pump). =10m, relay car =15m, total head up to 25m); Redundancy fault-tolerant mode: when a car fails, the remaining cars automatically take over the load.

[0102] like Figure 4 As shown, after the power redistribution is completed following the fault, the water flow rate of the second drainage and rescue vehicle is determined. The water flow rate of the first drainage and rescue vehicle The absolute value of the difference, if the absolute value is less than or equal to 5%* If the system remains stable, it will maintain its current power output.

[0103] In some embodiments, the above mode can be controlled by the control module in each drainage and emergency rescue vehicle, or one of the control modules can be set as the master control module to execute and schedule the above control commands.

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

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

[0106] Based on a similar technical concept to the above embodiments, this embodiment provides a dynamic coordinated control method for multiple vehicles and multiple water pumps, specifically applied in urban flooding scenarios. The method includes the following steps:

[0107] Step 1: The first vehicle is deployed in the flooded area A. After starting, the following measurements are taken. =600 m³ / 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 emergency vehicle) is 300m, and the total head is 25m. The relay mode is triggered, and the second drainage emergency vehicle is woken up through the controller's multimodal communication.

[0110] Step 3: Calculate the power required by the relay drainage and emergency 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 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 with water hoses, with a total drainage distance of over 300m and a combined head of 25m to meet the drainage requirements.

[0114] Based on a similar technical concept to the above embodiments, this embodiment provides a dynamic coordinated control method for multiple vehicles and multiple water pumps, specifically applied in a fault recovery scenario. The method includes the following steps:

[0115] If the drainage demand is 1200 m³ / h, and only two vehicles are outputting power when the drainage link is operating normally, the system enters fault power adjustment mode when the relay vehicle's water pump fails. This automatically allocates power to the remaining vehicles, connecting them to the drainage link to maintain a total drainage capacity ≥ 1200 m³ / h. If the initial drainage demand requires all drainage emergency vehicles in the drainage link to operate, then during fault power adjustment, the system will use an algorithm to disable the faulty point and increase the power and speed of the remaining functional equipment to meet the demand.

[0116] The initial system configuration is as follows: 3 drainage and emergency rescue vehicles (vehicle A, vehicle B, and vehicle C), each equipped with 2 water pumps (single pump parameters: water flow rate of 600m³ / h). 3 / h, with a power of 22kW and a head of 10m).

[0117] During normal operation, one water pump is started in both vehicle A and vehicle B, with a total flow rate of 1200 m³ / h. 3 / h, the head is superimposed in series to reach 25m (10m provided by vehicle A and 15m provided by vehicle B).

[0118] Assuming vehicle B experiences a complete failure, vehicle C must take over its lifting task, and the system will redistribute power and speed:

[0119] Remaining car sets: Car A (provides 10m head), Car C (requires an additional 15m head).

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

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

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

[0123] ;

[0124] (Single pump flow rate).

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

[0126] According to the pump similarity law, power is directly proportional to the cube of the rotational speed. Rated parameters: This indicates the rated power of the water pump; in this embodiment, it is taken as 22kW. This indicates the pump speed corresponding to the rated power; in this embodiment, it is taken as 2900 r / min.

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

[0128] .

[0129] Step 3: Verify drainage volume

[0130] Car A and Car C each operate one water pump, with a total flow rate of:

[0131] =600×2=1200m 3 / h (meets requirements).

[0132] Based on a similar technical concept to the above embodiments, this embodiment provides a multi-vehicle, multi-water pump dynamic coordination 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 emergency vehicle is less than or equal to the maximum drainage distance of a single pump, and that the head of a drainage emergency vehicle is greater than a preset value, start multiple water pumps on the first drainage emergency vehicle.

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

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

[0136] Based on a similar technical concept to the above embodiments, this embodiment provides a computer-readable storage medium storing a computer program / instructions thereon. When the computer program / instructions are executed by a processor, they implement the steps of the multi-vehicle, multi-pump dynamic coordinated control method provided in the above embodiments:

[0137] In response to the detection that the distance between the target and the first drainage emergency vehicle is less than or equal to the maximum drainage distance of a single pump, and the head of a drainage emergency vehicle is greater than a preset value, multiple water pumps on the first drainage emergency vehicle are activated.

