A floating pump and a control method thereof

Abstract

The application relates to a floating pump and a control method thereof, and relates to the technical field of water pumps. The floating pump comprises a shell, a driving device arranged in the shell and used for driving, a water pumping device fixedly connected with the driving device and used for pumping water, a water leading device fixedly connected with the driving device and used for leading water out, a filtering device fixedly connected with the water pumping device and used for filtering, and a handle device arranged on the shell. The water leading device comprises a mounting base fixedly connected with the shell, a water leading pipe fixedly connected with the mounting base and used for leading water flow, a reinforcing rib arranged on the mounting base, and a concave rubber plug mounted on the water leading pipe and away from the mounting base. The application has the effect of preventing the floating pump from being blocked by silt.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water pumps, in particular to a floating pump and a control method thereof. BACKGROUND

[0002] The floating pump is a drainage equipment integrating a float, a water pump and a power device, which can automatically float on the water surface and quickly realize large-flow water pumping operation, and is widely used in municipal drainage, agricultural irrigation, water conservancy engineering and the like, and has the characteristics of convenient deployment and convenient recovery.

[0003] In the related art, the floating pump is suspended on the water surface by buoyancy, and water is sucked from the bottom filter screen, when the water level rises and falls, the pump body rises and falls synchronously, thereby automatically maintaining the optimal water suction depth, and the water is continuously discharged through the water outlet and the connected pipeline by the centrifugal force generated by the rotation of the submerged pump impeller.

[0004] For the related art in the above, in the working process of the floating pump, as the floating pump continuously pumps out the water flow, when the water level is lowered to a lower water level, the floating pump is easy to suck the mud and other objects at the bottom of the water into the floating pump, resulting in the clogging and damage of the floating pump. SUMMARY

[0005] In order to prevent the floating pump from being clogged by mud, the present application provides a floating pump and a control method thereof.

[0006] In a first aspect, the present application provides a floating pump, which adopts the following technical solution:

[0007] A floating pump, comprising a shell, a driving device arranged in the shell for driving, a water pumping device fixedly connected with the driving device for pumping water, a water guiding device fixedly connected with the driving device for guiding water, a filtering device fixedly connected with the water pumping device for filtering, and a handle device arranged on the shell;

[0008] The shell is provided with a mounting hole for mounting the water guiding device, the water guiding device comprises a mounting seat fixedly connected with the shell, a water guiding pipe fixedly connected with the mounting seat for guiding water flow, a reinforcing rib arranged on the mounting seat, and a concave rubber plug mounted on the water guiding pipe, and the concave rubber plug is provided with a mounting groove matched with the mounting hole.

[0009] By adopting the above technical solution, the water pumping device is driven by the driving device to pump water, the water to be pumped out in the working area is pumped out, and the pumped water is guided to other areas by the water guiding device, and foreign matters are blocked outside by the filtering device to prevent the foreign matters from entering the water pumping device and causing clogging.

[0010] Optionally, the filtering device comprises a filter screen for filtering foreign matters, a stamping plate for connecting with the water pumping device, and a butterfly sealing ring for sealing.

[0011] The handle device comprises a handle, a hinge fixedly connected to the shell to mount the handle, a switch mounted on the handle to control the opening and closing of the floating pump, and a connecting piece integrally arranged with the switch to mount the switch on the handle.

[0012] By adopting the technical scheme, the object in the water area is filtered by the filter screen, the filter screen prevents the pumping device from being blocked, the butterfly-shaped sealing ring is used for sealing to prevent water leakage, and the starting and stopping of the floating pump can be controlled by the switch on the handle.

[0013] Optionally, the propelling device fixedly connected to the shell to drive the floating pump to move and the flow guiding device arranged on both sides of the shell to control the steering are further included.

[0014] The flow guiding device comprises an electric telescopic rod rotationally connected to the shell, a flow guiding frame, a fixed column fixedly connected to the flow guiding frame, a flow guiding plate rotationally connected to the fixed column, and a limiting plate fixed to the flow guiding frame to limit the flow guiding plate.

[0015] One end of the flow guiding frame is rotationally connected to the electric telescopic rod, and the other end of the flow guiding frame is rotationally connected to the outside of the shell.

[0016] By adopting the technical scheme, the flow guiding device is stretched out by the electric telescopic rod, the limiting plate limits the flow guiding plate in the flow guiding frame, thereby unidirectionally preventing the water flow in the moving direction of the floating pump from passing, so as to control the floating pump to stop or steer, and the water flow behind the floating pump pushes the flow guiding plate away when the flow guiding device is stretched out, so as to reduce the water resistance of the flow guiding plate in the stretching process.

[0017] In the second aspect, the application provides a control method of a floating pump, which adopts the following technical scheme:

[0018] The control method of the floating pump comprises the following steps:

[0019] Step S1: obtaining a target water level in response to a starting signal;

[0020] Step S2: obtaining a water bottom surface characteristic;

[0021] Step S3: finding a corresponding safety depth based on the water bottom surface characteristic;

[0022] Step S4: calculating a current pumping depth based on a preset water inlet distance from the water surface and the target water level;

[0023] Step S5: if the current pumping depth is greater than the safety depth, controlling the floating pump to start pumping;

[0024] Step S6: if the current pumping depth is less than the safety depth, outputting an alarm signal.

