Dredging calibration method, device and equipment of grating plate blockage clearing mechanism and storage medium

Abstract

The invention discloses a dredging calibration method, device and equipment for a grating plate unblocking mechanism and a storage medium, and the method comprises the steps: when a pushing mechanism pushes a dredging column fixing plate, monitoring a first distance value, measured by a first distance sensor, of a direction fixing plate and a resistance value, measured by a pressure sensor, in the opposite direction of the pushing direction in real time; after the pushing mechanism retreats the dredging column fixing plate to the standby position, a displacement change curve and a resistance change curve are generated, and if the displacement change curve does not reach the displacement peak value and the resistance change curve does not reach the first resistance threshold value, the set stroke of the pushing mechanism is calibrated. Therefore, whether the mechanism displacement and the borne resistance in the dredging process are calibrated or not is judged, when the mechanism does not reach the preset stroke when pushing is blocked due to serious garbage blockage, the pushing mechanism is automatically calibrated, and therefore the normal blockage clearing stroke is maintained for a long time, and the blockage clearing efficiency is kept.

Description

TECHNICAL FIELD

[0001] The application relates to the garbage disposal technical field, in particular to a method and device for dredging and calibrating a grid plate unblocking mechanism, equipment and a storage medium. BACKGROUND

[0002] In the garbage incineration power generation industry, the garbage pool is the core area for garbage storage and fermentation, and the bottom of the garbage pool is provided with a leachate grid plate for separating solid components from leachate in the garbage and realizing efficient drainage of the leachate.

[0003] At present, the problem of blockage of the leachate grid plate is common and serious, and in practice, the grid unblocking mechanism is used for dredging, mainly by a mechanical pushing mechanism to push the dredging column so that the dredging column is inserted into the grid plate hole, and the principle is to set the pushing time of the pushing mechanism by writing the preset stroke to complete the preset stroke movement within the pushing time, and then retreat to the standby position.

[0004] However, severely blocked garbage will hinder the advancement of the dredging column, and the preset movement cannot be completed within the pushing time, which has little effect in the short term, but long-term overload pushing will cause cumulative irreversible damage to mechanical parts, resulting in a shortened unblocking stroke of the grid unblocking mechanism and a significantly reduced unblocking efficiency.

[0005] Therefore, how to maintain a normal unblocking stroke and keep the unblocking efficiency is a problem that needs attention. SUMMARY

[0006] In view of the above problems, the application provides a method and device for dredging and calibrating a grid plate unblocking mechanism, equipment and a storage medium to maintain a normal unblocking stroke and keep the unblocking efficiency.

[0007] In order to achieve the above purpose, the specific scheme is as follows:

[0008] A method for dredging and calibrating a grid plate unblocking mechanism is applied to a dredging control center of a grid plate unblocking system, the grid plate unblocking system further comprises a grid plate unblocking mechanism, the grid plate unblocking mechanism comprises a pushing mechanism, a dredging column fixing plate, a fixed direction plate and a plurality of dredging columns, the first end of each dredging column passes through and is fixed to the dredging column fixing plate, the dredging column fixing plate drives each dredging column to move synchronously, the second end of each dredging column passes through the fixed direction plate, the dredging column fixing plate is parallel to the fixed direction plate, and the dredging column fixing plate is provided with a first distance sensor and a pressure sensor;

[0009] The method comprises:

[0010] monitoring a first distance value measured by the first distance sensor to the fixed plate and a resistance value measured by the pressure sensor in the opposite direction of the pushing direction in real time when the pushing mechanism pushes the fixed plate of the unclogging column;

[0011] generating a displacement change curve based on the first distance value during the movement of the fixed plate of the unclogging column and generating a resistance change curve based on the resistance value during the movement of the fixed plate of the unclogging column after the pushing mechanism retreats the fixed plate of the unclogging column to the standby position;

[0012] If the displacement change curve does not reach a displacement peak value and the resistance change curve does not reach a first resistance threshold value, the set stroke of the pushing mechanism is calibrated.

[0013] Optionally, the fixed plate is provided with a second distance sensor.

