Drainage equipment water pump protection method and device and storage medium

Abstract

This invention discloses a method, device, and storage medium for protecting water pumps in drainage equipment, within the field of drainage safety assurance technology. The method includes: when the optimal submersion deviation value L0 of the water pump is greater than or equal to a preset first submersion threshold, it is determined to be in deep draft mode; when the optimal submersion deviation value L0 is less than a preset second submersion threshold, it is determined to be in shallow draft mode. When determined to be in deep draft mode, the water pump position rise value is calculated based on the real-time boom posture and the initial boom posture, and the boom is controlled to rise according to the water pump position rise value. When determined to be in shallow draft mode, the water pump position fall value is calculated based on the real-time boom posture and the initial boom posture, and the boom is controlled to fall according to the water pump position fall value. This invention can solve the technical problem in the prior art where operators rely on manual observation to prevent water pump idling when operating drainage equipment, resulting in low observation efficiency and difficulty in meeting the needs of drainage work.

Description

Technical Field

[0001] This invention relates to the field of drainage safety protection technology, and in particular to a method, device and storage medium for protecting drainage equipment pumps. Background Technology

[0002] Existing drainage equipment, taking vertical drainage trucks as an example, during drainage operations, as the drainage water level drops, the area of ​​the water pump exposed above the water surface increases, which can easily cause the water pump to run dry. The existing methods to prevent the water pump from running dry mainly rely on manual observation. However, manual observation is inefficient and cannot meet the needs of drainage work.

[0003] Furthermore, since the water pump operates below the water surface, it is easily affected by water quality conditions and floating, sedimentary, and other debris in the water. Operators find it difficult to observe obstacles around the water pump, which greatly increases the difficulty of drainage operations and reduces the operating experience of the drainage truck.

[0004] Furthermore, in existing technologies, the water pump ground contact safety protection mechanism is only triggered after the pump touches the ground, thus activating the safety control function. However, ground contact can easily damage the water pump and electrical components. Before the pump touches the ground, operators can only rely on their experience and cannot directly monitor the obstacles around the underwater pump, which negatively impacts the user experience and drainage efficiency of the drainage vehicle.

[0005] Therefore, there is an urgent need for a method, device, and storage medium for protecting drainage equipment pumps to solve the above-mentioned technical problems. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, device and storage medium for protecting water pumps in drainage equipment. This invention can solve the technical problem that operators in the prior art rely on manual observation to prevent water pumps from running dry when operating drainage equipment, which results in low observation efficiency and difficulty in meeting the needs of drainage work.

[0007] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0008] In a first aspect, the present invention provides a method for protecting a drainage equipment pump, comprising:

[0009] Obtain the first minimum distance e from the ultrasonic ranging sensor on the boom along the boom's tilt direction to the water surface and the second minimum distance h from the optimal submersion line of the water pump to the bottom of the water pump. Calculate the optimal submersion deviation value L0 of the water pump based on the first minimum distance e and the second minimum distance h.

[0010] When the optimal submersion deviation value L0 of the water pump is greater than or equal to the preset first submersion threshold, it is judged as deep draft mode; when the optimal submersion deviation value L0 of the water pump is less than the preset second submersion threshold, it is judged as shallow draft mode.

[0011] When the water depth mode is determined, the pump position rise value is calculated based on the real-time boom posture and the initial boom posture, and the boom is controlled to rise according to the pump position rise value.

[0012] When the shallow draft mode is determined, the pump position drop value is calculated based on the real-time boom posture and the initial boom posture, and the boom is controlled to drop according to the pump position drop value.

[0013] One end of the boom is fixed to the drainage equipment, and the other end of the boom is connected to the water pump.

[0014] Furthermore, the expression for calculating the pump position rise based on the real-time boom attitude and the initial boom attitude includes:

[0015] ,

[0016] The expression for calculating the pump position drop based on the real-time boom attitude and the initial boom attitude includes:

[0017] ,

[0018] in, This represents the rise in the water pump's position. This represents the drop in the water pump's position. This is the initial tilt angle. This is the initial boom length. This is the value for the reduction in boom length. This is the boom length extension value. This represents the reduction in tilt angle. Increase the tilt angle by a value.

