Automatic fog gun control method and related equipment thereof

Abstract

The invention provides a fog gun automatic control method and related equipment thereof, and the method comprises the steps: determining a first current position of a fog gun after a starting instruction is received; based on a preset starting mode and the first current position, the fog gun is controlled to reach a first target position in the preset starting mode; according to the preset working mode, the fog gun is controlled to conduct cyclic operation at the first target position; after a stop instruction is received, the fog gun is controlled to stop the cycle operation, and a second current position of the fog gun when the cycle operation is stopped is obtained; and controlling the fog gun to move from the second current position to a second target position according to a preset homing mode. By means of the steps of the method, automatic control over full-process work such as vertical rising positioning, automatic spraying work, horizontal swing calculation and safe reset after one-key stopping of the fog gun after one-key starting is achieved, the operation steps of personnel are shortened, and the operation risk of a driver in the driving process is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent control, and in particular to a fog gun automatic control method, device, system, electronic device and storage medium thereof. BACKGROUND

[0002] As an important environmental protection equipment for urban dust control and road dust reduction, the core fog gun system of the dust suppression vehicle usually needs to complete a series of spray operation, including fan starting, water pump spraying, spray head lifting and horizontal swinging, etc. In the prior art, most of the fog gun systems rely on the driver to manually operate each function button one by one during driving, such as controlling the fog gun to lift first, and then adjusting the spray angle and range, which is difficult to realize automatic coordinated control. This operation method not only has complicated steps and low efficiency, but also may cause distraction during driving due to frequent operation during vehicle driving, which may cause potential safety hazards.

[0003] However, the existing system supports single execution of a fixed program, but cannot dynamically judge and schedule the process according to the real-time position and state of the fog gun, and lacks intelligent control ability for cyclic operation and automatic homing.

[0004] Therefore, the existing fog gun automatic control method has the problem of being unable to automatically judge, execute and complete the fog gun operation and reset process according to the current position and the preset control mode. SUMMARY

[0005] The present application provides a fog gun automatic control method to solve the problem that the existing fog gun automatic control method cannot automatically judge, execute and complete the fog gun operation and reset process according to the current position and the preset control mode.

[0006] In a first aspect, the present application provides a fog gun automatic control method, which comprises the following steps: determining a first current position of the fog gun when receiving a start instruction; controlling the fog gun to reach a first target position in a preset start mode based on the preset start mode and the first current position; controlling the fog gun to perform cyclic operation at the first target position according to a preset working mode; stopping the cyclic operation of the fog gun when receiving a stop instruction, and obtaining a second current position of the fog gun when the cyclic operation is stopped; controlling the fog gun to move from the second current position to a second target position according to a preset homing mode.

[0007] Optionally, the step of determining the first current position of the fog gun when receiving the start instruction comprises: controlling the fog gun to perform vertical descent to trigger a descent limit sensor to determine a first limit when receiving the start instruction. controlling the fog gun to perform horizontal swing to trigger the centering homing positioner to determine a second limit; determining a first current position of the fog gun based on the first limit and the second limit, the first current position being used to determine whether the fog gun is at an initial predetermined position.

[0008] Optionally, the controlling the fog gun to reach a first target position in the preset starting mode based on the preset starting mode and the first current position comprises: determining a preset working height based on the preset starting mode; controlling the fog gun to move to the first target position based on the preset working height and the first current position.

[0009] Optionally, the controlling the fog gun to perform cyclic operation at the first target position according to the preset working mode comprises: determining a left-right swing angle threshold, a fan working state and a water pump working state of the fog gun at the first target position based on the preset working mode; controlling the fog gun to perform cyclic operation according to the left-right swing angle threshold, the fan working state and the water pump working state.

[0010] Optionally, the controlling the fog gun to stop the cyclic operation and obtaining a second current position of the fog gun when the fog gun stops the cyclic operation after receiving a stop instruction comprises: controlling the water pump of the fog gun to stop working immediately after receiving a stop instruction, and reducing the fan speed to a target speed after a preset time; determining the second current position of the fog gun when the fog gun stops the cyclic operation by calculating the left-right swing angle at the stop time and the left-right swing angle threshold.

[0011] Optionally, the controlling the fog gun to move from the second current position to a second target position according to a preset homing mode comprises: controlling the fog gun to continue horizontal swing at the second current position to trigger the centering homing position sensor, and then stopping the fog gun swing operation to determine a first homing position based on the preset homing mode; controlling the fog gun to descend to trigger a descending limit sensor when the fog gun stops the swing operation, so that the fog gun is at the second target position.