[0014] The method further comprises:

[0015] monitoring a second distance value measured by the second distance sensor to the fixed plate of the unclogging column in real time when the pushing mechanism pushes the fixed plate of the unclogging column;

[0016] If the difference between the second distance value and the first distance value is greater than a deviation threshold value, a displacement change curve is generated by monitoring a video of the movement of the fixed plate of the unclogging column.

[0017] Optionally, the set stroke of the pushing mechanism is calibrated, comprising:

[0018] According to the current working power of the pushing mechanism, a target time required for driving the pushing mechanism to push the fixed plate of the unclogging column to a target position is determined, and the target time is taken as the latest movement stroke time of the set stroke of the pushing mechanism.

[0019] Optionally, the method further comprises:

[0020] During the process of pushing the fixed plate of the unclogging column by the pushing mechanism, if the resistance value measured by the pressure sensor is greater than a second resistance threshold value, the pushing mechanism is stopped or is driven to retreat the fixed plate of the unclogging column, and the second resistance threshold value is greater than the first resistance threshold value.

[0021] The application discloses a dredging calibration device of a grid plate unblocking mechanism, which is applied to a dredging control center of a grid plate unblocking system, and the grid plate unblocking system further comprises a grid plate unblocking mechanism, the grid plate unblocking mechanism comprises a pushing mechanism, a dredging column fixing plate, a direction fixing plate and a plurality of dredging columns, the first end of each dredging column penetrates through and is fixed to the dredging column fixing plate, the dredging column fixing plate drives the synchronous movement of the dredging columns, the second end of each dredging column penetrates through the direction fixing plate, the dredging column fixing plate is parallel to the direction fixing plate, and the dredging column fixing plate is provided with a first distance sensor and a pressure sensor.

[0022] The device comprises:

[0023] A monitoring data acquisition unit is configured to monitor a first distance value measured by the first distance sensor on the direction fixing plate and a resistance value in the opposite direction of the pushing direction measured by the pressure sensor in real time when the pushing mechanism pushes the dredging column fixing plate.

[0024] A dredging process curve generation unit is configured to generate a displacement change curve based on the first distance value in the movement process of the dredging column fixing plate and generate a resistance change curve based on the resistance value in the movement process of the dredging column fixing plate after the pushing mechanism retreats the dredging column fixing plate to a standby position.

[0025] A calibration unit is configured to calibrate the set stroke of the pushing mechanism if the displacement change curve does not reach a displacement peak value and the resistance change curve does not reach a first resistance threshold value.

[0026] Optionally, the direction fixing plate is provided with a second distance sensor.

[0027] The device further comprises:

[0028] A second distance value monitoring unit is configured to monitor a second distance value measured by the second distance sensor on the dredging column fixing plate in real time when the pushing mechanism pushes the dredging column fixing plate.

[0029] A monitoring video displacement curve generation unit is configured to generate a displacement change curve based on a monitoring video of the movement process of the dredging column fixing plate if the difference between the second distance value and the first distance value is greater than a deviation threshold value.

[0030] Optionally, the calibration unit comprises:

[0031] A calibration subunit is configured to determine a target time required for driving the pushing mechanism to push the dredging column fixing plate to a target position according to the current working power of the pushing mechanism, and take the target time as the latest movement stroke time of the set stroke of the pushing mechanism.

[0032] Optionally, the device further comprises:

[0033] A stopping pushing unit is configured to stop the pushing mechanism from pushing the unclogging column fixing plate or drive the pushing mechanism to retreat the unclogging column fixing plate if the resistance value measured by the pressure sensor is greater than a second resistance threshold during the pushing of the unclogging column fixing plate by the pushing mechanism, the second resistance threshold being greater than the first resistance threshold.

[0034] An unclogging calibration device of a grid plate unclogging mechanism, comprising a memory and a processor;

[0035] The memory is configured to store a program.

[0036] The processor is configured to execute the program to implement each step of the unclogging calibration method of the grid plate unclogging mechanism.

[0037] A storage medium having a computer program stored thereon, the computer program being executed by a processor to implement each step of the unclogging calibration method of the grid plate unclogging mechanism.