[0025] By adopting the technical scheme, the safe pumping range is determined according to the specific actual situation of the water bottom, and the relationship between the current pumping depth and the safe depth is accurately calculated, which avoids the problem of the pumping port contacting the water bottom silt from the source, effectively reduces the probability of internal blockage of the pump body, and prolongs the service life of the floating pump.

[0026] Optionally, the method for calculating the current pumping depth based on the preset water inlet distance from the water surface and the target water level comprises:

[0027] Step S40: Obtain the edge line area of the current water area.

[0028] Step S41: Plan a travel route for traversing the edge line area according to the edge line area, and control the floating pump to advance along the travel route.

[0029] Step S42: Obtain the real-time water surface depth.

[0030] Step S43: Obtain the current water level.

[0031] Step S44: Calculate the water level difference based on the current water level and the target water level.

[0032] Step S45: Calculate the real-time pumping depth based on the water level difference, the water inlet distance from the water surface, and the real-time water surface depth.

[0033] Step S46: When the real-time pumping depth is greater than the safe depth, stop controlling the floating pump to advance along the travel route, and output the real-time pumping depth at this time as the current pumping depth.

[0034] By adopting the technical scheme, the edge line area of the water area is traversed and the maximum water surface depth is selected, and then the pumping depth is calculated based on the water level difference and the water inlet distance from the water surface, which solves the problem that a single fixed depth calculation cannot adapt to uneven depth in the water area, avoids misjudgment of the overall pumping safety due to the local water area being too shallow, and further improves the accuracy of the depth calculation.

[0035] Optionally, the method for controlling the floating pump to start pumping when the current pumping depth is greater than the safe depth comprises:

[0036] Step S50: Obtain the real-time pumping flow.

[0037] Step S51: When the real-time pumping flow is less than the preset pumping flow fluctuation threshold, record the abnormal time.

[0038] Step S52: When the abnormal time is greater than the preset abnormal threshold, control the floating pump to perform reverse flushing according to the preset flushing mode, and obtain the maintenance pumping flow after flushing.

[0039] Step S53: If the maintenance pumping flow is greater than the pumping flow fluctuation threshold, no operation is performed.

[0040] By adopting the above technical solution, real-time monitoring of the pumping flow can timely find flow fluctuations caused by blockage of silt or foreign matter, and when the duration of the anomaly exceeds the limit, the reverse flushing mode can use the reverse flow to flush the inlet and internal channel, thereby removing the attached silt and ensuring the normal operation of the floating pump.

[0041] Optionally, the method further comprises planning a travel route for traversing the edge line region according to the edge line region, and controlling the floating pump to advance according to the travel route, and the method comprises:

[0042] Step S410: obtaining a maximum inscribed rectangle of the edge line region based on the edge line region;

[0043] Step S411: simulating based on the maximum inscribed rectangle and a preset floating pump planar area to obtain single-line paths and adjacency relationships;

[0044] Step S412: forming two turning paths at one end of two adjacent single-line paths based on the adjacency relationships;

[0045] Step S413: determining a head-tail path based on the adjacency relationships;

[0046] Step S414: defining one end of one single-line path in one head-tail path as a starting point;

[0047] Step S415: concatenating the single-line paths and the turning paths based on the starting point and the adjacency relationships to obtain a travel route;

[0048] Step S416: controlling the floating pump to advance according to the travel route.

[0049] By adopting the above technical solution, the single-line paths and the turning paths are planned based on the maximum inscribed rectangle, so that the floating pump can comprehensively cover the edge line region and the paths are not repeated. This structured path planning method avoids the problems of missed detection or repeated advancement that may occur when manually controlling, improves the integrity and efficiency of water depth detection, and provides more comprehensive data support for subsequent depth calculation.

[0050] Optionally, the method further comprises controlling the floating pump to advance according to the travel route, and the method comprises:

[0051] Step S4160: obtaining a real-time position and a moving water surface depth when moving along the single-line path;

[0052] Step S4161: calculating a water depth slope based on the real-time position and the moving water surface depth;

[0053] Step S4162: When the water depth slope is greater than 0, control the floating pump to continue advancing according to the advancing route;

[0054] Step S4163: When the water depth slope is less than 0, obtain a real-time path and a real-time turning path based on the real-time position;

[0055] Step S4164: Obtain an optimized turning path based on the real-time position and the real-time turning path;

[0056] Step S4165: Control the floating pump to advance to the next path according to the optimized turning route and continue advancing along the advancing route.

[0057] By adopting the above technical solution, the advancing route is adjusted according to the water depth slope, when the slope decreases, it indicates that the water area becomes shallower, and the turning path is optimized in time to avoid the floating pump continuing to enter the too shallow area to waste time, so that the advancing of the floating pump can adapt to the change of the water area depth, and the working efficiency is improved.

[0058] Optionally, the method further comprises an optimization method for selecting the starting point, and the method comprises:

[0059] Step S4140: Obtain four corner positions based on the maximum inscribed rectangle;

[0060] Step S4141: Obtain four corresponding corner water surface depths based on the four corner positions;

[0061] Step S4142: Compare the four corner water surface depths, and select the corner position corresponding to the smallest corner water surface depth as the starting point.