[0012] In a second aspect, the present application further provides a fog gun automatic control device, which comprises: a first acquisition module configured to acquire first current position data of the fog gun after receiving a starting instruction; The first control module is configured to control the fog gun to reach first target position data in a preset starting mode based on the preset starting mode and the first current position data. The second control module is configured to control the fog gun to perform a cyclic operation at the first target position data according to a preset working mode. The second acquisition module is configured to control the fog gun to stop the cyclic operation and acquire second current position data of the fog gun when the fog gun stops the cyclic operation. The third control module is configured to control the fog gun to move from the second current position data to second target position data according to a preset homing mode.

[0013] In a third aspect, the present application provides a fog gun automatic control system, which comprises a fog gun automatic control device, a server and an intelligent fog gun device.

[0014] In a fourth aspect, the present application provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the fog gun automatic control method provided by the present application when executing the computer program.

[0015] In a fifth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the fog gun automatic control method provided by the present application when executed by a processor.

[0016] The present application determines the first current position of the fog gun when receiving a starting instruction, controls the fog gun to reach first target position data in a preset starting mode based on the preset starting mode and the first current position, controls the fog gun to perform a cyclic operation at the first target position data according to a preset working mode, controls the fog gun to stop the cyclic operation and acquires second current position data of the fog gun when receiving a stopping instruction, and controls the fog gun to move from the second current position data to second target position data according to a preset homing mode. The above method steps realize automatic control of the whole process of the fog gun, such as automatic vertical positioning after one-key starting, automatic spraying operation, horizontal swing calculation and safe resetting after one-key stopping, thereby shortening the operation steps of personnel and reducing the operation risk of the driver during driving. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0018] Figure 1 This is a system architecture diagram of an automatic control system for fog cannons provided in an embodiment of the present invention; Figure 2 This is a flowchart of an automatic control method for a fog cannon provided in an embodiment of the present invention; Figure 3 This is a one-key start control logic framework diagram provided in an embodiment of the present invention; Figure 4 This is a one-key stop control logic framework diagram provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of another automatic fog cannon control device provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] like Figure 1 As shown, Figure 1 This is an architectural diagram of an automatic fog cannon control system 100 provided in an embodiment of the present invention. The automatic fog cannon control system includes: an automatic fog cannon control device 500, a server 101, and an intelligent fog cannon 102. The automatic fog cannon control device 500 further includes: a first acquisition module, which can acquire first current position data of the fog cannon upon receiving a start command; a first control module, which can control the fog cannon to reach a first target position data under a preset start mode based on a preset start mode and the first current position data; a second control module, which can control the fog cannon to perform cyclic operation under the first target position data according to a preset working mode; a second acquisition module, which can control the fog cannon to stop the cyclic operation upon receiving a stop command and acquire second current position data of the fog cannon when the cyclic operation stops; and a third control module, which can control the fog cannon to move from the second current position data to the second target position data according to a preset return mode.

[0021] Specifically, the start instruction can be an initial control signal triggering the automatic operation process of the fog gun. Generally, the start instruction can be manually triggered by a driver through a human-machine interface, such as a touch screen, installed in the vehicle, or automatically sent by a task plan preset by the driver at a task time point. Specifically, after receiving the start instruction, the automatic control system of the fog gun starts a series of operation preparation processes, such as current position judgment, position adjustment, and operation mode matching, that is, the fog gun enters an operation state.

[0022] The first current position can refer to the spatial state data of the actual position of the fog gun obtained when the start instruction is triggered, including but not limited to vertical height and horizontal swing angle. Specifically, the spatial state data can be obtained by cooperative detection of a lowering limit sensor and a centering positioner, and is used to determine whether the fog gun is at a preset starting point. It can be understood that the first current position can be the position of the fog gun after completing the work content.

[0023] The preset start mode can be a pre-defined operation initialization configuration, that is, a set of start parameters set for different operation scenarios, including but not limited to operation height, rising speed, and spray opening condition, which are used to control the fog gun to move from the first current position to the starting point.

[0024] The first target position can be the initial position required to perform standard operation after the fog gun completes the start preparation. Generally, the automatic control system of the fog gun can control the hydraulic actuator and the swing mechanism to move the fog gun to the corresponding first target position for standard operation according to the target coordinate point composed of the operation height set by the preset start mode and the angle given by the centering positioner, and according to the deviation between the first current position and the first target position.

[0025] The preset operation mode can be a logic configuration set for controlling the fog gun to perform operation at the first target position, including but not limited to horizontal left and right swing angle, swing speed, swing period, and water pump start and stop conditions, such as start and stop time, start and stop interval, and other parameters. Generally, the preset operation mode can select different operation modes according to different task requirements, such as watering and dust reduction, and fixed-point spraying, that is, the fog gun can perform operation according to the current task requirement.