[0019] Furthermore, when the condition is determined to be a shallow draft mode, it also includes:

[0020] The distance between the water pump and the obstacle is acquired in real time. When the distance c between the water pump and the obstacle is less than or equal to L3, the moving speed v of the obstacle is calculated based on the distance c. If the moving speed v of the obstacle is less than or equal to v0, the moving speed of the boom in the direction of movement is restricted. The display of the drainage equipment shows a Level I alarm, prompting "An obstacle has been found under the water pump. Please operate with caution."

[0021] Where L3 is the preset first safe distance and v0 is the preset first safe speed.

[0022] Furthermore, when the condition is determined to be a shallow draft mode, it also includes:

[0023] The distance between the water pump and the obstacle is acquired in real time. When the distance between the water pump and the obstacle c≤L4 is detected, the boom movement in the direction of the obstacle is restricted, the water pump drainage flow is halved, and the display of the drainage equipment shows a Level II alarm, prompting "There is an obstacle in front of the water pump, forward operation is restricted".

[0024] The restriction on the boom's movement in the direction of the obstacle includes: the boom can only continue to move in the direction of the obstacle if the movement is manually controlled;

[0025] L4 is the preset second safety distance.

[0026] Furthermore, it also includes:

[0027] The distance between the water pump and the obstacle is acquired in real time. When the distance between the water pump and the obstacle is c≤L5, the boom is completely prohibited from moving in the direction of the obstacle. The display of the drainage equipment shows a Level III alarm, prompting "The distance to the obstacle in front of the water pump is too close, and forward operation is prohibited".

[0028] L5 is the preset third safety distance.

[0029] Furthermore, based on the distance c between the water pump and the obstacle, the calculation of the obstacle's moving speed v includes:

[0030] The speed of the obstacle is calculated based on the distance *c* between the pump and the obstacle per unit time. The expression includes:

[0031] ,

[0032] in, Here, d represents the preset flooding threshold, and d is the distance the water pump travels in the direction of the obstacle. Unit of time.

[0033] Further, calculating the optimal submersion deviation value L0 of the water pump based on the first minimum distance value e and the second minimum distance value h includes:

[0034] L0=beh,

[0035] Where b is the boom length value, and the boom length value b, the first minimum distance value e, and the second minimum distance value h are all distances obtained along the boom tilt angle.

[0036] In a second aspect, the present invention provides a water pump protection device for drainage equipment, comprising:

[0037] The optimal submersion deviation calculation module is used to obtain the first minimum distance e from the ultrasonic ranging sensor on the boom along the tilt direction of the boom to the water surface and the second minimum distance h from the optimal submersion line of the water pump to the bottom of the water pump, and calculate the optimal submersion deviation value L0 of the water pump based on the first minimum distance e and the second minimum distance h.

[0038] The draft depth judgment module is used to determine the deep draft mode when the optimal submersion deviation value L0 of the water pump is greater than or equal to the preset first submersion threshold, and to determine the shallow draft mode when the optimal submersion deviation value L0 of the water pump is less than the preset second submersion threshold.

[0039] The draft depth processing module is used to calculate the pump position rise value based on the real-time boom posture and the initial boom posture when the draft depth mode is determined, and control the boom to rise according to the pump position rise value.

[0040] The shallow draft handling module is used to calculate the pump position drop value based on the real-time boom posture and the initial boom posture when the shallow draft mode is determined, and control the boom to drop according to the pump position drop value.

[0041] One end of the boom is fixed to the drainage equipment, and the other end of the boom is connected to the water pump.

[0042] Thirdly, the present invention provides an electronic terminal, including a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method described in any of the preceding claims are performed.

[0043] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0044] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0045] This invention proposes a method for protecting water pumps in drainage equipment. By obtaining the optimal submersion deviation value of the water pump, and then determining the mode based on the optimal submersion deviation value, when the mode is determined to be deep draft, the control boom is raised according to the calculated water pump position rise value; when the mode is determined to be shallow draft, the control boom is lowered according to the calculated water pump position fall value. Through mode determination and processing methods for different modes, the water pump is prevented from running dry, improving work efficiency and meeting the needs of drainage work.