[0062] Optionally, the method further comprises a method for not performing operation when the maintenance pumping flow is greater than the pumping flow fluctuation threshold, and the method comprises:

[0063] Step S530: Control the floating pump to advance according to the advancing route and not to pump, and obtain an advancing distance;

[0064] Step S531: When the advancing distance is greater than the minimum moving distance, control the floating pump to move and obtain a real-time pumping depth until the real-time pumping depth is greater than the safety depth;

[0065] Step S532: When the real-time pumping depth is greater than the safety depth, control the floating pump to stop moving and pump.

[0066] By adopting the above technical solution, after flushing, the floating pump is moved without pumping and the distance is monitored, and when the moving distance meets the standard, the safety pumping depth is found, the risk of blockage caused by the blockage being sucked again when the blockage is still in a close position after flushing is reduced, and after the safety depth is found, the floating pump is stopped moving and pumped, which also ensures that each pumping is within a safety range.

[0067] Optionally, it also includes a method for controlling the movement of the floating pump and acquiring real-time extraction depth until the real-time extraction depth is greater than the safe depth, the method comprising:

[0068] Step S5310: Calculate the current pumping depth based on the current water level and the distance between the inlet and the water surface;

[0069] Step S5311: When the current extraction depth is greater than the safe depth, control the floating pump to move while simultaneously controlling the floating pump to pump water;

[0070] Step S5312: When the current extraction depth is less than the safe depth, control the floating pump to move but not to pump water.

[0071] By adopting the above technical solution, the system dynamically adjusts whether to pump water based on the current extraction depth. When pumping water will not draw in mud or sand, it will proceed to improve work efficiency. When the extraction depth is less than the safe depth, it indicates that mud or sand will be drawn in and cause blockage. Therefore, the system will only move the pump without pumping water to avoid blockage.

[0072] In summary, the present invention has at least one of the following beneficial technical effects:

[0073] By controlling the extraction depth of the floating pump through detection of the safe depth, the risk of the floating pump being blocked or damaged due to the inflow of mud and sand during water pumping is reduced.

[0074] If foreign objects such as plastic bags block the water inlet during pumping operations, the foreign objects can be flushed out by reversing the flow of water, and the pump can be moved a certain distance to reduce the risk of foreign objects being pumped in again. Attached Figure Description

[0075] Figure 1 This is a schematic diagram of the structure of a floating pump according to Embodiment 1 of this application;

[0076] Figure 2 This is a partial exploded schematic diagram of a floating pump according to Embodiment 1 of this application;

[0077] Figure 3 This is an exploded schematic diagram of the water priming device of a floating pump according to Embodiment 1 of this application;

[0078] Figure 4 This is an exploded schematic diagram of a floating pump filtration device according to Embodiment 1 of this application;

[0079] Figure 5 This is an exploded schematic diagram of the handle device of a floating pump according to Embodiment 1 of this application;

[0080] Figure 6 This is a partial exploded schematic diagram of a floating pump according to Embodiment 2 of this application;

[0081] Figure 7 is a front view of a flow guide device of a floating pump in Embodiment 2 of the present application;

[0082] Figure 8 is a back view of a flow guide device of a floating pump in Embodiment 2 of the present application;

[0083] Figure 9 is a flow chart of a control method of a floating pump.

[0084] The names of the parts referred to by the respective reference numerals in the above drawings are as follows: 1, housing; 11, mounting hole; 2, driving device; 3, water pumping device; 4, water guiding device; 41, mounting seat; 42, water guiding pipe; 43, reinforcing rib; 44, concave rubber plug; 5, filtering device; 51, filter screen; 52, punched plate; 53, butterfly-shaped sealing ring; 6, handle device; 61, handle; 62, hinged piece; 63, switch; 64, connecting piece; 7, propelling device; 8, flow guide device; 81, electric telescopic rod; 82, flow guide frame; 83, fixing column; 84, flow guide plate; 85, limiting plate. DETAILED DESCRIPTION

[0085] The application will be described in further detail below with reference to the drawings and embodiments.

[0086] The embodiments of the present application disclose a floating pump.

[0087] Embodiment 1: Refer to Figure 1 and Figure 2 A floating pump comprises a housing 1, a driving device 2, a water pumping device 3, a water guiding device 4, a filtering device 5 and a handle device 6. The driving device 2 is fixedly installed in the housing 1 and fixedly connected with the water pumping device 3 to drive the water pumping device 3. The water pumping device 3 is installed in the housing 1 and fixedly connected with the filtering device 5 to pump water. The water guiding device 4 is fixedly connected with the water pumping device 3 to guide the pumped water to a water storage place outside. The filtering device 5 is fixedly installed at the bottom of the housing 1 to filter the pumped water. The handle device 6 is fixedly installed above the housing 1 to facilitate the use of the floating pump by a worker. When the floating pump needs to work, the water pumping device 3 is controlled by the driving device 2 to pump water, and the pumped water is filtered by the filtering device 5 and then guided by the water guiding device 4 to the outside.

[0088] Refer to Figure 3The water guiding device 4 comprises a mounting seat 41, a water guiding pipe 42, a reinforcing rib 43 and a concave rubber plug 44. The housing 1 is provided with a mounting hole 11 for mounting the water guiding device 4. The mounting seat 41 is fixedly connected with the outer side wall of the housing 1 for mounting the water guiding pipe 42. One end of the water guiding pipe 42 is fixedly connected with the mounting seat 41 for guiding the water drawn in. The reinforcing rib 43 is fixedly mounted on the mounting seat 41 for reinforcing the structural strength between the mounting seat 41 and the water guiding pipe 42. The concave rubber plug 44 is provided with a mounting groove 441, is sleeved on the water guiding pipe 42 and the mounting groove 441 of the concave rubber plug 44 is embedded in the mounting hole 11 at the same time, thereby playing a sealing and leakage-proof role.