[0026] In a possible embodiment, after the fog gun reaches the first target position, the fog gun automatically controlled system controls the fog gun to perform a continuous task action process according to the logic configuration in the preset working mode, including but not limited to spray starting, left and right swinging, angle limit detection, obstacle avoidance, water tank liquid state monitoring, and fog gun state feedback, etc. Specifically, the action process can be executed in a loop until a stop instruction is received or a task preset stop time is reached, and then the loop is exited.

[0027] The stop instruction can be a control signal for interrupting the fog gun loop operation, which can be manually triggered by the driver, or automatically triggered by the fog gun automatically controlled system when monitoring that the water tank liquid level is too low, the operation time is completed, or an obstacle alarm occurs, etc. Specifically, after the fog gun automatically controlled system receives the stop instruction, the actions of stopping spraying, reducing the fan speed, ending swinging, etc. are performed in sequence, and the current position is confirmed, and the homing preparation stage is entered.

[0028] The second current position can be the spatial state data of the fog gun when it stops the corresponding operation process after receiving the stop instruction, which can be used to judge whether the current fog gun deviates from the standard reset track. Specifically, the fog gun automatically controlled system can perform comprehensive calculation on the fan state, the current angle data and the swing threshold, and combine the real-time feedback information of the sensor to obtain the reference starting point for subsequent homing processing.

[0029] The preset homing mode can be a standard process strategy for controlling the fog gun to return to the preset starting point from any position where the fog gun stops operation, including but not limited to centering control, descent speed setting, sensor triggering, etc. Specifically, the fog gun automatically controlled system selects an appropriate homing path based on the second current position, so that the fog gun safely and efficiently completes posture recovery and reset without interfering with the surrounding obstacles.

[0030] The second target position can be the final safe parking position of the fog gun after the fog gun automatically controlled system completes the homing action according to the logic of the preset homing mode, i.e. returning to the preset original starting point. Generally, the trigger point of the descent limit sensor and the trigger point of the centering homing positioner can be used to jointly confirm it. It can be understood that the default zero reference point of the fog gun automatically controlled system can be used for initial judgment before the next start, to ensure that each operation starts from a consistent and controllable state, and to improve the running stability of the fog gun automatically controlled system.

[0031] As shown in FIG. 1, Figure 2 Figure 3 is a flowchart of a fog gun automatic control method provided by an embodiment of the present application, which includes the following steps: ​201、determining a first current position of the fog gun when receiving the starting instruction.

[0032] In the embodiment of the present application, the above-mentioned automatic control method of the fog gun can be applied to an automatic control system of the fog gun, which has functions of fog gun position angle data processing, fog gun position angle data transceiving and fog gun position angle data memory storage, and can be constructed based on a server or a server cluster. The server or the server cluster can be an electronic device with fog gun position angle data processing capability.

[0033] The starting instruction can be an initial control signal for triggering the automatic operation process of the fog gun. Generally, it can be manually triggered by a driver through a human-computer interaction interface, such as a touch screen, installed in the vehicle, or automatically sent at a task time point through a task plan preset by the driver. Specifically, after receiving the starting instruction, the automatic control system of the fog gun starts a series of operation preparation processes, such as fog gun current position judgment, position adjustment and operation mode matching, that is, the fog gun enters an operation state.

[0034] The first current position can refer to the spatial state data of the actual current position of the fog gun obtained when the starting instruction is triggered, including but not limited to vertical height and horizontal swing angle. Specifically, the spatial state data can be obtained by cooperative detection of a lowering limit sensor and a centering positioning device, which is used to determine whether the fog gun is at a preset starting point. It can be understood that the first current position can be the position of the fog gun after completing the work content.

[0035] 202、based on the preset starting mode and the first current position, controlling the fog gun to reach a first target position in the preset starting mode.

[0036] In the embodiment of the present application, the above-mentioned preset starting mode can be a pre-defined operation initialization configuration content, that is, a set of starting parameters set for different operation scenarios, including but not limited to operation height, rising speed, spray opening condition and other action instructions, which are used to control the fog gun to move from the first current position to the starting point.

[0037] The first target position can be the initial position required to be reached by the fog gun after completing the starting preparation for standard operation. Generally, the automatic control system of the fog gun can control the hydraulic actuator and the swing mechanism to control the fog gun to move to the corresponding first target position for standard operation according to the target coordinate point composed of the operation height set according to the preset starting mode and the angle given by the centering positioning device, and according to the deviation between the first current position and the first target position.

[0038] 203、according to the preset working mode, the fog gun is controlled to perform a cycle operation at the first target position.

[0039] In the embodiment of the application, the preset working mode can be a logical configuration set for controlling the fog gun to work at the first target position, including but not limited to horizontal left and right swing angle, swing speed, swing period, and water pump start-stop conditions, such as start-stop time, start-stop interval, and the like. Generally, the preset working mode can select different working modes according to different task requirements, such as water spraying and dust reduction, and the like, that is, the fog gun can work according to the current task requirement.