[0046] The system monitors the distribution of obstacles around the water pump in real time. Based on the speed of the obstacle's movement, the idling system determines the extent of damage caused by the obstacle colliding with the water pump. Then, combined with the distance of the obstacle from the direction of the water pump's movement, the system implements graded control of the boom's movements and issues alarm prompts on the display, ensuring the reliability and stability of the drainage operation. Attached Figure Description

[0047] Figure 1 This is a flowchart of a method for protecting a drainage equipment pump provided in an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the drainage equipment structure according to an embodiment of the present invention, which provides a method for protecting a drainage equipment pump.

[0049] Figure 3 This is a schematic diagram of the boom mechanism of a drainage device according to an embodiment of the present invention, which provides a method for protecting a drainage device pump.

[0050] Figure 4 This is a schematic diagram of the telescopic pipe assembly of a drainage device, which is a method for protecting a drainage device pump provided in an embodiment of the present invention.

[0051] Figure 5 This is a diagram of the anti-collision control structure of a drainage equipment pump protection device provided in an embodiment of the present invention;

[0052] Figure 6 This is a complete flow control diagram of a drainage equipment pump protection method provided in an embodiment of the present invention.

[0053] The components include: 1. Human-machine interface display; 2. Boom angle sensor; 3. Ultrasonic distance sensor; 4. Length sensor; 5. Water pump; 6. Pressure sensor; and 7. Chassis tilt sensor. Detailed Implementation

[0054] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0055] In this invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B together, or B alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0056] Example 1:

[0057] Figure 1 This is a flowchart of the drainage equipment pump protection method according to Embodiment 1 of the present invention. This flowchart only illustrates the logical sequence of the method described in this embodiment. Provided there are no conflicts, different methods may be used in other possible embodiments of the present invention. Figure 1 Complete the steps shown or described in the order indicated.

[0058] The drainage equipment pump protection method provided in this embodiment can be applied to a terminal and can be executed by a mechanical equipment fault identification device. This device can be implemented in software and / or hardware and can be integrated into the terminal, such as any smartphone, tablet, or computer device with communication capabilities. The method in this embodiment specifically includes the following steps:

[0059] Regarding all drainage devices mentioned in this application, such as Figures 2 to 4 As shown, it specifically includes:

[0060] The system includes a PLC controller (not shown in the figure), a human-machine interface display 1, a chassis tilt sensor 7, a boom angle sensor 2, a length sensor 4, a pressure sensor 6, an ultrasonic ranging sensor 3, and multiple underwater ranging sensors (not shown in the figure). The PLC controller of the drainage equipment collects distance signals from obstacles around the water pump 5 by arranging underwater ranging sensors in front, behind, to the left, to the right, and below the pump. The chassis tilt sensor 7 collects the chassis tilt angle signal, the ultrasonic ranging sensor 3 collects the distance signal from the boom tilt direction to the water surface, the boom angle sensor 2 collects the boom tilt angle signal, the length sensor 4 collects the boom length signal, and the pressure sensor 6 collects the hydraulic system pressure signal. Combined with the overall structure of the vertical drainage vehicle, the system displays the boom posture, the submerged status of the water pump, and the distribution of underwater obstacles in real time on the human-machine interface display 1.

[0061] In addition, it also includes a boom mechanism, which includes a boom assembly, a connecting rod welding assembly, a luffing boom assembly, and a turntable. It should be noted that the overall boom mechanism and connection method are existing technologies and will not be described in detail here.

[0062] In addition, it also includes a telescopic mechanism, which includes a water pump assembly, an inner pipe, an outer pipe, a hose connector and a rotary joint. It should be noted that the overall telescopic mechanism and connection method are existing technologies and will not be described in detail here. In this application, the telescopic mechanism can adjust the length of the boom and the distance between the ultrasonic ranging sensor 3 and the horizontal plane.

