A method, device and equipment for dredging and calibration of a grid plate unblocking mechanism and a storage medium

Abstract

The application discloses a kind of grid plate clearing mechanism dredging calibration method, device, equipment and storage medium, method includes: when push mechanism pushes dredging column fixed plate, first distance sensor is measured to the first distance value of solid direction plate by real-time monitoring, and the resistance value of the opposite direction of push direction measured by pressure sensor, after push mechanism retreats dredging column fixed plate to standby position, generates displacement change curve and resistance change curve, if displacement change curve does not reach displacement peak value, and resistance change curve does not reach first resistance threshold value, then the setting stroke of push mechanism is calibrated.

Description

Technical Field

[0001] This application relates to the field of waste treatment technology, and more specifically, to a method, apparatus, equipment and storage medium for unblocking and calibrating a grating plate unblocking mechanism. Background Technology

[0002] In the waste-to-energy industry, the waste pit is the core area for waste storage and fermentation. Its bottom is equipped with a leachate grating plate to separate the solid components of the waste from the leachate, so as to achieve efficient drainage of the leachate.

[0003] Currently, the problem of clogging of leachate gratings is widespread and serious. In practice, the grating is cleared by a grating unblocking mechanism, which mainly uses a mechanical pushing mechanism to push the unblocking column, so that the unblocking column is inserted into the grating hole. The principle is to set the pushing time of the pushing mechanism by a preset stroke, so that the preset stroke is completed within the pushing time, and then it returns to the standby position.

[0004] However, severely clogged garbage can hinder the progress of the unblocking column, preventing it from completing the preset travel distance within the pushing time. While the impact may be minimal in the short term, prolonged overload pushing can cause cumulative irreversible damage to mechanical components, resulting in a shortened unblocking stroke of the grille unblocking mechanism and a significant reduction in unblocking efficiency.

[0005] Therefore, how to maintain normal traffic congestion clearing schedules and efficiency in the long term is an issue that needs attention. Summary of the Invention

[0006] In view of the above problems, this application provides a method, device, equipment and storage medium for unblocking and calibrating a grating plate unblocking mechanism, so as to maintain normal unblocking stroke and maintain unblocking efficiency over a long period of time.

[0007] To achieve the above objectives, the following specific solutions are proposed:

[0008] A method for calibrating a grating plate unblocking mechanism is applied to the unblocking control center of a grating plate unblocking system. The grating plate unblocking system further includes a grating plate unblocking mechanism, which includes a pushing mechanism, an unblocking column fixing plate, a fixed plate, and several unblocking columns. The first end of each unblocking column passes through and is fixed to the unblocking column fixing plate. The unblocking column fixing plate drives each unblocking column to move synchronously. The second end of each unblocking column passes through the fixed plate. The unblocking column fixing plate is parallel to the fixed plate. The unblocking column fixing plate is equipped with a first distance sensor and a pressure sensor.

[0009] The method includes:

[0010] 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.

[0011] 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.

[0012] 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.

[0013] Optionally, the fixed plate is equipped with a second distance sensor;

[0014] The method also includes:

[0015] 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.

[0016] 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.

[0017] Optionally, the set stroke of the actuation mechanism is calibrated, including:

[0018] 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.

[0019] Optionally, the method further includes:

[0020] 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.

[0021] A dredging calibration device for a grating plate unblocking mechanism is applied to the dredging control center of a grating plate unblocking system. The grating plate unblocking system further includes a grating plate unblocking mechanism, which 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.

[0022] The device includes:

[0023] 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.

[0024] 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.

[0025] 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.

[0026] Optionally, the fixed plate is equipped with a second distance sensor;

[0027] The device also includes:

[0028] 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.

[0029] 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.

[0030] Optionally, the calibration unit includes:

[0031] 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.

[0032] Optionally, the device may also include:

[0033] 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.

[0034] A calibrating device for unblocking a grating plate mechanism includes a memory and a processor;

[0035] The memory is used to store programs;

[0036] 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 above.

[0037] A storage medium storing a computer program, which, when executed by a processor, implements the various steps of the unblocking calibration method for the grating plate unblocking mechanism as described above.