[0038] According to the above technical solution, when the pushing mechanism pushes the unclogging column fixing plate, the first distance value measured by the first distance sensor to the fixing plate and the resistance value measured by the pressure sensor in the opposite direction of the pushing direction are monitored in real time. After the pushing mechanism retreats the unclogging column fixing plate to the standby position, a displacement change curve is generated based on the first distance value during the movement of the unclogging column fixing plate, and a resistance change curve is generated based on the resistance value during the movement of the unclogging column fixing plate. If the displacement change curve does not reach the displacement peak value and the resistance change curve does not reach the first resistance threshold value, the set stroke of the pushing mechanism is calibrated. Therefore, by judging whether to calibrate the mechanism displacement and the resistance during the unclogging process, the preset stroke is not reached when the mechanism is not blocked due to serious garbage blockage, and the pushing mechanism is automatically calibrated, thereby maintaining the normal unclogging stroke for a long time and maintaining the unclogging efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0039] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a better understanding of the preferred embodiments and are not to be considered as restrictive of the application. Moreover, in the drawings, like reference numerals refer to similar components throughout the several views. In the drawings:

[0040] FIG. 1(a) is a first perspective view of a structure of a grid plate unclogging mechanism according to an embodiment of the present application;

[0041] FIG. 1(b) is a second perspective view of a structure of a grid plate unclogging mechanism according to an embodiment of the present application;

[0042] Fig. 1(c) is a third view of a structure of a grid plate unblocking mechanism according to an embodiment of the present application;

[0043] Figure 2 Fig. 1(c) is a third view of a structure of a grid plate unblocking mechanism according to an embodiment of the present application;

[0044] Figure 3 Fig. 1(c) is a third view of a structure of a grid plate unblocking mechanism according to an embodiment of the present application;

[0045] Figure 4 Fig. 1(c) is a third view of a structure of a grid plate unblocking mechanism according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0047] The present application can be implemented based on a terminal with data processing capability, which can be an unblocking control center of a grid plate unblocking system. The grid plate unblocking system can further include a grid plate unblocking mechanism. The grid plate unblocking mechanism is shown in Figs. 1(a)-1(c), and can specifically include a pushing mechanism 10, a connecting piece 20, an unblocking column fixing plate 30, a direction fixing plate 40, and a plurality of unblocking columns 50.

[0048] The pushing mechanism 10 can be connected to the unblocking column fixing plate 30 through the connecting piece 20.

[0049] Specifically, the unblocking column fixing plate 30 receives power transmitted by the pushing mechanism 10 through the connecting piece 20, and realizes synchronous and stable movement of the plurality of unblocking columns 50.

[0050] The first end of each unblocking column 50 passes through and is fixed to the unblocking column fixing plate 30, so that the unblocking column fixing plate 30 drives the movement of each unblocking column 50. The second end of each unblocking column 50 passes through the direction fixing plate 40.

[0051] Specifically, the second end of the unblocking column 50 does not need to be fixed to the direction fixing plate 40. The direction fixing plate 40 is used to fix the extension direction of the unblocking column 50 during the extension and retraction movement of the unblocking column 50, so as to prevent the displacement direction / angle of the unblocking column 50 from deviating. The unblocking column fixing plate 30 and the direction fixing plate 40 are both designed as multi-hole, and the diameter of each hole is slightly larger than the diameter of the unblocking column 50, so as to allow the unblocking column 50 to pass through.

[0052] The unclogging column 50 is directly inserted into the element blocked in the grid plate hole, and can be coated with a corrosion-resistant material to avoid corrosion of the leachate seeped out during the unclogging process.

[0053] The second end of each unclogging column 50 can be a pointed end, which can be designed as a multi-prism or a cone.

[0054] It can be understood that the second end of the unclogging column 50 is designed as a pointed end, so that it is more smoothly and less resistively inserted into the blocked garbage, which can reduce the wear of the unclogging column 50 itself and improve the durability, thereby improving the unclogging efficiency of the grid plate unclogging device.