[0063] Step 1: Obtain the first minimum distance value e from the ultrasonic ranging sensor 3 on the boom along the boom's tilt direction to the water surface (e). Figure 2The minimum distance value e shown varies based on the extension and retraction of the telescopic mechanism, and the second minimum distance value h from the optimal submersion line of the water pump to the bottom of the water pump is used to calculate the optimal submersion deviation value L0 of the water pump based on the first minimum distance value e and the second minimum distance value h.

[0064] The optimal submersion line is the vertical height at which the pump blades are just submerged. This varies for different pumps. The expression for calculating the optimal submersion deviation value L0 of the pump includes:

[0065] L0=beh,

[0066] Wherein, b is the boom length value (which varies based on the extension and retraction of the telescopic mechanism), and the boom length value b, the first minimum distance value e, and the second minimum distance value h are all distances obtained along the boom tilt angle.

[0067] Step 2: When the optimal submersion deviation value L0 of the water pump is greater than or equal to the preset first submersion threshold, it is determined to be the deep draft mode; when the optimal submersion deviation value L0 of the water pump is less than the preset second submersion threshold, it is determined to be the shallow draft mode.

[0068] The normal deviation range is (second flooding threshold, first flooding threshold). Once the deviation exceeds this range, it will be determined whether to proceed with subsequent actions.

[0069] Step 3: When the water depth mode is determined, calculate the pump position rise value based on the real-time boom posture and the initial boom posture, and control the boom to rise according to the pump position rise value.

[0070] When the shallow draft mode is determined, the pump position drop value is calculated based on the real-time boom posture and the initial boom posture, and the boom is controlled to drop according to the pump position drop value.

[0071] One end of the boom is fixed to the drainage equipment, and the other end of the boom is connected to the water pump.

[0072] Specifically, the expression for calculating the pump position rise based on the real-time boom attitude and the initial boom attitude includes:

[0073] ,

[0074] The expression for calculating the pump position drop based on the real-time boom attitude and the initial boom attitude includes:

[0075] ,

[0076] in, This represents the rise in the water pump's position. This represents the drop in the water pump's position. This is the initial tilt angle. This is the initial boom length. This is the value for the reduction in boom length. This is the boom length extension value. This represents the reduction in tilt angle. Increase the tilt angle by a value.

[0077] In addition, when the mode is determined to be shallow draft, it also includes:

[0078] The distance between the water pump and the obstacle is acquired in real time using an underwater ranging sensor. When the distance c between the water pump and the obstacle is less than or equal to L3, the degree of damage to the water pump from the obstacle collision is assessed. Based on the distance c between the water pump and the obstacle, the moving speed v of the obstacle is calculated, including:

[0079] The speed of the obstacle is calculated based on the distance *c* between the pump and the obstacle per unit time. The expression includes:

[0080] ,

[0081] in, Here, d represents the preset flooding threshold, and d is the distance the water pump travels in the direction of the obstacle. Unit of time.

[0082] If the moving speed of the obstacle v≤v0, it is considered that the obstacle is likely to damage the water pump upon collision. The moving speed of the boom in the direction of movement is limited to slow speed (engine speed is 500rpm). The display of the drainage equipment shows a Level I alarm, prompting "An obstacle has been found under the water pump. Please operate with caution."

[0083] Where L3 is the preset first safe distance and v0 is the preset first safe speed.

[0084] In addition, when the mode is determined to be shallow draft, it also includes:

[0085] The distance between the water pump and the obstacle is acquired in real time. When the distance between the water pump and the obstacle c≤L4 is detected, the boom movement in the direction of the obstacle is restricted, the water pump drainage flow is halved, and the display of the drainage equipment shows a Level II alarm, prompting "There is an obstacle in front of the water pump, forward operation is restricted".

[0086] The restriction on the boom's movement in the direction of the obstacle includes: the boom can only continue to move in the direction of the obstacle if the movement is manually controlled;

[0087] L4 is the preset second safety distance.

[0088] In addition, it also includes:

[0089] The distance between the water pump and the obstacle is acquired in real time. When the distance between the water pump and the obstacle is c≤L5, the boom is completely prohibited from moving in the direction of the obstacle. The display of the drainage equipment shows a Level III alarm, prompting "The distance to the obstacle in front of the water pump is too close, and forward operation is prohibited".