[0138] In response to the detection that the distance between the target and the first drainage emergency vehicle is greater than the maximum drainage distance of a single pump, or the detection that the head of a drainage emergency vehicle is less than a preset value, multiple water pumps on multiple drainage emergency vehicles are activated.

[0139] The power of each drainage emergency vehicle and the control parameters of each water pump are controlled in relay mode. During this process, in response to the detection of a malfunction in any of the relay drainage emergency vehicles, the power of each relay vehicle is adjusted to ensure that the total drainage distance of all activated drainage emergency vehicles is greater than or equal to the distance between the target and the first drainage emergency vehicle, and that the total head of all activated drainage emergency vehicles is greater than a preset value. See also Figure 5 Based on a similar technical concept to the above embodiments, this embodiment provides a dynamic coordination control device for multiple vehicles and multiple water pumps, including:

[0140] The central controller is electrically connected to the control modules of each drainage and emergency 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] The central controller is configured to execute the steps of the multi-vehicle multi-pump dynamic coordination control method provided in the above embodiments, which are stored in a readable storage medium, and to send the corresponding instructions obtained after execution in single-vehicle mode and relay mode to the control modules of each drainage and emergency rescue vehicle.

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

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

[0145] In summary, the multi-vehicle, multi-pump dynamic coordination control method, system, device, and storage medium provided by this invention effectively realizes the adjustment of coordination strategies according to actual conditions when multiple drainage and emergency response vehicles work together. It can adaptively select one drainage and emergency response vehicle to complete the specific drainage work based on the needs of the scenario. Furthermore, it considers the coordinated operation of multiple drainage and emergency response vehicles according to specific scenarios, especially when one of the vehicles malfunctions, it can adjust the power, improving the overall flexibility of multi-vehicle coordination and allowing for arbitrary combinations to meet the drainage needs of various working conditions. Those skilled in the art will understand that embodiments of this invention can be provided as methods, systems, or computer program products. Therefore, this invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, this 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0147] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0148] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0149] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A dynamic coordinated control method for multiple vehicles and multiple water pumps, characterized in that, include: In response to the detection that the distance between the target and the first drainage emergency vehicle is less than or equal to the maximum drainage distance of a single pump, and the head of a drainage emergency vehicle is greater than a preset value, multiple water pumps on the first drainage emergency vehicle are activated. In response to the detection that the distance between the target and the first drainage emergency vehicle is greater than the maximum drainage distance of a single pump, or the detection that the head of a drainage emergency vehicle is less than a preset value, multiple water pumps on multiple drainage emergency vehicles are activated. The power of each drainage emergency vehicle and the control parameters of each water pump are controlled in relay mode. During this process, in response to the detection of a fault in any of the relay drainage emergency vehicles, the power of each relay drainage emergency vehicle is adjusted so that the total drainage distance of all activated drainage emergency vehicles is greater than or equal to the distance between the target and the first drainage emergency vehicle, and the total head of all activated drainage emergency vehicles is greater than the preset value. The relay-mode control of the power of each drainage emergency vehicle and the control parameters of each water pump includes calculating the power of the drainage emergency vehicle using the following formula: ； in, Indicates the first The power of a drainage and emergency rescue vehicle This indicates the density of water. Represents gravitational acceleration. This indicates the water flow rate in the first drainage and emergency rescue vehicle. Indicates the preceding The total head of the drainage and emergency rescue vehicles Indicates the preceding The total head of the drainage and emergency rescue vehicles Indicates the mechanical efficiency coefficient; The power of the drainage and emergency rescue vehicle is controlled based on the calculated power.

2. The dynamic coordinated control method for multiple vehicles and multiple water pumps 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. This indicates the head of a drainage and emergency rescue vehicle. This indicates the density of water. Represents gravitational acceleration. Indicates the friction loss along the friction path. This represents a preset constant. This indicates the diameter of the drainage pipes in the drainage emergency vehicle. This indicates the water flow velocity in the drainage and emergency rescue vehicle. This indicates the water flow rate in the first drainage and emergency rescue vehicle. It represents pi (π).