[0089] With reference to Figure 4 The filtering device 5 comprises a filtering screen 51, a stamping plate 52 and a butterfly sealing ring 53. The filtering screen 51 is fixedly connected with the outer side wall below the housing 1, is in a cylindrical structure, the side wall of the filtering screen 51 is densely provided with filtering holes for filtering sundries in the water. The stamping plate 52 is provided with a connecting hole in the center for adapting to the water inlet end of the water pumping device 3, and the filtering device 5 and the water pumping device 3 are fixedly connected through the connecting hole. The butterfly sealing ring 53 is sleeved on the connecting part of the stamping plate 52 and the water pumping device 3, can be elastically deformed when the two are connected, thereby enhancing the sealing property of the connecting part and preventing unfiltered water from entering the water pumping device 3 from the gap.

[0090] With reference to Figure 5 The handle device 6 comprises a handle 61, a hinged piece 62, a switch 63 and a connecting piece 64. The handle 61 is fixed through the hinged piece 62 fixedly connected with the housing 1 for facilitating the use of the staff, and the handle 61 can be relatively rotated with the housing 1 through the hinged piece 62. The switch 63 is fixedly connected with the handle 61 through the connecting piece 64 for controlling the start and stop of the floating pump.

[0091] Example 2: With reference to Figure 6 Compared with example 1, example 2 adds a propelling device 7 and a flow guiding device 8. The propelling device 7 is fixedly connected with the housing 1 for driving the floating pump to move. The flow guiding device 8 is rotatably connected with the two sides of the housing 1. When the floating pump needs to work, the water pumping device 3 is controlled to pump water through the driving device 2, the water pumped in is filtered by the filtering device 5 and is guided out to the outside by the water guiding device 4. And the propelling device 7 can drive the floating pump to move in the working water area. When the floating pump needs to stop, the flow guiding devices 8 on the two sides are stretched out to increase the resistance between the floating pump and the water flow, thereby controlling the floating pump to stop. When the floating pump needs to turn, the flow guiding device 8 on one side is stretched out to increase the resistance between the floating pump on one side and the water flow, thereby controlling the floating pump to turn.

[0092] With reference to Figure 7 and Figure 8The flow guide device 8 comprises an electric telescopic rod 81, a flow guide frame 82, a fixed column 83, a flow guide plate 84 and a limiting plate 85. The electric telescopic rod 81 is rotationally connected to the outer side of the shell 1, one end of the flow guide frame 82 is rotationally connected to the end of the electric telescopic rod 81 away from the shell 1, and the other end of the flow guide frame 82 is rotationally connected to the outer side of the shell 1. The fixed column 83 is fixedly connected to the flow guide frame 82, and the flow guide plate 84 is rotationally connected to the fixed column 83. When the flow guide device 8 needs to be used, the flow guide frame 82 is synchronously stretched out through the stretching of the electric telescopic rod 81, and the water flow pushes the flow guide plate 84 away from the limiting plate 85 in the stretching process, so as to reduce the resistance of the flow guide device 8 in the stretching process. When the flow guide frame 82 is completely stretched out, the water flow moving in the direction of the floating pump pushes the flow guide plate 84 to the limiting plate 85, and the limiting plate 85 limits and fixes the flow guide plate 84 to ensure that there is no gap between the flow guide frames 82 for the water flow to pass through, so as to increase the resistance between the stretched flow guide device 8 and the water flow.

[0093] Based on the same inventive concept, the embodiment of the present application provides a control method of a floating pump.

[0094] With reference to Figure 9 The control method of the floating pump comprises the following steps.

[0095] Step S1: obtaining a target water level in response to a start signal.

[0096] The start signal refers to an instruction signal for triggering the floating pump to start executing the control process, which can be generated by manual operation (such as pressing a start button). The target water level refers to a preset final water level of a water area that is expected to be reached by pumping water by the floating pump (such as pumping the water level of a certain area from the current value to a set target value). The start signal and the target water level are both preset by the staff in the floating pump.

[0097] Step S2: obtaining water bottom surface characteristics;

[0098] The water bottom surface characteristics refer to the physical state parameters of the bottom of the water area where the floating pump is operated, which mainly include the accumulation thickness of the water bottom sediment, the particle size distribution (such as the proportion of fine sand and coarse sand), the flatness of the water bottom (such as whether there are protrusions and depressions), and the distribution range of hard base (such as rock and concrete) and soft base (such as silt and quicksand). These parameters directly affect the determination of the safety depth (such as the thicker the sediment accumulation, the higher the safety depth to avoid pumping into the sediment). The acquisition means is to shoot the water bottom picture by the underwater camera installed at the bottom of the floating pump and identify the particle size and base type.

[0099] Step S3: finding the corresponding safety depth based on the water bottom surface characteristics.