[0090] L5 is the preset third safety distance.

[0091] Regarding L3, L4, and L5, the size relationship is L3 > L4 > L5, and there is no size relationship between them and L0, L1, and L2.

[0092] Regarding the distance between the water pump and the obstacle, it can detect the distance to the obstacle in front of, behind, to the left, to the right and below the water pump. Operation of the boom in the direction of the obstacle is prohibited. It can also detect the corresponding actions in the directions of front, behind, left and right of the water pump.

[0093] Based on the content disclosed in this embodiment, a complete protection method flowchart is provided, such as... Figure 6 As shown.

[0094] Example 2:

[0095] Embodiment 2 of the present invention provides a water pump protection device for drainage equipment, comprising:

[0096] The optimal submersion deviation calculation module is used to obtain the first minimum distance e from the ultrasonic ranging sensor on the boom along the tilt direction of the boom to the water surface and the second minimum distance h from the optimal submersion line of the water pump to the bottom of the water pump, and calculate the optimal submersion deviation value L0 of the water pump based on the first minimum distance e and the second minimum distance h.

[0097] The draft depth judgment module is used to determine the deep draft mode when the optimal submersion deviation value L0 of the water pump is greater than or equal to the preset first submersion threshold, and to determine the shallow draft mode when the optimal submersion deviation value L0 of the water pump is less than the preset second submersion threshold.

[0098] The draft depth processing module is used to calculate the pump position rise value based on the real-time boom posture and the initial boom posture when the draft depth mode is determined, and control the boom to rise according to the pump position rise value.

[0099] The shallow draft handling module is used to calculate the pump position drop value based on the real-time boom posture and the initial boom posture when the shallow draft mode is determined, and control the boom to drop according to the pump position drop value.

[0100] One end of the boom is fixed to the drainage equipment, and the other end of the boom is connected to the water pump.

[0101] like Figure 5As shown, it also includes a wireless remote control transmitter and a wireless remote control receiver for wireless communication, as well as a hydraulic valve assembly controlled by a PLC controller, all of which are existing technologies and will not be described in detail here.

[0102] The drainage equipment pump protection device provided in Embodiment 2 of the present invention can execute the drainage equipment pump protection method provided in Embodiment 1 of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0103] Example 3:

[0104] Embodiment 3 of the present invention also provides an electronic terminal, including a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and the processor is used to perform operations according to the instructions to execute the steps of the method described in Embodiment 1.

[0105] The electronic terminal provided in Embodiment 3 of the present invention can execute the drainage equipment pump protection method provided in Embodiment 1 of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0106] Example 4:

[0107] Embodiment 4 of the present invention also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the steps of the method described in Embodiment 1, and has the corresponding functional modules and beneficial effects of the method.

[0108] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0109] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of this application. 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 process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0110] 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.

[0111] 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.