[0055] Each unclogging column 50 is parallel to each other, and the unclogging column fixing plate 30 is parallel to the fixed direction plate 40.

[0056] It can be understood that the pushing mechanism 10 drives the unclogging column fixing plate 30 to move towards the fixed direction plate 40, thereby driving each parallel unclogging column 50 to move towards the grid plate hole, thereby replacing manual grid plate unclogging and avoiding safety hazards of manual grid plate unclogging. When multiple unclogging columns 50 are inserted into the garbage blocked in the hole, leachate will seep out and flow out of the grid hole, ensuring the smoothness of the grid plate, reducing the water bubble garbage phenomenon, improving the heat value of the furnace garbage, and thereby improving the economic benefits and operation safety of the garbage incineration power generation.

[0057] The unclogging column fixing plate 30 is provided with a first distance sensor and a pressure sensor.

[0058] The first distance sensor can be a laser displacement sensor with a measurement accuracy of 0.01 mm. The emission end of the first distance sensor is perpendicular to the surface of the fixed direction plate 40 and avoids the movement track of the unclogging column 50 to prevent garbage debris from blocking.

[0059] The pressure sensor can be a strain gauge pressure sensor with a range of 1.5 times the rated resistance value (rated resistance of the pushing mechanism). The force measured by the pressure sensor is in the opposite direction of the pushing direction, i.e., the reaction force generated when the blocked garbage is pressed.

[0060] Based on the grid plate unclogging mechanism of FIGS. 1(a)-1(c), combined Figure 2 with the above description, the unclogging calibration method of the grid plate unclogging mechanism of the present application can include the following steps:

[0061] Step S110, when the pushing mechanism pushes the unclogging column fixing plate, the first distance value measured by the first distance sensor to the fixed direction plate and the resistance value in the opposite direction of the pushing direction measured by the pressure sensor are monitored in real time.

[0062] Specifically, the initial value of the first distance value can be the standby position, denoted as , the target distance value of the preset stroke end is recorded as ( , for example, the preset stroke is 300mm, , then ). During the monitoring process, the real-time recording of over time, when approaches , (such as the difference ≤5mm), the monitoring frequency needs to be improved (from 10Hz to 50Hz), to capture whether the target distance can be reached.

[0063] The main component of the resistance value is the resistance of the garbage blockage. When there is no blockage, the resistance value is stable near the mechanical transmission friction. When there is slight blockage, the resistance value will fluctuate and rise, but it has not reached the first resistance threshold. When there is serious blockage, the resistance value will even rise sharply to the second resistance threshold (the second resistance threshold is greater than the first resistance threshold).

[0064] Step S120, after the pushing mechanism retreats the unclogging column fixed plate to the standby position, a displacement change curve is generated based on the first distance value in the moving process of the unclogging column fixed plate, and a resistance change curve is generated based on the resistance value in the moving process of the unclogging column fixed plate.

[0065] Among them, the displacement change curve can be a displacement curve changing over time, which describes the actual movement of the unclogging column fixed plate in the unclogging process. Each coordinate point of the curve represents the distance between the initial position or standby position at time t. The resistance change curve can be a resistance curve changing over time, which describes the actual resistance received by the unclogging column fixed plate in the unclogging process. Each coordinate point of the curve represents the resistance received at time t.

[0066] Step S130, if the displacement change curve does not reach the displacement peak value, and the resistance change curve does not reach the first resistance threshold, the set stroke of the pushing mechanism is calibrated.

[0067] Among them, the displacement peak value can represent the distance between the initial position and the position of the unclogging column fixed plate moving to the preset stroke. The displacement change curve not reaching the displacement peak value can represent that the preset stroke is not completed. The resistance change curve not reaching the first resistance threshold can represent that the garbage pressed by the unclogging column is in a general blockage or slight blockage state, and does not reach the degree of serious blockage.