[0100] The safety depth refers to the minimum vertical distance that needs to be maintained between the water inlet and the water bottom surface to avoid the water inlet of the floating pump sucking in the sediment on the water bottom. The safety depth is obtained by looking up the corresponding safety depth from the water bottom surface characteristic database (the water bottom surface characteristic database refers to a pre-set structured data set storing the mapping relationship between the parameters of various water bottom surfaces and the corresponding safety depth) according to the characteristics of the water bottom surface.

[0101] Step S4: calculating the current pumping depth based on the pre-set water inlet to water surface distance and the target water level.

[0102] The water inlet to water surface distance refers to the vertical distance between the water inlet of the floating pump and the water surface, which is a parameter pre-set by the staff in the floating pump. The current pumping depth refers to the actual vertical distance from the water inlet to the water bottom surface after the floating pump completes the pumping work and the water level is pumped to the target water level, which is a direct parameter for judging whether the pumping operation is safe (i.e., whether the sediment will be sucked in). The calculation method is to subtract the water inlet to water surface distance from the target water level (for example, if the target water level is 2 meters and the water inlet to water surface distance is 0.5 meters, then the current pumping depth is 1.5 meters).

[0103] Step S5: if the current pumping depth is greater than the safety depth, controlling the floating pump to start pumping.

[0104] If the current pumping depth is greater than the safety depth, it means that after the floating pump pumps the water level of the water area to the target water level, the sediment on the water bottom is always below the water inlet and will not cause blockage to the floating pump, and then a signal is output to the floating pump to start pumping.

[0105] Step S6: if the current pumping depth is less than the safety depth, outputting an alarm signal.

[0106] If the current pumping depth is less than the safety depth, it means that after the floating pump pumps the water level of the water area to the target water level, the sediment on the water bottom is above the water inlet, and if the floating pump pumps at this time, the sediment will be sucked in, causing blockage to the floating pump. The alarm signal refers to the warning information sent by the floating pump, which is a signal to remind the staff to avoid damage to the floating pump. The implementation means is to output through the alarm device installed on the floating pump (such as a continuous prompt sound from a buzzer and a flashing red warning light).

[0107] The method further includes calculating the current pumping depth based on the pre-set water inlet to water surface distance and the target water level, and the method includes:

[0108] Step S40: obtaining the edge area of the current water area.

[0109] The edge line region refers to the boundary region of the water area where the floating pump works and the land (or other non-water area region), that is, the boundary range of the edge of the water area. The acquisition means is to shoot the surrounding environment through the camera installed on the floating pump, identify the boundary line in the image by using the computer vision algorithm (such as the semantic segmentation model), and determine the spatial range of the edge line region by combining the shooting angle and distance conversion.

[0110] Step S41: According to the edge line region, the travel route traversing the edge line region is planned, and the floating pump is controlled to advance according to the travel route.

[0111] The travel route refers to the moving path that can cover all key positions in the edge line region without repetition, which is planned in order to make the floating pump fully detect the water depth of each point in the edge line region (to ensure the integrity of subsequent depth calculation). The implementation means is to select a path that meets the current edge line region from the pre-input multiple path planning.

[0112] Step S42: Obtain the real-time water surface depth.

[0113] The real-time water surface depth refers to the real-time vertical distance from the water surface to the water bottom surface at the position of the floating pump during the advancing process. The acquisition method is to direct the emission of ultrasonic waves to the water bottom through the underwater ultrasonic detector installed at the bottom of the floating pump, and the reflected ultrasonic waves are returned to the sensor, and the water surface depth is calculated by combining the ultrasonic wave propagation speed in water.

[0114] Step S43: Obtain the current water level.

[0115] The current water level refers to the vertical height of the water surface relative to the water bottom surface at the position of the floating pump. The acquisition method is to read it through the float type water level sensor installed on the floating pump shell.

[0116] Step S44: Calculate the water level difference based on the current water level and the target water level.

[0117] The water level difference refers to the difference between the current water level and the target water level, and the calculation method is to subtract the target water level from the current water level (for example, if the current water level is 10 meters and the target water level is 1 meter, then the water level difference is 9 meters).

[0118] Step S45: Calculate the real-time extraction depth according to the water level difference, the distance from the water inlet to the water surface, and the real-time water surface depth.

[0119] The real-time extraction depth refers to the real-time vertical distance from the water inlet to the water bottom surface at the position of the floating pump during the movement along the advancing route after the floating pump extracts the water level to the target water level. The calculation method is to subtract the water level difference and then subtract the distance from the water inlet to the water surface from the real-time water surface depth (for example, if the real-time water surface depth is 4 meters, the water level difference is 1.5 meters, and the distance from the water inlet to the water surface is 0.5 meters, then the real-time extraction depth at this time is 2 meters obtained by subtracting 1.5 meters and then subtracting 0.5 meters from 4 meters).

[0120] Step S46: When the real-time extraction depth is greater than the safety depth, stop controlling the floating pump to advance along the advancing route, and output the real-time extraction depth at this time as the current extraction depth.

[0121] When the real-time extraction depth is greater than the safety depth, it indicates that the floating pump will not suck in the silt when extracting to the target water level at this position, and work can be started.

[0122] The method also includes a method for controlling the floating pump to start pumping water when the current extraction depth is greater than the safety depth, the method comprising:

[0123] Step S50: Obtain the real-time pumping flow.