[0112] 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 method for protecting a water pump in a drainage system, applied to a drainage system comprising a boom and a telescopic structure, characterized in that, Also includes: The first minimum distance e from the ultrasonic ranging sensor on the boom along the tilt direction of the boom to the water surface and the second minimum distance h from the optimal submersion line of the water pump to the bottom of the water pump are obtained. The first minimum distance e changes based on the extension and retraction of the telescopic mechanism. The optimal submersion deviation value L0 of the water pump is calculated based on the first minimum distance e and the second minimum distance h. When the optimal submersion deviation value L0 of the water pump is greater than or equal to the preset first submersion threshold, it is judged as deep draft mode; when the optimal submersion deviation value L0 of the water pump is less than the preset second submersion threshold, it is judged as shallow draft mode. When the water depth mode is determined, the pump position rise value is calculated based on the real-time boom posture and the initial boom posture, and the boom is controlled to rise according to the pump position rise value. When the shallow draft mode is determined, the pump position drop value is calculated based on the real-time boom posture and the initial boom posture, and the boom is controlled to drop according to the pump position drop value. When the system is judged to be in a shallow draft mode, it also includes: The distance between the water pump and the obstacle is acquired in real time. When the distance c between the water pump and the obstacle is less than or equal to L3, the moving speed v of the obstacle is calculated based on the distance c. If the moving speed v of the obstacle is less than or equal to v0, the moving speed of the boom in the direction of movement is restricted. The display of the drainage equipment shows a Level I alarm and prompts "An obstacle has been found under the water pump. Please operate with caution." Where L3 is the preset first safe distance and v0 is the preset first safe speed; When the mode is determined to be shallow draft, it also includes: The distance between the water pump and the obstacle is acquired in real time. When the distance between the water pump and the obstacle c≤L4 is detected, the boom movement in the direction of the obstacle is restricted, the water pump drainage flow is halved, and the display of the drainage equipment shows a Level II alarm, prompting "There is an obstacle in front of the water pump, forward operation is restricted". The restriction on the boom's movement in the direction of the obstacle includes: the boom can only continue to move in the direction of the obstacle if the movement is manually controlled; L4 is the preset second safety distance; The method also includes: The distance between the water pump and the obstacle is acquired in real time. When the distance between the water pump and the obstacle is c≤L5, the boom is completely prohibited from moving in the direction of the obstacle. The display of the drainage equipment shows a Level III alarm, prompting "The obstacle in front of the water pump is too close, and forward operation is prohibited". L5 is the preset third safety distance. The order of L3, L4, and L5 is L3 > L4 > L5. One end of the boom is fixed to the drainage equipment, and the other end of the boom is connected to the water pump.

2. The method for protecting a drainage equipment pump according to claim 1, characterized in that, The expression for calculating the pump position rise based on the real-time boom attitude and the initial boom attitude includes: ， The expression for calculating the pump position drop based on the real-time boom attitude and the initial boom attitude includes: ， in, This represents the rise in the water pump's position. This represents the drop in the water pump's position. This is the initial tilt angle. This is the initial boom length. This is the value for the reduction in boom length. This is the boom length extension value. This represents the reduction in tilt angle. Increase the tilt angle by a value.

3. The method for protecting a drainage equipment pump according to claim 1, characterized in that, Based on the distance c between the water pump and the obstacle, the moving speed v of the obstacle is calculated as follows: The speed of the obstacle is calculated based on the distance *c* between the pump and the obstacle per unit time. The expression includes: ， in, Here, d represents the preset flooding threshold, and d is the distance the water pump travels in the direction of the obstacle. Unit of time.

4. The method for protecting a drainage equipment pump according to claim 1, characterized in that, The optimal submersion deviation value L0 of the water pump is calculated based on the first minimum distance value e and the second minimum distance value h, including: L0=beh, Where b is the boom length value, which varies based on the extension and retraction of the telescopic mechanism. The boom length value b, the first minimum distance value e, and the second minimum distance value h are all distances obtained along the boom tilt angle.

5. A water pump protection device for drainage equipment, characterized in that, The method for protecting a drainage equipment pump according to any one of claims 1-4 includes: The optimal submersion deviation calculation module is used to obtain the first minimum distance e from the ultrasonic ranging sensor on the boom along the tilt direction of the boom to the water surface and the second minimum distance h from the optimal submersion line of the water pump to the bottom of the water pump, and calculate the optimal submersion deviation value L0 of the water pump based on the first minimum distance e and the second minimum distance h. The draft depth judgment module is used to determine the deep draft mode when the optimal submersion deviation value L0 of the water pump is greater than or equal to the preset first submersion threshold, and to determine the shallow draft mode when the optimal submersion deviation value L0 of the water pump is less than the preset second submersion threshold. The draft depth processing module is used to calculate the pump position rise value based on the real-time boom posture and the initial boom posture when the draft depth mode is determined, and control the boom to rise according to the pump position rise value. The shallow draft handling module is used to calculate the pump position drop value based on the real-time boom posture and the initial boom posture when the shallow draft mode is determined, and control the boom to drop according to the pump position drop value. One end of the boom is fixed to the drainage equipment, and the other end of the boom is connected to the water pump.

6. An electronic terminal, characterized in that, It includes a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, it performs the steps of the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 4.

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