[0068] It can be understood that if the pushing mechanism is blocked during pushing (so that the resistance change curve contains a point exceeding the first resistance threshold), while the displacement change curve does not reach the displacement peak value, it indicates that the pushing mechanism is blocked due to severe garbage blockage and cannot continue to push forward, resulting in failure to reach the preset stroke. This is a normal phenomenon. However, when the pushing mechanism normally pushes the unclogging column fixing plate, without being blocked due to severe garbage blockage, the preset stroke is not reached, which is an abnormal phenomenon, specifically manifested as a shortening of the unclogging stroke. Therefore, the preset stroke needs to be recalibrated to ensure that the pushing mechanism maintains a normal unclogging stroke and keeps the unclogging efficiency.

[0069] Further, the process of calibrating the preset stroke of the pushing mechanism can include:

[0070] According to the current working power of the pushing mechanism, the target time required to drive the pushing mechanism to push the unclogging column fixing plate to the target position is determined, and the target time is taken as the latest moving stroke time of the preset stroke of the pushing mechanism.

[0071] It can be understood that since the previously set unclogging stroke has changed, it is related to the current latest working power of the pushing mechanism, the direct pushing device (unclogging column fixing plate), and the working time. Therefore, according to the current working power, the target time required to push the unclogging column fixing plate to the target position can be calculated, which is the standard time for the pushing mechanism to complete the moving preset stroke of pushing the unclogging column fixing plate. Subsequently, the grid plate unclogging mechanism drives the pushing mechanism to perform the pushing work according to the latest moving stroke time when performing the unclogging task, so as to ensure a normal unclogging stroke and unclogging efficiency.

[0072] The unclogging calibration method of the grid plate unclogging mechanism provided in the embodiment can monitor the first distance value measured by the first distance sensor on the fixed plate and the resistance value in the opposite direction of the pushing direction measured by the pressure sensor in real time when the pushing mechanism pushes the unclogging column fixing plate. After the pushing mechanism retreats the unclogging column fixing plate to the standby position, a displacement change curve is generated based on the first distance value in the moving process of the unclogging column fixing plate, and a resistance change curve is generated based on the resistance value in the moving process of the unclogging column fixing plate. If the displacement change curve does not reach the displacement peak value, and the resistance change curve does not reach the first resistance threshold, the preset stroke of the pushing mechanism is calibrated. As can be seen, by judging whether to calibrate the mechanism displacement and resistance in the unclogging process, when the mechanism is not blocked due to severe garbage blockage, the preset stroke is not reached, and the pushing mechanism is automatically calibrated, so as to maintain a normal unclogging stroke for a long time and keep the unclogging efficiency.

[0073] In order to improve the reliability of displacement data measurement, in some embodiments of the present application, the fixed direction plate 40 mentioned in the foregoing embodiment is provided with a second distance sensor, which can be a laser displacement sensor with a measurement accuracy of 0.01 mm. The emitting end of the second distance sensor is perpendicular to the surface of the unblocking column fixed plate 30 and avoids the movement track of the unblocking column 50 to prevent garbage debris from blocking.

[0074] Based on this, the unblocking calibration method of the grid plate unblocking mechanism provided by the present application can further include:

[0075] S1, when the pushing mechanism pushes the unblocking column fixed plate, the second distance value measured by the second distance sensor to the unblocking column fixed plate is monitored in real time.

[0076] S2, if the difference between the second distance value and the first distance value is greater than the deviation threshold, a displacement change curve is generated through the monitoring video of the movement process of the unblocking column fixed plate.

[0077] The difference between the second distance value and the first distance value can represent the measurement deviation of the two distance sensors. The greater the measurement deviation, the lower the reliability of the distance data measured by the two distance sensors, and vice versa. Therefore, the deviation threshold can represent the reliability standard of the deviation value of the distance data measured by the two distance sensors. If the difference between the second distance value and the first distance value is greater than the deviation threshold, the distance data measured by the two distance sensors is unreliable, and at this time, the displacement change curve cannot be generated based on the first distance value or the second distance value. The actual movement track of the unblocking column fixed plate is analyzed through the monitoring video, so as to obtain the displacement information, and finally generate the displacement change curve. If the difference between the second distance value and the first distance value is not greater than the deviation threshold, the distance data measured by the two distance sensors is reliable, and then the displacement change curve can be generated based on the first distance value or the second distance value.