[0124] The real-time pumping flow refers to the volume of water passing through the pumping device 3 per unit time during the pumping process of the floating pump. The acquisition method is to calculate it by using the electromagnetic induction principle through the electromagnetic flowmeter installed at the pumping device 3.

[0125] Step S51: Record the abnormal time when the real-time pumping flow is less than the preset pumping flow fluctuation threshold.

[0126] The pumping flow fluctuation threshold refers to a critical value preset for judging whether the real-time pumping flow is within a normal range, which is usually based on a reduction ratio interval (such as 30%, i.e., reduced to 35 m³ / h) of the rated pumping flow (such as 50 m³ / h) of the floating pump. The real-time pumping flow less than the flow value in this interval is determined to be abnormal, and the pumping flow fluctuation threshold is input by the staff in advance. The abnormal time refers to the time length from the start to the end of the abnormal state when the real-time pumping flow is detected to be less than the preset pumping flow fluctuation threshold. The implementation means is to record it by calling the built-in real-time clock (RTC) module.

[0127] Step S52: When the abnormal time is greater than the preset abnormal threshold, control the floating pump to perform reverse flushing according to the preset flushing mode, and obtain the maintenance pumping flow after flushing.

[0128] The abnormal threshold refers to a pre-set time threshold (e.g., 10 seconds) for determining whether the flow abnormality needs to be intervened, which is input by the staff in advance. The flushing mode refers to a pre-set combination of reverse flushing operation parameters (e.g., flushing duration and flushing pressure, etc.) for removing foreign matters blocking the water inlet, which is input by the staff in advance. When the abnormal time is greater than the pre-set abnormal threshold, it indicates that the water suction port is blocked by foreign matters (e.g., plastic bags, etc.), which needs to be flushed away by the flushing mode. The maintenance pumping flow refers to the pumping flow when the floating pump continues to pump after completing the flushing by the flushing mode, which is obtained in the same way as step S50 and will not be repeated here.

[0129] Step S53: If the maintenance pumping flow is greater than the pumping flow fluctuation threshold, no operation is performed.

[0130] When the maintenance pumping flow is greater than the pumping flow fluctuation threshold, it indicates that the foreign matters have been flushed away and no longer affect the normal operation of the floating pump, so the pumping work can continue.

[0131] The method also includes planning a travel route for traversing the edge line area based on the edge line area, and controlling the floating pump to move forward along the travel route. The method includes the following steps:

[0132] Step S410: Obtain the maximum inscribed rectangle of the edge line area based on the edge line area.

[0133] The maximum inscribed rectangle refers to a rectangle that is completely inside the edge line area (does not exceed the edge line area boundary) and has the largest area, and its four sides are tangent to the inner edge of the edge line area. The acquisition method is to obtain the boundary contour coordinate set (e.g., the longitude and latitude or planar coordinates of the edge points) of the edge line area through image recognition by the camera installed on the floating pump, and form a closed polygon boundary data.

[0134] Step S411: Simulate based on the maximum inscribed rectangle and the pre-set floating pump planar area to obtain a single-row path and a neighboring relationship.

[0135] The floating pump planar area refers to the projected area of the floating pump on the horizontal plane, which is obtained by the staff pre-measuring the size of the floating pump and calculating the area and inputting it. The single-row path refers to a parallel straight line path covering the maximum inscribed rectangle, and the neighboring relationship refers to the order of two adjacent single-row paths. The acquisition method is to simulate path segmentation of the maximum inscribed rectangle, plan a single-row path along the long side direction of the rectangle, the path direction is parallel to the long side, and the path spacing is obtained based on the floating pump planar area. For example, a 20-meter-wide rectangle can be divided into 10 single-row paths, each path covering a 2-meter-wide horizontal range.

[0136] Step S412: Form two turning paths at one end of two adjacent single-row paths based on the neighboring relationship.

[0137] Turning path refers to the transition path connecting the same end of two adjacent single paths, used to realize the smooth turning of the floating pump from one single path to another adjacent single path. The forming means is to design the path shape according to the end point coordinates of the adjacent single paths.

[0138] Step S413: Determine the head and tail paths based on the adjacent relationship.

[0139] The head and tail paths refer to the paths located at the front end (without a preceding adjacent path) as the head path and the paths located at the rear end (without a subsequent adjacent path) as the tail path according to the pre-defined adjacent path order in the path sequence.

[0140] Step S414: Arbitrarily select one end of a single path in one of the head and tail paths as the starting point.

[0141] The starting point refers to the location where the floating pump starts to work.

[0142] Step S415: Based on the starting point and the adjacent relationship, the single paths and the turning paths are connected in series to obtain the travel route.

[0143] The travel route refers to the complete moving track formed after the connection, which is followed by the floating pump in actual operation, including the starting point, all single paths, turning paths and the ending point. The acquisition method is to take the starting point coordinates as the starting point, and then call the coordinate data of the single paths and turning paths in sequence according to the adjacent relationship.

[0144] Step S416: Control the floating pump to move forward according to the travel route.

[0145] The method also includes controlling the floating pump to move forward according to the travel route, which includes:

[0146] Step S4160: Obtain the real-time position and the moving water surface depth when moving along the single path.

[0147] The real-time position refers to the real-time spatial coordinates of the floating pump at each instant during movement, which is obtained by the GPS installed on the floating pump. The moving water surface depth refers to the vertical distance from the water surface to the water bottom corresponding to the current position in the moving process of the floating pump, which is obtained in the same way as step S42.

