Control method of drainage equipment and drainage equipment

Abstract

The application provides a control method of a drainage equipment and the drainage equipment, and relates to the technical field of the drainage equipment. Water level information detected by a water level sensor on the drainage equipment is acquired. According to the water level information, a lifting mechanism is feedback adjusted so that a bottom frame is located above a water level. When a drainage pump of the drainage equipment is operating, water level information detected by a water level sensor on the drainage equipment is acquired, and according to the water level information, it is determined whether the water level is higher than the drainage pump. When the water level is not higher than the drainage pump, the drainage pump is controlled to stop running. The control method can automatically control the drainage equipment, can guarantee safe operation of the drainage equipment, greatly simplifies operation of an operator, and is convenient for remote control of the operator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drainage equipment, in particular to a control method of drainage equipment and the drainage equipment. BACKGROUND

[0002] The mobile drainage equipment is loaded with a water pump and can be applied to various special scenes, especially in emergency rescue and complex working conditions. When heavy rain causes serious water accumulation in low-lying areas, roads, underground parking lots, etc. of a city, the drainage equipment can quickly reach the scene for emergency drainage operation, quickly restore traffic order, and reduce the impact of waterlogging on residents' life and property.

[0003] The drainage equipment needs to be operated in water many times, and the drainage pump needs to be immersed below the water surface. However, a large number of functional components on the drainage equipment, such as engines and radiators, cannot be immersed in water, and these functional components will be damaged if they are immersed in water. Therefore, the operator needs to carefully operate the drainage equipment to avoid equipment damage.

[0004] In addition, the drainage equipment needs to enter a relatively closed working environment for operation in some cases, such as subway tunnels and underground parking lots. The operator remotely controls the drainage equipment to work during operation, which is difficult to operate and the equipment is prone to accidental damage. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a control method of drainage equipment and the drainage equipment to solve the above problems in the prior art.

[0006] A control method of drainage equipment, the drainage equipment comprising a walking mechanism, a bottom frame lower assembly, a bottom frame upper assembly, a lifting mechanism, a drainage pump, and a hydraulic power unit; the walking mechanism is used for walking movement; the walking mechanism and the drainage pump are arranged on the bottom frame lower assembly, and the hydraulic power unit is arranged on the bottom frame upper assembly; the lifting mechanism is arranged between the bottom frame upper assembly and the bottom frame lower assembly and can drive the bottom frame upper assembly to adjust the height relative to the bottom frame lower assembly; the control method comprises:

[0007] obtaining water level information detected by a water level sensor on the drainage equipment; and feeding back adjustment of the lifting mechanism to make the bottom frame upper assembly located above the water level according to the water level information;

[0008] When the drainage pump of the drainage equipment is operating, obtaining water level information detected by a water level sensor on the drainage equipment, and determining whether the water level is higher than the drainage pump according to the water level information; when the water level is not higher than the drainage pump, controlling the drainage pump to stop running.

[0009] Optionally, the control method further comprises:

[0010] In response to the waterlogging drainage equipment entering the automatic drainage mode, the inclination direction detected by the level meter on the waterlogging drainage equipment and the water level information detected by the water level sensor are acquired; the real-time moving direction of the waterlogging drainage equipment is planned according to the inclination direction and the water level information of the waterlogging drainage equipment, so that the water level at the position of the waterlogging drainage equipment is lower than the chassis superstructure and higher than the drainage pump;

[0011] The waterlogging drainage equipment is controlled to move in the planned real-time moving direction until and keeps the water level at the position of the waterlogging drainage equipment lower than the chassis superstructure and higher than the drainage pump;

[0012] When the water level at the position of the waterlogging drainage equipment is lower than the chassis superstructure and higher than the drainage pump, the drainage pump of the waterlogging drainage equipment is controlled to perform the drainage work.