[0078] In order to improve the running safety of the grid plate unblocking mechanism and alleviate the wear of the grid plate unblocking mechanism, in the case of unblocking the seriously blocked garbage, the stop advancing or retreating action is selected when approaching the unblocking column fixed plate cannot be pushed forward. Based on this, the unblocking calibration method of the grid plate unblocking mechanism provided by the present application can further include:

[0079] In the process of pushing the unblocking column fixed plate by the pushing mechanism, if the resistance value measured by the pressure sensor is greater than the second resistance threshold, the pushing mechanism is stopped or the pushing mechanism is driven to retreat the unblocking column fixed plate.

[0080] The second resistance threshold can represent the feedback force when the seriously blocked garbage is squeezed.

[0081] It can be understood that when the pushing force of the unclogging column fixing plate on the unclogging column approaches the feedback force when the garbage is extruded, it can be indicated that the current garbage blockage is serious, and if the pushing continues, there is a risk of damaging the equipment, and the unclogging efficiency is low if the pushing continues. Therefore, the pushing mechanism can be stopped to push, or the pushing mechanism can be driven to retreat the unclogging column fixing plate, and the next unclogging action can be further initiated to unclog the seriously blocked grid plate through multiple unclogging actions.

[0082] The device for implementing the unclogging calibration of the grid plate unblocking mechanism provided by the embodiments of the application is described below. The device for implementing the unclogging calibration of the grid plate unblocking mechanism described below can be referred to in correspondence with the method for implementing the unclogging calibration of the grid plate unblocking mechanism described above.

[0083] Referring to Figure 3 , Figure 3 The device for implementing the unclogging calibration of the grid plate unblocking mechanism provided by the embodiments of the application is described below. The device for implementing the unclogging calibration of the grid plate unblocking mechanism described below can be referred to in correspondence with the method for implementing the unclogging calibration of the grid plate unblocking mechanism described above.

[0084] As Figure 3 indicated, the device can include:

[0085] The monitoring data acquisition unit 100 is configured to monitor the first distance value measured by the first distance sensor on the fixed plate and the resistance value in the opposite direction of the pushing direction measured by the pressure sensor in real time when the pushing mechanism pushes the unclogging column fixing plate.

[0086] The unclogging process curve generation unit 200 is configured to generate a displacement change curve based on the first distance value in the movement process of the unclogging column fixing plate and generate a resistance change curve based on the resistance value in the movement process of the unclogging column fixing plate after the pushing mechanism retreats the unclogging column fixing plate to the standby position.

[0087] The calibration unit 300 is configured to calibrate the set stroke of the pushing mechanism if the displacement change curve does not reach the displacement peak value and the resistance change curve does not reach the first resistance threshold value.

[0088] Optionally, the fixed plate is provided with a second distance sensor.

[0089] The device further includes:

[0090] The second distance value monitoring unit is configured to monitor the second distance value measured by the second distance sensor on the unclogging column fixing plate in real time when the pushing mechanism pushes the unclogging column fixing plate.

[0091] The monitoring video displacement curve generation unit is configured to generate a displacement change curve based on the monitoring video of the movement process of the unclogging column fixing plate if the difference between the second distance value and the first distance value is greater than the deviation threshold value.

[0092] Optionally, the calibration unit comprises:

[0093] The calibration sub-unit is configured to determine a target time required for driving the pushing mechanism to push the fixed plate of the unclogging column to a target position according to a current working power of the pushing mechanism, and take the target time as a latest moving time of a set stroke of the pushing mechanism.

[0094] Optionally, the device further comprises:

[0095] The stopping pushing unit is configured to stop the pushing mechanism from pushing, or drive the pushing mechanism to retreat the fixed plate of the unclogging column, if the resistance value measured by the pressure sensor is greater than a second resistance threshold during the process that the pushing mechanism pushes the fixed plate of the unclogging column, the second resistance threshold being greater than the first resistance threshold.