[0040] In a possible embodiment, after the fog gun automatic control system detects that the fog gun reaches the first target position, the fog gun is controlled to perform a continuous task action process according to the logical configuration in the preset working mode, including but not limited to spray start, left and right swing, angle limit detection, obstacle avoidance, water tank liquid state monitoring, and fog gun state feedback, and the like. Specifically, the action process can be executed in a cycle manner until a stop instruction is received or a task preset stop time is reached, and then the cycle is exited.

[0041] 204、when receiving the stop instruction, the fog gun is controlled to stop the cycle operation, and a second current position of the fog gun when the cycle operation is stopped is obtained.

[0042] In the embodiment of the application, the stop instruction can be a control signal for interrupting the cycle operation of the fog gun, which can be manually triggered by the driver, or automatically triggered by the fog gun automatic control system when monitoring that the water tank liquid level is too low, the operation time is completed, or an obstacle alarm occurs, and the like. Specifically, after the fog gun automatic control system receives the stop instruction, the actions of stopping spraying, reducing the fan speed, ending swing, and the like are sequentially performed, and the current position is confirmed, and a homing preparation stage is entered.

[0043] The second current position can be the spatial state data of the fog gun when the corresponding operation process is stopped after receiving the stop instruction, which can be used to judge whether the current fog gun deviates from the standard reset track. Specifically, the fog gun automatic control system can perform comprehensive calculation through the fan state, current angle data, and swing threshold, and combine the real-time feedback information of the sensor to obtain a reference starting point for subsequent homing processing.

[0044] 205、according to the preset working mode, the fog gun is controlled to perform a cycle operation at the first target position.

[0045] In the embodiment of the present application, the preset homing mode can be a standard process strategy for controlling the fog gun to return to the preset starting point from the position at which the fog gun stops working, including but not limited to centering homing control, descent speed setting, sensor triggering, etc. Specifically, the fog gun automatic control system selects a suitable homing path based on the second current position, so that the fog gun safely and efficiently completes posture recovery and reset without interfering with the surrounding obstacles.

[0046] The second target position can be the final safe parking position of the fog gun after the fog gun automatic control system completes the homing action according to the preset homing mode, i.e. returning to the preset original starting point. Generally, the trigger point of the descent limit sensor and the trigger point of the centering homing positioner can be used to determine the second target position. It can be understood that the default zero reference point of the fog gun automatic control system can be used for initial judgment before the next start, so as to ensure that each operation starts from a consistent and controllable state, thereby improving the running stability of the fog gun automatic control system.

[0047] In the embodiment of the present application, when a start instruction is received, the first current position of the fog gun is determined; based on the preset start mode and the first current position, the fog gun is controlled to reach the first target position under the preset start mode; according to the preset working mode, the fog gun is controlled to perform a cycle operation at the first target position; when a stop instruction is received, the cycle operation of the fog gun is stopped, and the second current position of the fog gun when the cycle operation is stopped is obtained; according to the preset homing mode, the fog gun is controlled to move from the second current position to the second target position. Through the above method steps, the fog gun automatically completes the whole process operation control such as vertical ascending positioning, automatic spraying operation, horizontal swing calculation after one-key starting, and safe reset after one-key stopping, which shortens the operation steps of personnel and reduces the operation risk of the driver during driving.

[0048] Optionally, in the step of determining the first current position of the fog gun when the start instruction is received, the fog gun can be controlled to execute vertical descent to trigger the descent limit sensor to determine the first limit; the fog gun can be controlled to execute horizontal swing to trigger the centering homing positioner to determine the second limit; and the first current position of the fog gun is determined based on the first limit and the second limit, and the first current position is used to determine whether the fog gun is in the initial predetermined position.

[0049] In the embodiments of the present application, the aforementioned lowering limit sensor can be a sensor for monitoring the vertical lowering position of the fog gun, which is installed on the vertical movement path of the fog gun and used to determine whether the fog gun has been lowered to a preset minimum position. After receiving the starting instruction, the fog gun can be controlled to perform a vertical lowering action until the sensor is triggered, indicating that the fog gun has reached the initial minimum position, i.e., the first limit. The sensor is in position with the fog gun through physical contact or laser ranging, etc., to feedback the current vertical position.

[0050] The aforementioned centering homing positioner can be a sensing device installed in the horizontal direction of the fog gun, which is used to determine whether the fog gun is in the center position in the horizontal direction. After receiving the starting instruction, the fog gun can be controlled to perform a horizontal swinging action until the centering homing positioner is triggered, at which time it is determined that the horizontal position of the fog gun has reached the center point, i.e., the second limit. Generally, the centering homing positioner usually works in a magnetic induction, photoelectric induction or contact switch mode, etc., to accurately determine the left and right swinging positions of the fog gun.