[0038] By employing the above technical solution, this application monitors in real time the first distance value measured by the first distance sensor against 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. 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. Therefore, by judging whether calibration is required based on the displacement of the mechanism and the resistance encountered during the unblocking process, the pushing mechanism is automatically calibrated when it fails to reach the preset stroke unless the pushing is severely obstructed by debris, thus maintaining a normal unblocking stroke and preserving unblocking efficiency over a long period. Attached Figure Description

[0039] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0040] Figure 1(a) is a first-view schematic diagram of a grating plate unblocking mechanism provided in an embodiment of this application;

[0041] Figure 1(b) is a second perspective view of a structural schematic diagram of a grating plate unblocking mechanism provided in an embodiment of this application;

[0042] Figure 1(c) is a third-view schematic diagram of a grating plate unblocking mechanism provided in an embodiment of this application;

[0043] Figure 2 A schematic diagram illustrating a process for calibrating and unblocking a grating plate unblocking mechanism, provided in an embodiment of this application.

[0044] Figure 3 A schematic diagram of a device for calibrating and unblocking a grating plate unblocking mechanism, provided in an embodiment of this application;

[0045] Figure 4 This is a structural schematic diagram of a device for calibrating a grating plate unblocking mechanism, provided as an embodiment of this application. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] The proposed solution can be implemented using a terminal with data processing capabilities, which can be the control center for the grating unblocking system. The grating unblocking system may also include a grating unblocking mechanism. As shown in Figures 1(a)-1(c), the grating unblocking mechanism may specifically include a pushing mechanism 10, a connecting piece 20, a dredging column fixing plate 30, a fixed plate 40, and several dredging columns 50.

[0048] The pushing mechanism 10 can be connected to the dredging column fixing plate 30 via the connector 20.

[0049] Specifically, the dredging column fixing plate 30 receives the power transmitted by the pushing mechanism 10 through the connector 20, so as to realize the synchronous and stable movement of multiple dredging 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 can drive each unblocking column 50 to move. The second end of each unblocking column 50 passes through the fixed plate 40.

[0051] Specifically, the second end of the drain cleaning column 50 does not need to be fixed to the fixing plate 40. The fixing plate 40 is used to fix the extension and retraction direction of the drain cleaning column 50 during its extension and retraction movement, preventing the displacement direction / angle of the drain cleaning column 50 from shifting. Both the drain cleaning column fixing plate 30 and the fixing plate 40 are multi-hole designs, with the diameter of each hole slightly larger than the diameter of the drain cleaning column 50, so that the drain cleaning column 50 can pass through.

[0052] The unblocking column 50 is an element that is directly inserted into the opening of the grating plate. It can be coated with anti-corrosion material to avoid corrosion from leachate seeping out of the garbage during the unblocking process.

[0053] The second end of each unblocking column 50 can be a pointed tip, specifically designed as a multi-faceted pyramid or a cone.

[0054] Understandably, the second end of the unblocking column 50 is designed with a pointed tip, allowing it to be inserted into the clogged debris more smoothly and with less resistance. This reduces wear on the unblocking column 50 itself, improves its durability, and thus increases the unblocking efficiency of the grating unblocking device.

[0055] Each dredging column 50 is parallel to the others, and the dredging column fixing plate 30 is parallel to the fixing plate 40.

[0056] Understandably, the pushing mechanism 10 moves the unblocking column fixing plate 30 closer to the fixed plate 40, thereby moving the parallel unblocking columns 50 towards the grid opening, thus replacing manual unblocking of the grid and avoiding the safety hazards of manual unblocking. When multiple unblocking columns 50 are inserted into the garbage blocking the opening, leachate will seep out and flow out of the grid opening, ensuring the unobstructed flow of the grid, reducing waterlogged garbage, increasing the calorific value of the garbage entering the furnace, and thus improving the economic benefits and operational safety of waste incineration power generation.

[0057] The unblocking column fixing plate 30 is equipped 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 0.01mm. The emitting end of the first distance sensor is perpendicular to the surface of the fixed plate 40 and avoids the movement trajectory of the dredging column 50 to prevent garbage debris from obstructing the path.

[0059] The pressure sensor can be a strain gauge type, and its range can be 1.5 times the rated resistance value (rated resistance of the pushing mechanism). The pressure sensor measures the force in the opposite direction of the pushing direction, that is, it measures the reaction force generated when the blockage is squeezed.