[0096] The device for unclogging calibration of the grid plate unclogging mechanism provided by the embodiments of the present application can be applied to the equipment for unclogging calibration of the grid plate unclogging mechanism, such as the unclogging control center of the grid plate unclogging system. Optionally, Figure 4 The hardware structure block diagram of the equipment for unclogging calibration of the grid plate unclogging mechanism is shown, referring to Figure 4 The hardware structure of the equipment for unclogging calibration of the grid plate unclogging mechanism can comprise at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

[0097] In the embodiments of the present application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete the communication among each other through the communication bus 4;

[0098] The processor 1 can be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application, etc.

[0099] The memory 3 can contain a high-speed RAM memory, and can also include a non-volatile memory, etc., such as at least one disk memory;

[0100] The memory stores a program, and the processor can call the program stored in the memory, and the program is used for:

[0101] When the pushing mechanism pushes the fixed plate of the unclogging column, the first distance value measured by the first distance sensor to the fixed plate and the resistance value measured by the pressure sensor in the opposite direction of the pushing direction are monitored in real time;

[0102] generating a displacement change curve based on the first distance value during movement of the unclogging column fixing plate, and generating a resistance change curve based on the resistance value during movement of the unclogging column fixing plate;

[0103] If the displacement change curve does not reach a displacement peak value, and the resistance change curve does not reach a first resistance threshold value, then the set stroke of the pushing mechanism is calibrated.

[0104] Optionally, the refinement function and the extension function of the program can refer to the description above.

[0105] The embodiment of the present application further provides a storage medium which can store a program suitable for processor execution, and the program is used for:

[0106] When the pushing mechanism pushes the unclogging column fixing plate, the first distance value measured by the first distance sensor to the fixing plate and the resistance value in the opposite direction of the pushing direction measured by the pressure sensor are monitored in real time;

[0107] After the pushing mechanism retreats the unclogging column fixing plate to the standby position, a displacement change curve is generated based on the first distance value during movement of the unclogging column fixing plate, and a resistance change curve is generated based on the resistance value during movement of the unclogging column fixing plate;

[0108] If the displacement change curve does not reach a displacement peak value, and the resistance change curve does not reach a first resistance threshold value, then the set stroke of the pushing mechanism is calibrated.

[0109] Optionally, the refinement function and the extension function of the program can refer to the description above.

[0110] Finally, it should be noted that, in the present document, the terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0111] The various embodiments described in this specification are intended to be combinable unless otherwise indicated herein. The various embodiments described in this specification are described in the progressions noted, with each embodiment emphasizing different aspects over others, and the various embodiments can be combined as desired, with reference to each other as appropriate.

[0112] The above description of disclosed embodiments is intended to be illustrative and not restrictive. Many modifications of these embodiments by one having ordinary skill in the art, using the principles and novel features disclosed herein, will be within the scope of the application. The scope of the application, therefore, is not to be limited to the above described embodiments but is to be accorded the widest scope consistent with the principles and novel features described herein.

Claims

1. A method for unblocking and calibrating a grating plate unblocking mechanism, characterized in that, A dredging control center is applied to a grating plate unblocking system. The grating plate unblocking system also includes a grating plate unblocking mechanism. The grating plate unblocking mechanism includes a pushing mechanism, a dredging column fixing plate, a fixed plate, and several dredging columns. The first end of each dredging column passes through and is fixed to the dredging column fixing plate. The dredging column fixing plate drives each dredging column to move synchronously. The second end of each dredging column passes through the fixed plate. The dredging column fixing plate is parallel to the fixed plate. The dredging column fixing plate is equipped with a first distance sensor and a pressure sensor. The method includes: When the pushing mechanism pushes the unblocking column fixing plate, it monitors in real time the first distance value measured by the first distance sensor on the fixed plate, and the resistance value in the opposite direction of the pushing direction measured by the pressure sensor. After the pushing mechanism retracts the unblocking column fixing plate to the standby position, a displacement change curve is generated based on the first distance value during the movement of the unblocking column fixing plate, and a resistance change curve is generated based on the resistance value during the movement of the unblocking column fixing plate. If the displacement change curve does not reach the displacement peak and the resistance change curve does not reach the first resistance threshold, the set stroke of the pushing mechanism is calibrated.