[0148] Step S4161: Calculate the water depth slope based on the real-time position and the moving water surface depth.

[0149] The water depth slope refers to the ratio of the moving water surface depth to the moving distance of the adjacent two position points when the floating pump moves, which reflects the change rate of the water depth.

[0150] Step S4162: When the water depth slope is greater than 0, control the floating pump to continue moving forward according to the travel route.

[0151] When the water depth slope is greater than 0, it means that the water surface depth is deepening.

[0152] Step S4163: When the water depth slope is less than 0, the real-time path and the real-time turning path are obtained based on the real-time position.

[0153] When the water depth slope is less than 0, it means that the water surface depth is shallowing. The real-time path refers to the single-path path where the current floating pump is located, and the real-time turning path refers to the turning path corresponding to the single-path path where the current floating pump is located, both of which are obtained by the GPS on the floating pump.

[0154] Step S4164: The optimized turning path is obtained based on the real-time position and the real-time turning path.

[0155] The optimized turning path refers to a new turning path formed by combining the real-time position and the real-time turning path when it is found that the water depth will be shallowing along the current single-path path during the movement of the floating pump before reaching the turning path, in order to improve efficiency. The starting point of the optimized turning path is the current position of the floating pump, and the end point is the next single-path path adjacent to the current one. The optimized turning path is parallel to the real-time turning path, and the floating pump can move directly along the optimized turning path to the next single-path path.

[0156] Step S4165: The floating pump is controlled to move forward to the next path according to the optimized turning path, and continue to move forward along the moving path.

[0157] The method also includes a method of not performing operation when the maintenance pumping flow is greater than the pumping flow fluctuation threshold, which comprises:

[0158] Step S530: The floating pump is controlled to move forward along the moving path without pumping, and the moving distance is obtained.

[0159] The moving distance refers to the distance moved by the floating pump, which is obtained by the GPS installed on the floating pump. When the maintenance pumping flow is greater than the pumping flow fluctuation threshold, the floating pump is controlled to move in order to prevent the foreign matter washed away from being sucked into the water inlet again and blocking the water inlet.

[0160] Step S531: When the moving distance is greater than the minimum moving distance, the floating pump is controlled to move and the real-time pumping depth is obtained until the real-time pumping depth is greater than the safety depth.

[0161] The minimum moving distance refers to the minimum distance that the floating pump needs to move in order to prevent the foreign matter washed away from being sucked into the water inlet again and blocking the water inlet when the maintenance pumping flow is greater than the pumping flow fluctuation threshold, which is obtained by the staff input in advance. The real-time pumping depth is obtained in the same way as step S45.

[0162] Step S532: when the real-time extraction depth is greater than the safe depth, the floating pump is controlled to stop moving and to carry out water pumping.

[0163] When the real-time extraction depth is greater than the safe depth, it indicates that the floating pump will not extract the silt after pumping to the target water level, and is in a safe water pumping position.

[0164] The method further comprises controlling the floating pump to move and obtaining the real-time extraction depth until the real-time extraction depth is greater than the safe depth, and the method comprises the following steps:

[0165] Step S5310: the current extraction depth is calculated according to the current water level and the distance from the water inlet to the water surface.

[0166] The current water level refers to the real-time vertical height of the water surface relative to the water bottom when the floating pump moves after back flushing, and the current extraction depth refers to the vertical distance from the water inlet to the water bottom. The acquisition method is the same as step S45.

[0167] Step S5311: when the current extraction depth is greater than the safe depth, the floating pump is controlled to move and to carry out water pumping.

[0168] When the current extraction depth is greater than the safe depth, it indicates that the floating pump can carry out water pumping during the movement to avoid the foreign matter being sucked into the water inlet again, and will not suck in the silt.

[0169] Step S5312: when the current extraction depth is less than the safe depth, the floating pump is controlled to move but not to carry out water pumping.

[0170] When the current extraction depth is less than the safe depth, it indicates that the floating pump will suck in the silt if the water pumping is continued during the movement to avoid the foreign matter being sucked into the water inlet again.

[0171] The above only describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the technical field, some improvements and decorations without departing from the principle of the present application shall also be considered as the protection scope of the present application.