[0013] Optionally, the planning of the real-time moving direction of the waterlogging drainage equipment according to the inclination direction and the water level information of the waterlogging drainage equipment specifically includes:

[0014] When the water level at the position of the waterlogging drainage equipment is determined to be reduced to a first threshold value according to the water level information, the real-time moving direction of the waterlogging drainage equipment is set to a direction in which the ground height is reduced according to the inclination direction of the waterlogging drainage equipment;

[0015] When the water level at the position of the waterlogging drainage equipment is determined to be increased to a second threshold value according to the water level information, the real-time moving direction of the waterlogging drainage equipment is set to a direction in which the ground height is increased according to the inclination direction of the waterlogging drainage equipment;

[0016] The second threshold value is greater than the first threshold value, and the water levels corresponding to the first threshold value and the second threshold value are both lower than the highest limit value of the height adjustment of the chassis superstructure and higher than the drainage pump.

[0017] Optionally, the control method further includes:

[0018] A first threshold value L1 is determined according to the height H1 of the drainage pump; wherein L1 = k1 x H1, k1 is a first sensitivity coefficient and is greater than 1;

[0019] A second threshold value L2 is determined according to the highest limit value H2 of the height adjustment of the chassis superstructure; wherein L2 = H2 / k2, k2 is a second sensitivity coefficient and is greater than 1.

[0020] Optionally, the control method further includes:

[0021] A first input operation of a user is received, and in response to the first input operation, the first sensitivity coefficient and the second sensitivity coefficient are adjusted to be larger;

[0022] A second input operation of a user is received, and in response to the second input operation, the first sensitivity coefficient and the second sensitivity coefficient are adjusted to be smaller.

[0023] Optionally, the control method further comprises:

[0024] When the drainage equipment is moving, an inclination angle detected by a level gauge on the drainage equipment is acquired, and a maximum limit value of height adjustment of the chassis is determined according to the inclination angle; when the inclination angle is 0, the maximum limit value of height adjustment of the chassis is set as a height value of the chassis when the lifting mechanism is adjusted to the highest state; and the greater the inclination angle, the smaller the corresponding maximum limit value.

[0025] Optionally, the control method further comprises:

[0026] In response to the drainage equipment entering the automatic drainage mode, an inclination angle detected by a level gauge on the drainage equipment and water level information detected by a water level sensor are acquired;

[0027] According to the inclination angle and the water level information of the drainage equipment, a maximum moving speed of the drainage equipment is set; the greater the inclination angle of the position where the drainage equipment is located, the smaller the corresponding maximum moving speed; the higher the water level of the position where the drainage equipment is located, the smaller the corresponding maximum moving speed;

[0028] According to the inclination angle and the water level information of the drainage equipment, a maximum steering angle of the drainage equipment is set; the greater the inclination angle of the position where the drainage equipment is located, the smaller the corresponding maximum steering angle; the higher the water level of the position where the drainage equipment is located, the smaller the corresponding maximum steering angle.

[0029] Optionally, the control method further comprises:

[0030] When the drainage equipment is in a dark working environment, in response to the drainage equipment entering the automatic drainage mode, an illuminating lamp is turned on to illuminate the environment around the drainage equipment, and a ground image around the drainage equipment is acquired by a camera;

[0031] According to the ground image around the drainage equipment, distribution of accumulated water around the drainage equipment is determined;

[0032] According to the distribution of accumulated water around the drainage equipment, a driving path of the drainage equipment is planned in real time so as to drive into the accumulated water to perform drainage work.

[0033] Optionally, the determining of the distribution of accumulated water around the drainage equipment according to the ground image around the drainage equipment is specifically:

[0034] Water ripples in the ground image are identified, and the distribution of accumulated water around the drainage equipment is determined according to the water ripples in the ground image.

[0035] In another aspect, the application also provides a drainage equipment for implementing the control method.

[0036] The application provides a control method of a drainage equipment, when the drainage equipment moves, water level information detected by a water level sensor on the drainage equipment is acquired; and according to the water level information, a lifting mechanism is adjusted to make an upper equipment on a chassis above the water level; when a drainage pump of the drainage equipment operates, water level information detected by a water level sensor on the drainage equipment is acquired, and according to the water level information, it is determined whether the water level is higher than the drainage pump; when the water level is not higher than the drainage pump, the drainage pump is controlled to stop running. The control method provided by the application can automatically control the drainage equipment, can guarantee the safe operation of the drainage equipment, and greatly simplifies the operation of the operator, and is convenient for the operator to remotely control. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a structural schematic diagram of the drainage equipment in the embodiment of the application.