3. The dynamic coordinated control method for multiple vehicles and multiple water pumps according to claim 1, characterized in that, The relay-mode control of the power of each drainage emergency vehicle and the control parameters of each water pump includes calculating the pump speed using the following formula: ； in, Indicates the target power of the water pump. This indicates the rated power of the water pump. This indicates the adjusted pump speed. This indicates the pump speed corresponding to its rated power; Calculated To achieve this, the speed of the water pump is controlled.

4. The dynamic coordinated control method for multiple vehicles and multiple water pumps according to claim 1, characterized in that, The aforementioned adjustment of the power of each drainage and emergency rescue vehicle in connection with the operation includes: like There are drainage and emergency rescue vehicles If one of the drainage and emergency rescue vehicles malfunctions, the power of the other drainage and emergency rescue vehicles in operation should be adjusted to ensure that the other vehicles meet the following conditions: ； in, Indicates the first The maximum head of a drainage emergency vehicle that has not experienced any malfunctions. Indicates total demand head; When adjusting power, the power of a drainage emergency vehicle that has not experienced a malfunction is calculated using the following formula: ； in, This indicates the density of water. Represents gravitational acceleration. This indicates the water flow rate in the first drainage and emergency rescue vehicle. Indicates the first The head of the drainage and emergency rescue vehicles that did not malfunction. This represents the mechanical efficiency coefficient.

5. The dynamic coordinated control method for multiple vehicles and multiple water pumps according to claim 1, characterized in that, After controlling the power of each drainage emergency vehicle and the control parameters of each water pump in relay mode, if the absolute value of the difference between the water flow rate Q2 of the second drainage emergency vehicle and the water flow rate Q1 of the first drainage emergency vehicle is less than or equal to the preset water flow rate value, the current power operation is maintained.

6. The dynamic coordinated control method for multiple vehicles and multiple water pumps according to claim 1, characterized in that, The faults include hardware faults, communication faults, and power loss faults; The hardware failures include mechanical jamming of the water pump and overload burnout of the frequency converter. The communication failures include wireless module packet loss rates exceeding 30%; The power loss faults include power loss in the generator set of the drainage and emergency rescue vehicle.

7. A dynamic coordination control system for multiple vehicles and multiple water pumps, 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 emergency vehicle is less than or equal to the maximum drainage distance of a single pump, and that the head of a drainage emergency vehicle is greater than a preset value, start multiple water pumps on the first drainage emergency vehicle. The relay mode activation module is configured to: activate multiple water pumps on multiple drainage emergency vehicles in response to detecting that the distance between the target and the first drainage emergency vehicle is greater than the maximum drainage distance of a single pump, or detecting that the head of a drainage emergency vehicle is less than a preset value. The dynamic coordination control module is configured to control the power of each drainage emergency vehicle and the control parameters of each water pump in a relay mode. During this process, in response to the detection of a fault in any of the relay drainage emergency vehicles, the power of each relay drainage emergency vehicle is adjusted so that the total drainage distance of all activated drainage emergency vehicles is greater than or equal to the distance between the target and the first drainage emergency vehicle, and the total head of all activated drainage emergency vehicles is greater than a preset value. The relay-mode control of the power of each drainage emergency vehicle and the control parameters of each water pump includes calculating the power of the drainage emergency vehicle using the following formula: ； in, Indicates the first The power of a drainage and emergency rescue vehicle This indicates the density of water. Represents gravitational acceleration. This indicates the water flow rate in the first drainage and emergency rescue vehicle. Indicates the preceding The total head of the drainage and emergency rescue vehicles Indicates the preceding The total head of the drainage and emergency rescue vehicles Indicates the mechanical efficiency coefficient; The power of the drainage and emergency rescue vehicle is controlled based on the calculated power.

8. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the dynamic coordinated control method for multiple vehicles and multiple water pumps as described in any one of claims 1 to 6.

9. A dynamic coordination control device for multiple vehicles and multiple water pumps, characterized in that, include: The central controller is electrically connected to the control modules of each drainage and emergency rescue vehicle; A readable storage medium electrically connected to the central controller; The central controller is configured to execute the steps of the multi-vehicle multi-pump dynamic coordination control method as described in any one of claims 1 to 6, stored in a readable storage medium, and to send the corresponding instructions for single-vehicle mode and relay mode obtained after execution to the control modules of each drainage and emergency rescue vehicle.

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