[0060] Based on the grating plate unblocking mechanism shown in Figures 1(a)-1(c), combined with Figure 2 The unblocking and calibration method of the grating plate unblocking mechanism of this application may include the following steps:

[0061] Step S110: When the pushing mechanism pushes the unblocking 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.

[0062] Specifically, the initial value of the first distance can be the standby position, denoted as... The target distance value of the preset trip endpoint is denoted as ( For example, a preset stroke of 300mm. ,but Real-time recording is required during the monitoring process. As time changes, when near If the difference is ≤5mm, the monitoring frequency needs to be increased (from 10Hz to 50Hz) to determine if the target distance can be reached.

[0063] The main component of the resistance value is the resistance of garbage blockage. Under normal circumstances without blockage, the resistance value is stable near the mechanical transmission friction force. When the garbage is slightly blocked, the resistance value will fluctuate and rise, but will not reach the first resistance threshold. When the blockage is severe, the resistance value may 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 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.

[0065] The displacement curve can be a displacement curve that varies with time, describing the actual movement of the dredging column fixing plate during the dredging process. Each coordinate point on the curve represents the distance between the initial position or standby position at time t. The resistance curve can be a resistance curve that varies with time, describing the actual resistance encountered by the dredging column fixing plate during the dredging process. Each coordinate point on the curve represents the resistance encountered at time t.

[0066] Step S130: If the displacement change curve does not reach the displacement peak and the resistance change curve does not reach the first resistance threshold, then the set stroke of the push mechanism is calibrated.

[0067] The displacement peak value represents the distance between the fixed plate of the unclogging column and its initial position when it moves to the preset stroke position. If the displacement change curve does not reach the displacement peak value, it means that the preset stroke has not been completed. If the resistance change curve does not reach the first resistance threshold, it means that the debris squeezed by the unclogging column is in a general or slight blockage state, and has not reached the level of severe blockage.

[0068] It is understandable that if the pushing mechanism encounters resistance during the pushing process (causing the resistance change curve to include points exceeding the first resistance threshold), and the displacement change curve does not reach the displacement peak, it indicates that the pushing mechanism is unable to continue pushing forward due to severe blockage, resulting in failure to reach the preset stroke. This is a normal phenomenon. However, if the pushing mechanism fails to reach the preset stroke when normally pushing the unblocking column fixing plate without encountering resistance due to severe blockage, this is an abnormal phenomenon, specifically manifested as a shortened unblocking stroke. In this case, the set stroke needs to be recalibrated to ensure that the pushing mechanism maintains a normal unblocking stroke and maintains unblocking efficiency.

[0069] Furthermore, the process of calibrating the set stroke of the actuator may include:

[0070] Based on the current operating power of the driving mechanism, determine the target time required to drive the driving mechanism to push the unblocking column fixing plate to the target position, and use the target time as the latest travel time of the driving mechanism's set travel.

[0071] Understandably, since the pre-set unblocking stroke has changed, it is related to the latest operating power of the pushing mechanism, the direct pushing device (the unblocking column fixing plate), and the working time. Therefore, based on the current operating power, the target time required to push the unblocking column fixing plate to the target position can be calculated. This target time is the standard time for the pushing mechanism to complete the set movement stroke of the unblocking column fixing plate. Subsequently, when the grating plate unblocking mechanism performs the unblocking task, it drives the pushing mechanism to perform the pushing work according to the latest movement stroke time to ensure normal unblocking stroke and unblocking efficiency.

[0072] The calibrating method for the grating plate unblocking mechanism provided in this embodiment monitors in real time the first distance value measured by the first distance sensor 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. 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. Therefore, by judging whether calibration is required based on the displacement and resistance encountered by the mechanism during the unblocking process, the mechanism automatically calibrates itself when it fails to reach the preset stroke unless severely blocked by debris, thus maintaining a normal unblocking stroke and preserving unblocking efficiency over a long period.

[0073] To improve the reliability of displacement data measurement, in some embodiments of this application, a second distance sensor can be installed on the fixed plate 40 mentioned in the foregoing embodiments. The second distance sensor 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 dredging column fixing plate 30 and avoids the movement trajectory of the dredging column 50 to prevent debris from obstructing the view.