[0051] In a possible embodiment, the aforementioned automatic control system of the fog gun, after receiving the starting instruction, performs a positioning calibration step of vertical lowering and horizontal homing, for example, controls the fog gun to lower to the first limit, and determines that the fog gun has reached the preset minimum height through the lowering limit sensor; then, the fog gun performs a swinging action in the horizontal direction until the centering homing positioner is triggered, at which time it is determined that the fog gun has reached the second limit and is centered horizontally, and whether the fog gun is in the initial predetermined working position is determined according to this position.

[0052] This process not only ensures the accurate positioning and stable operation of the fog gun, but also provides a reliable reference for subsequent automatic spraying and swinging operations, enabling full automation control of the fog gun from starting to operation, greatly simplifying the operation process and reducing manual intervention.

[0053] Optionally, in the step of controlling the fog gun to reach the first target position in the preset starting mode based on the preset starting mode and the first current position, the step further includes determining a preset working height based on the preset starting mode; and controlling the fog gun to move to the first target position based on the preset working height and the first current position.

[0054] In this embodiment of the invention, after receiving a start command, the above-mentioned automatic fog cannon control system first confirms the first current position of the fog cannon, and then controls the fog cannon to move to the target working position according to the preset start mode and the first current position. Specifically, the above-mentioned automatic fog cannon control system determines the working height of the fog cannon in the preset start mode, that is, the preset working height. The preset working height can be the optimal spraying height preset according to different operational needs (such as dust suppression on urban roads, spraying at construction sites, etc.). This height is usually closely related to factors such as spray coverage and wind force to ensure the best spraying effect of the fog cannon. Then, based on the confirmed preset working height, the system calculates the distance difference between the first current position of the fog cannon and the preset working height, and controls the fog cannon to move along the vertical direction by the corresponding distance difference value until the fog cannon reaches the first target position.

[0055] Specifically, it can be based on, for example Figure 3 The diagram illustrates a one-button start control logic framework. A sensor detects the downward position, causing the mist cannon to descend to a designated position and then rise to a preset angle. After position adjustment, the fan and water pump are activated, and the mist cannon rotates left and right to achieve preset left and right angles. This entire process is repeated cyclically to ensure continuous operation of the mist cannon, with the angle and position adjusted as needed to achieve the best spraying effect.

[0056] By following the above steps, it can be ensured that the fog cannon remains within the predetermined height range during operation, achieving the expected operational effect.

[0057] Optionally, the step of controlling the fog cannon to perform cyclic operation at the first target position according to the preset working mode further includes determining the left and right swing angle threshold, fan working status and water pump working status of the fog cannon at the first target position based on the preset working mode; and controlling the fog cannon to perform cyclic operation according to the left and right swing angle threshold, fan working status and water pump working status.

[0058] In this embodiment of the invention, the aforementioned left-right swing angle threshold refers to the maximum swing angle range within which the fog cannon can perform spraying operations in the horizontal direction. Generally, this threshold is set according to operational requirements, such as the size of the coverage area and the spray intensity. For example, if the target area is wide, the threshold may be set to ±45°, indicating that the fog cannon swings and sprays within this range. The aforementioned automatic fog cannon control system can control the fog cannon to swing left and right at a predetermined angle at the first target position according to the preset left-right swing angle threshold, to ensure uniform spray coverage.

[0059] The working state of the above-mentioned fan can refer to the start-stop, speed adjustment and other state parameter settings of the fan in the fog gun. Generally speaking, the speed of the fan directly affects the long-distance transmission effect of the spray. During the operation process, the fan will adjust according to the set working mode according to different spray requirements. For example, the fan can run at the maximum speed at the beginning of the operation to provide a longer spray distance, and the speed of the fan will be adjusted according to the actual needs during the operation process. The above-mentioned automatic control system of the fog gun can also control the start-stop and speed change of the fan according to the requirements of the preset working mode.

[0060] The working state of the above-mentioned water pump can refer to the working parameters of the water pump in the fog gun, such as flow rate, pressure value, etc. Among them, the state of the water pump directly determines the flow rate and intensity of the spray. In this embodiment, the above-mentioned automatic control system of the fog gun can adjust the working state of the water pump during the operation process according to the opening and closing time of the water pump set by the above-mentioned preset working mode, so as to achieve the required spray intensity. The working state of the water pump can also be dynamically adjusted according to the change of the actual spray amount to ensure uniform spray and meet the operation requirements.