Claims

1. A control method for a floating pump, applied to a floating pump, characterized in that: The floating pump includes a housing (1), a drive device (2) disposed inside the housing (1) for driving, a pumping device (3) fixedly connected to the drive device (2) for pumping water, a water drawing device (4) fixedly connected to the drive device (2) for drawing water out, a filtering device (5) fixedly connected to the pumping device (3) for filtering, and a handle device (6) disposed on the housing. The housing (1) is provided with an installation hole (11) for installing the water-guiding device (4). The water-guiding device (4) includes a mounting base (41) fixedly connected to the housing (1), a water-guiding pipe (42) fixedly connected to the mounting base (41) to guide the water flow, a reinforcing rib (43) provided on the mounting base (41), and a concave rubber plug (44) installed on the water-guiding pipe. The concave rubber plug (44) is provided with an installation groove (441) that cooperates with the installation hole (11). The filter device (5) includes a filter screen (51) for filtering foreign objects, a stamping plate (52) for connecting with the pumping device (3), and a butterfly sealing ring (53) for sealing. The handle device (6) includes a handle (61), a hinge (62) fixedly connected to the housing (1) for mounting the handle (61), a switch (63) mounted on the handle (61) for controlling the start and stop of the floating pump, and a connector (64) integrally formed with the switch (63) for mounting the switch (63) on the handle (61). It also includes a propulsion device (7) fixedly connected to the housing (1) to drive the floating pump to move, and a flow guide device (8) disposed on both sides of the housing (1) for controlling the direction. The flow guiding device (8) includes an electric telescopic rod (81) rotatably connected to the housing (1), a flow guiding frame (82), a fixed column (83) fixedly connected to the flow guiding frame (82), a flow guiding plate (84) rotatably connected to the fixed column (83), and a limiting plate (85) fixed to the flow guiding frame (82) to limit the flow guiding plate (84). One end of the flow guide (82) is rotatably connected to the electric telescopic rod (81), and the other end of the flow guide (82) is rotatably connected to the outside of the housing (1); The method includes: Step S1: In response to the start signal, obtain the target water level; Step S2: Obtain the characteristics of the underwater bottom surface; Step S3: Determine the corresponding safe depth based on the characteristics of the bottom surface; Step S4: Calculate the current extraction depth based on the preset distance between the inlet and the water surface and the target water level; Step S5: If the current extraction depth is greater than the safe depth, control the floating pump to start pumping water; Step S6: If the current extraction depth is less than the safe depth, output an alarm signal; Among them, the methods for controlling the floating pump to start pumping water if the current extraction depth is greater than the safe depth include: Step S50: Obtain real-time pumping flow rate; Step S51: Record the abnormal time when the real-time pumping flow rate is less than the preset pumping flow rate fluctuation threshold; Step S52: When the abnormal time exceeds the preset abnormal threshold, control the floating pump to perform reverse flushing according to the preset flushing mode, and obtain the maintenance pumping flow rate after flushing. Step S53: If the maintenance pumping flow rate is greater than the pumping flow rate fluctuation threshold, no operation will be performed.

2. The control method for a floating pump according to claim 1, characterized in that, Methods for calculating the current extraction depth based on a preset distance from the inlet to the water surface and the target water level include: Step S40: Obtain the boundary area of ​​the current water area; Step S41: Plan the travel route through the edge area according to the edge area plan, and control the floating pump to move forward according to the travel route; Step S42: Obtain real-time water surface depth; Step S43: Obtain the current water level; Step S44: Calculate the water level difference based on the current water level and the target water level; Step S45: Calculate the real-time extraction depth based on the water level difference, the distance from the inlet to the water surface, and the real-time water surface depth; Step S46: When the real-time extraction depth is greater than the safe depth, stop controlling the floating pump to move forward along the travel path, and output the real-time extraction depth at this time as the current extraction depth.

3. The control method for a floating pump according to claim 2, characterized in that, The methods for planning a route through the boundary area based on the boundary area and controlling the floating pump to move forward according to the route include: Step S410: Obtain the maximum inscribed rectangle of the edge region based on the edge region; Step S411: Simulate based on the maximum inscribed rectangle and the preset floating pump plane area to obtain a single-line path and adjacency relationship; Step S412: Based on the adjacency relationship, form two turning paths at one end of two adjacent one-way paths; Step S413: Determine the first and last paths based on adjacency relationships; Step S414: Arbitrarily select one end of a single-line path from the beginning and end paths and define it as the starting point; Step S415: Connect the one-way path and turning path based on the starting point and adjacency relationship to obtain the travel route; Step S416: Control the floating pump to move forward along the travel route.

4. The control method for a floating pump according to claim 3, characterized in that, Methods for controlling the floating pump to move forward along the designated path include: Step S4160: Obtain the real-time position and water depth while moving along the single-line path; Step S4161: Calculate the water depth slope based on the real-time location and the moving water surface depth; Step S4162: When the water depth slope is greater than 0, control the floating pump to continue moving forward according to the travel route; Step S4163: When the water depth slope is less than 0, obtain the real-time path and real-time turning path based on the real-time position; Step S4164: Obtain the optimized steering path based on real-time location and real-time steering path; Step S4165: Control the floating pump to move forward to the next path according to the optimized turning route, and continue to move forward along the travel route.

5. The control method for a floating pump according to claim 1, characterized in that, When the maintenance pumping flow rate exceeds the pumping flow rate fluctuation threshold, the following methods are used to refrain from operation: Step S530: Control the floating pump to move forward along the travel route without pumping water, and obtain the forward distance; Step S531: When the forward distance is greater than the minimum moving distance, control the floating pump to move and obtain the real-time extraction depth until the real-time extraction depth is greater than the safe depth; Step S532: When the real-time extraction depth is greater than the safe depth, control the floating pump to stop moving and start pumping water.

6. The control method for a floating pump according to claim 5, characterized in that, Methods for controlling the movement of a floating pump and obtaining real-time extraction depth until the real-time extraction depth is greater than the safe depth include: Step S5310: Calculate the current pumping depth based on the current water level and the distance between the inlet and the water surface; Step S5311: When the current extraction depth is greater than the safe depth, control the floating pump to move while simultaneously controlling the floating pump to pump water; Step S5312: When the current extraction depth is less than the safe depth, control the floating pump to move but not to pump water.

Images