[0074] Based on this, the unblocking and calibration method of the grating plate unblocking mechanism provided in this application may further include:

[0075] S1. 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.

[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 by monitoring the movement process of the unclog column fixing plate.

[0077] The difference between the second distance value and the first distance value represents the measurement deviation between the two distance sensors. A larger deviation indicates lower reliability of the distance data measured by the two sensors, and vice versa. Therefore, the deviation threshold represents 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, it indicates that the distance data measured by the two distance sensors is unreliable. In this case, a displacement change curve cannot be generated based on either the first or second distance value. Instead, monitoring video of the movement of the dredging column fixing plate is needed to analyze the actual movement trajectory of the dredging column fixing plate through video to obtain displacement information and finally generate a displacement change curve. If the difference between the second distance value and the first distance value is not greater than the deviation threshold, it indicates that the distance data measured by the two distance sensors is reliable, and a displacement change curve can be generated based on either the first or second distance value.

[0078] Considering the operational safety of the grating plate unblocking mechanism and to mitigate its wear and tear, when encountering severely blocked garbage, the mechanism can be stopped or reversed when it is about to become unable to advance further. Therefore, the unblocking calibration method for the grating plate unblocking mechanism provided in this application may further include:

[0079] 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, the pushing mechanism will stop pushing or drive the pushing mechanism to retract the unblocking column fixing plate.

[0080] The second resistance threshold can represent the force feedback when heavily clogged waste is squeezed.

[0081] Understandably, when the pushing force of the unclog column's fixing plate approaches the feedback force when the garbage is squeezed, it indicates severe blockage. Continuing to push it forward risks damaging the equipment, and further pushing is inefficient. Therefore, the pushing mechanism can be stopped, or the unclog column's fixing plate can be retracted, initiating another unclogging action to clear the severely blocked grating through multiple actions.

[0082] The apparatus for calibrating the unblocking mechanism of the grating plate provided in the embodiments of this application will be described below. The apparatus for calibrating the unblocking mechanism of the grating plate described below can be referred to in correspondence with the method for calibrating the unblocking mechanism of the grating plate described above.

[0083] See Figure 3 , Figure 3 This is a schematic diagram of a device for calibrating and unblocking a grating plate unblocking mechanism, as disclosed in an embodiment of this application.

[0084] like Figure 3 As shown, the device may include:

[0085] The monitoring data acquisition unit 100 is used to monitor in real time the first distance value measured by the first distance sensor to 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.

[0086] The dredging process curve generation unit 200 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.

[0087] The calibration unit 300 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.

[0088] Optionally, the fixed plate is equipped with a second distance sensor;

[0089] The device also includes:

[0090] 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.

[0091] 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.

[0092] Optionally, the calibration unit includes:

[0093] 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.

[0094] Optionally, the device may also include:

[0095] 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.

[0096] The device for calibrating the unblocking mechanism of the grating plate provided in this application embodiment can be applied to equipment for calibrating the unblocking mechanism of the grating plate, such as the unblocking control center of the grating plate unblocking system. Optionally, Figure 4 The hardware structure block diagram of the equipment for unblocking and calibrating the grating plate unblocking mechanism is shown, with reference to... Figure 4 The hardware structure of the grating plate unblocking mechanism calibrating device may include: 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 this embodiment of the application, the number of processor 1, communication interface 2, memory 3, and communication bus 4 is at least one, and processor 1, communication interface 2, and memory 3 communicate with each other through communication bus 4;

[0098] Processor 1 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0099] Memory 3 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device;

[0100] The memory stores a program, which the processor can call. The program is used for:

[0101] When the pushing mechanism pushes the unblocking 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.

[0102] 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.

[0103] 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.

[0104] Optionally, the refined and extended functions of the program can be found in the description above.

[0105] This application embodiment also provides a storage medium that can store a program suitable for execution by a processor, the program being used for:

[0106] When the pushing mechanism pushes the unblocking 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 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.

[0108] 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.

[0109] Optionally, the refined and extended functions of the program can be found in the description above.

[0110] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0111] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0112] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed 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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