[0061] For example, in one possible embodiment, when the one-key operation is pressed, the above-mentioned automatic control system of the fog gun first descends to find the descending limit sensor, then rises to the preset position according to the set hydraulic motor speed and rising angle, turns on the fan motor, starts the water pump motor after 3S, and when the fan motor and the water pump motor reach the preset speed for 3S, the fog gun starts to run back and forth according to the preset horizontal left-right swing path. Specifically, the swing angle and swing speed can be adjusted. The fog gun first swings to the right by 45°, stops for 2S, then swings to the left by 45° to return to the normal position, and continues to swing to the left by 45°, stops for 2S, then swings to the right, and so on. When the left-right swing distance is less than 5m, the radar alarm is triggered, the fog gun stops for 2S, and starts to swing in the opposite direction.

[0062] When the one-key stop is pressed, the water pump motor stops immediately, the fan speed decreases to 500RPM after 5S, the fog gun continues to swing to find the centering positioning sensor and stops swinging, and at this time the fan speed decreases from 500RPM to 0.

[0063] Through the coordination of these control parameters, the fog gun can efficiently perform the cycle operation according to the preset operation mode, ensure the spray coverage, spray effect and work efficiency during the operation process, and can be adjusted in real time according to different environmental requirements during the operation process.

[0064] Optionally, in the step of stopping the fog gun from circulating operation after receiving the stop instruction and obtaining the second current position of the fog gun when the fog gun stops circulating, it further comprises the steps of stopping the water pump immediately after receiving the stop instruction, and reducing the fan speed to the target speed after a preset time; the second current position of the fog gun when the fog gun stops circulating is determined by calculating the left and right swing angles and the left and right swing angle thresholds.

[0065] In the embodiment of the present application, the target speed mentioned above can refer to reducing the fan speed to a preset target value after receiving the stop instruction to achieve smooth stop of the spraying operation. Generally, the target speed can be set to a lower fan speed value, aiming to avoid the system impact caused by immediately stopping the fan.

[0066] It should be noted that the setting of the target speed can be based on the operation scene and operation requirements. For example, the fan can run at a higher speed (such as the maximum speed) before stopping operation. When the stop instruction is received, the fan speed will gradually decrease within a preset time until the target speed value is reached, which is usually a set low gear (such as 500 RPM). Once the fan speed is reduced to the target speed, it will continue to maintain this state until the stop process is completed.

[0067] In a possible embodiment, the fog gun automatic control system determines the second current position of the fog gun when the fog gun stops operation by comparing and calculating the current horizontal swing angle of the fog gun with the preset left and right swing angle threshold. Specifically, the current swing angle of the fog gun is first obtained, the real-time monitoring of the current swing angle data is performed, and the comparison with the left and right swing angle threshold is performed. For example, when the fog gun starts to stop, the fog gun automatic control system compares the current swing angle with the left and right swing angle threshold (such as ±45°) to calculate the position state when stopping, which can be used to determine the second current position of the fog gun, i.e. the actual position data of the fog gun after stopping operation.

[0068] More specifically, it can be explained according to the one-key stop control logic block diagram as shown in Figure 4 When the one-key stop instruction is received, the fan motor speed is first reduced to 500 rpm, and the water pump motor stops working. Next, the fog gun starts to turn right according to the preset homing mode until the right turn limit sensor is triggered, and then turns left in the horizontal direction to ensure that the fog gun returns to the predetermined position. If the sensor signal in the central position is detected, the fog gun continues to perform the vertical descending operation until the descending limit sensor is triggered, and the homing is completed. Finally, the fan motor and the water pump motor are completely stopped and enter the stop state. This process ensures the smooth stop of the equipment and prepares for the next operation.

[0069] Optionally, in the step of controlling the fog gun to move from the second current position to the second target position according to the preset homing mode, the method further comprises: based on the preset homing mode, controlling the fog gun to stop the swing operation of the fog gun after the fog gun continues to swing horizontally at the second current position and triggers the center homing positioning sensor; and controlling the fog gun to descend to trigger the descent limit sensor, so that the fog gun is at the second target position.

[0070] In the embodiment of the present application, the automatic control system of the fog gun controls the fog gun to enter the homing mode according to the received stop instruction, instructs the fog gun to continue to swing horizontally at the current second current position according to the preset homing mode until the center homing positioning sensor is triggered, determines that the fog gun has reached the set center position, and then immediately stops the horizontal swing operation of the fog gun, and instructs the fog gun to descend along the vertical direction according to the preset homing mode until the descent limit sensor is triggered, so that it is confirmed that the fog gun has reached the preset second target position, which is usually the set safe parking position, indicating that the fog gun has successfully completed the homing operation.

[0071] Through the above method steps, no matter what angle and position the fog gun is in, the fog gun can automatically find the original point and then continue to automatically work, and the state of the fog gun is monitored in real time for feedback detection.