2. The method according to claim 1, characterized in that, The fixed plate is equipped with a second distance sensor; The method also includes: When the pushing mechanism pushes the unblocking column fixing plate, the second distance value measured by the second distance sensor on the unblocking column fixing plate is monitored in real time. If the difference between the second distance value and the first distance value is greater than the deviation threshold, a displacement change curve is generated by monitoring the movement process of the dredging column fixing plate.

3. The method according to claim 1, characterized in that, The calibration of the set stroke of the actuation mechanism includes: Based on the current operating power of the pushing mechanism, determine the target time required to drive the pushing mechanism to push the unblocking column fixing plate to the target position, and use the target time as the latest movement stroke time of the set stroke of the pushing mechanism.

4. The method according to claim 1, characterized in that, Also includes: During the process of the pushing mechanism pushing the unblocking column fixing plate, if the resistance value measured by the pressure sensor is greater than the second resistance threshold, the pushing mechanism is stopped, or the pushing mechanism is driven to retract the unblocking column fixing plate, where the second resistance threshold is greater than the first resistance threshold.

5. A dredging and calibration device for a grating plate unblocking mechanism, characterized in that, A dredging control center is applied to a grating plate unblocking system. The grating plate unblocking system also includes a grating plate unblocking mechanism. The grating plate unblocking mechanism includes a pushing mechanism, a dredging column fixing plate, a fixed plate, and several dredging columns. The first end of each dredging column passes through and is fixed to the dredging column fixing plate. The dredging column fixing plate drives each dredging column to move synchronously. The second end of each dredging column passes through the fixed plate. The dredging column fixing plate is parallel to the fixed plate. The dredging column fixing plate is equipped with a first distance sensor and a pressure sensor. The device includes: The monitoring data acquisition unit is used to monitor in real time the first distance value measured by the first distance sensor on the fixed plate and the resistance value in the opposite direction of the pushing direction measured by the pressure sensor when the pushing mechanism pushes the unblocking column fixing plate. The dredging process curve generation unit is used to generate a displacement change curve based on the first distance value during the movement of the dredging column fixing plate after the pushing mechanism retracts the dredging column fixing plate to the standby position, and to generate a resistance change curve based on the resistance value during the movement of the dredging column fixing plate. A calibration unit is used to calibrate the set stroke of the pushing mechanism if the displacement change curve does not reach the displacement peak value and the resistance change curve does not reach the first resistance threshold.

6. The apparatus according to claim 5, characterized in that, The fixed plate is equipped with a second distance sensor; The device also includes: The second distance value monitoring unit is used to monitor the second distance value measured by the second distance sensor on the unblocking column fixing plate in real time when the pushing mechanism pushes the unblocking column fixing plate. The monitoring video displacement curve generation unit is used to generate a displacement change curve based on the monitoring video of the movement process of the dredging column fixing plate if the difference between the second distance value and the first distance value is greater than the deviation threshold.

7. The apparatus according to claim 5, characterized in that, The calibration unit includes: The calibration subunit is used to determine the target time required to drive the pushing mechanism to push the unblocking column fixing plate to the target position according to the current working power of the pushing mechanism, and to use the target time as the latest movement stroke time of the set stroke of the pushing mechanism.

8. The apparatus according to claim 5, characterized in that, Also includes: The stop pushing unit is used to stop the pushing mechanism from pushing the unblocking column fixing plate if the resistance value measured by the pressure sensor is greater than the second resistance threshold during the process of the pushing mechanism pushing the unblocking column fixing plate, or to drive the pushing mechanism to retract the unblocking column fixing plate, wherein the second resistance threshold is greater than the first resistance threshold.

9. A dredging and calibration device for a grating plate unblocking mechanism, characterized in that, Including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement the various steps of the unblocking calibration method of the grating plate unblocking mechanism as described in any one of claims 1-4.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements each step of the unblocking calibration method of the grating plate unblocking mechanism as described in any one of claims 1-4.

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