[0072] As shown in Figure 5 the embodiment of the present application further provides an automatic control device 500 of the fog gun, which comprises: a first acquisition module 501, configured to acquire first current position data of the fog gun after receiving a start instruction; a first control module 502, configured to control the fog gun to reach first target position data in a preset start mode based on the preset start mode and the first current position data; a second control module 503, configured to control the fog gun to perform a cyclic operation at the first target position data according to a preset working mode; a second acquisition module 504, configured to control the fog gun to stop the cyclic operation and acquire second current position data of the fog gun when a stop instruction is received; a third control module 505, configured to control the fog gun to move from the second current position data to second target position data according to a preset homing mode.

[0073] Optionally, the first acquisition module 501 comprises: a first control sub-module, configured to control the fog gun to perform vertical descent to trigger a descent limit sensor to determine a first limit after receiving a start instruction; a second control submodule, configured to control the fog gun to perform horizontal swinging to trigger a centering homing positioner to determine a second limit; a first determination submodule, configured to determine a first current position of the fog gun based on the first limit and the second limit, the first current position being used to determine whether the fog gun is at an initial predetermined position.

[0074] Optionally, the first control module 502 includes: a second determination submodule, configured to determine a preset working height based on the preset starting mode; a third control submodule, configured to control the fog gun to move to a first target position based on the preset working height and the first current position.

[0075] Optionally, the second control module 503 includes: a third determination submodule, configured to determine a left-right swinging angle threshold, a fan working state and a water pump working state of the fog gun at the first target position based on the preset working mode; a fourth control submodule, configured to control the fog gun to perform cyclic operation according to the left-right swinging angle threshold, the fan working state and the water pump working state.

[0076] Optionally, the second acquisition module 504 includes: a fifth control submodule, configured to control the water pump of the fog gun to stop working immediately after receiving a stop instruction, and to reduce the fan speed to a target speed after a preset time; a fourth determination submodule, configured to determine a second current position of the fog gun when the cyclic operation is stopped by calculating the left-right swinging angle at the stop time and the left-right swinging angle threshold.

[0077] Optionally, the third control module 505 includes: a fifth determination submodule, configured to control the fog gun to continue horizontal swinging to trigger the centering homing position sensor at the second current position based on a preset homing mode, and to stop the fog gun swinging operation to determine a first homing position; a sixth control submodule, configured to control the fog gun to descend to trigger a descending limit sensor after the fog gun stops the swinging operation, so that the fog gun is at a second target position.

[0078] As shown in Figure 6 the embodiment of the present application also provides an electronic device 600, including a processor, and the processor can execute any one of the fog gun automatic control methods.

[0079] Specifically, the electronic device 600 includes a processor 601, a memory 602, and a computer program stored in the memory 602 and executable on the processor 601 to execute the fog gun automatic control method, wherein: The processor 601 runs the computer program of the automatic control method of the fog gun stored in the memory 602, and performs the following steps: When receiving a start instruction, determining a first current position of the fog gun; Based on the preset starting mode and the first current position, controlling the fog gun to reach a first target position in the preset starting mode; According to the preset working mode, controlling the fog gun to perform a cyclic operation at the first target position; When receiving a stop instruction, controlling the fog gun to stop the cyclic operation, and obtaining a second current position of the fog gun when the cyclic operation is stopped; According to the preset homing mode, controlling the fog gun to move from the second current position to a second target position.

[0080] Optionally, the processor 601 performs the step of determining the first current position of the fog gun when receiving the start instruction, comprising: When receiving a start instruction, controlling the fog gun to perform a vertical descent to trigger a descent limit sensor to determine a first limit; Controlling the fog gun to perform a horizontal swing to trigger a centering homing positioner to determine a second limit; Based on the first limit and the second limit, determining the first current position of the fog gun, and the first current position is used to determine whether the fog gun is in an initial predetermined position.

[0081] Optionally, the processor 601 performs the step of controlling the fog gun to reach a first target position in the preset starting mode based on the preset starting mode and the first current position, comprising: Based on the preset starting mode, determining a preset working height; Based on the preset working height and the first current position, controlling the fog gun to move to the first target position.

[0082] Optionally, the processor 601 performs the step of controlling the fog gun to perform a cyclic operation at the first target position according to the preset working mode, comprising: Based on the preset working mode, determining a left-right swing angle threshold, a fan working state and a water pump working state of the fog gun at the first target position; Controlling the fog gun to perform a cyclic operation according to the left-right swing angle threshold, the fan working state and the water pump working state.

[0083] Optionally, the processor 601 performs the step of controlling the fog gun to stop the cyclic operation when receiving a stop instruction, and obtaining a second current position of the fog gun when the cyclic operation is stopped, comprising: When the stop instruction is received, the water pump of the fog gun is immediately stopped, and the fan speed is reduced to the target speed after a preset time; By calculating the left and right swing angles at the stop time and the left and right swing angle threshold, the second current position of the fog gun when stopping the cycle operation is determined.

[0084] Optionally, the processor 601 executes the control of the fog gun to move from the second current position to the second target position according to the preset homing mode, including: Based on the preset homing mode, the fog gun is controlled to continue horizontal swing at the second current position, and after triggering the centering homing position sensor, the fog gun swing operation is stopped, and the first homing position is determined. When the fog gun stops the swing operation, the fog gun is controlled to descend to trigger the descent limit sensor, and at this time, the fog gun is at the second target position.

[0085] The embodiment of the application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program.

[0086] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware, and can be stored in a computer readable storage medium.

[0087] The above disclosure is only the preferred embodiment of the application, and of course cannot limit the scope of the application, so equivalent changes made according to the claims of the application are still within the scope of the application.

Claims

1. A method for automatic control of a fog cannon, characterized in that include: Upon receiving the start command, determine the fog cannon's initial current position; Based on the preset activation mode and the first current position, control the fog cannon to reach the first target position under the preset activation mode; According to the preset working mode, the fog cannon is controlled to perform cyclical operation at the first target position; Upon receiving a stop command, the fog cannon is controlled to stop the cyclic operation, and the second current position of the fog cannon at the time of stopping the cyclic operation is obtained; According to the preset return mode, the fog cannon is controlled to move from the second current position to the second target position.

2. The automatic control method of the fog gun according to claim 1, wherein Upon receiving the start command, determining the first current position of the fog cannon includes: Upon receiving the start command, the fog cannon is controlled to descend vertically until the descent limit sensor is triggered, thus determining the first limit. Control the fog cannon to perform a horizontal swing until the centering and alignment positioner is triggered, and determine the second limit; Based on the first limit and the second limit, the first current position of the fog cannon is determined, and the first current position is used to determine whether the fog cannon is in the initial predetermined position.

3. The automatic fog gun control method of claim 1, wherein, The step of controlling the fog cannon to reach the first target position under the preset activation mode based on the preset activation mode and the first current position includes: Based on the preset startup mode, a preset working height is determined; Based on the preset working height and the first current position, control the fog cannon to move to the first target position.

4. The automatic control method for a fog cannon as described in claim 1, characterized in that, The step of controlling the fog cannon to perform cyclical operations at the first target position according to a preset working mode includes: Based on the preset working mode, the threshold values ​​of the left and right swing angles of the fog cannon at the first target position, the working status of the fan, and the working status of the water pump are determined. The fog cannon is controlled to perform cyclical operation according to the left and right swing angle threshold, the working status of the fan, and the working status of the water pump.

5. The automatic control method for a fog cannon as described in claim 1, characterized in that, Upon receiving a stop command, controlling the fog cannon to cease the cyclic operation and obtaining the fog cannon's second current position at the time of cessation of the cyclic operation includes: Upon receiving a stop command, the water pump controlling the fog cannon immediately stops working, and after a preset time, the fan speed is reduced to the target speed; The second current position of the fog cannon when the cycle stops is determined by calculating the left and right swing angles at the time of stopping and the left and right swing angle thresholds.

6. The automatic control method for a fog cannon as described in claim 1, characterized in that, The step of controlling the fog cannon to move from the second current position to the second target position according to the preset return mode includes: Based on the preset return mode, the fog cannon is controlled to continue to swing horizontally at the second current position until the centering and positioning sensor is triggered, then the fog cannon swinging operation is stopped and the first return position is determined. After the fog cannon stops swinging, control the fog cannon to descend until the descent limit sensor is triggered. At this time, the fog cannon is in the second target position.

7. An automatic control device for a fog cannon, characterized in that, include: The first acquisition module is used to acquire the first current position data of the fog cannon after receiving the start command; The first control module is used to control the fog cannon to reach the first target position data under the preset activation mode based on the preset activation mode and the first current position data; The second control module is used to control the fog cannon to perform cyclic operation based on the preset working mode and the first target position data. The second acquisition module is used to control the fog cannon to stop the cyclic operation after receiving a stop command, and to acquire the second current position data of the fog cannon when the cyclic operation stops; The third control module is used to control the fog cannon to move from the second current position data to the second target position data according to the preset homing mode.

8. An automatic control system for a fog cannon, characterized in that, The automatic control system for the fog cannon includes: an automatic control device for the fog cannon; The automatic control device for the fog cannon implements the automatic control method for the fog cannon as described in claim 1.

9. An electronic device, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the automatic control method for fog cannons as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the automatic control method for fog cannons as described in any one of claims 1 to 6.

Images