[0038] Figure 2 is one of the schematic block diagrams of the drainage equipment in the embodiment of the application.

[0039] Figure 3 is another of the schematic block diagrams of the drainage equipment in the embodiment of the application.

[0040] Figure 4 is one of the flowcharts of the control method of the drainage equipment in the embodiment of the application.

[0041] Figure 5 is another of the flowcharts of the control method of the drainage equipment in the embodiment of the application.

[0042] Figure 6 is a third of the flowcharts of the control method of the drainage equipment in the embodiment of the application.

[0043] Figure 7 is a fourth of the flowcharts of the control method of the drainage equipment in the embodiment of the application.

[0044] Reference signs: lower equipment of chassis 101, upper equipment of chassis 102, lifting mechanism 103, walking mechanism 104. DETAILED DESCRIPTION

[0045] The following is a specific embodiment of the application and further describes the technical solution of the application in combination with the drawings, but the application is not limited to these embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope of protection of the application. In addition, in order to be clear and concise, the description of known functions and structures is omitted.

[0046] It should be noted that the embodiments and the features in the embodiments in the present application can be combined with each other without conflict.

[0047] The drainage equipment needs to be operated in water many times, and the drainage pump needs to be immersed below the water surface. However, a large number of functional components on the drainage equipment cannot be soaked in water, for example, the engine, the radiator and the like, and these functional components will be damaged if water enters them. Therefore, the operator needs to carefully operate the drainage equipment to avoid damage to the equipment. In addition, the drainage equipment needs to enter a relatively closed working environment for operation in some cases, for example, a subway tunnel, an underground parking lot and the like. The operator remotely controls the drainage equipment to work when operating, and the operation is difficult, and the equipment is prone to accidental damage. Therefore, the control method provided in the present application can automatically control the drainage equipment, greatly simplifying the operation of the operator.

[0048] In the embodiments of the present application, the drainage equipment includes a walking mechanism, a bottom frame lower assembly, a bottom frame upper assembly, a lifting mechanism, a drainage pump and a hydraulic power unit. The walking mechanism is used for walking movement. The walking mechanism and the drainage pump are arranged on the bottom frame lower assembly, and the hydraulic power unit is arranged on the bottom frame upper assembly. The lifting mechanism is arranged between the bottom frame upper assembly and the bottom frame lower assembly, and can drive the bottom frame upper assembly to adjust the height relative to the bottom frame lower assembly.

[0049] Figure 1 The carrying structure of the drainage equipment is shown, including a bottom frame lower assembly 101, a bottom frame upper assembly 102, a lifting mechanism 103 and a walking mechanism 104. The bottom frame upper assembly 102 is located above the bottom frame lower assembly 101. The lifting mechanism 103 is arranged between the bottom frame upper assembly 102 and the bottom frame lower assembly 101, and can drive the bottom frame upper assembly 102 to adjust the height relative to the bottom frame lower assembly 101. The walking mechanism 104 is used for walking movement and is composed of a plurality of track mechanisms, and can be suitable for more complex road conditions.

[0050] Figure 2 The schematic block diagram of the drainage equipment is shown. The hydraulic power unit is arranged on the bottom frame upper assembly, and the drainage pump is arranged on the bottom frame lower assembly. The lifting mechanism 103 is arranged between the bottom frame upper assembly 102 and the bottom frame lower assembly 101, and can drive the bottom frame upper assembly 102 to adjust the height relative to the bottom frame lower assembly 101. The hydraulic power unit includes an engine, a radiator and the like. These functional components will be damaged if water enters them. Therefore, the operator needs to operate to ensure that these functional components are not soaked in water.

[0051] Figure 3Another schematic block diagram of the flood drainage equipment is shown, including a controller, a hydraulic power unit, a lifting mechanism, a drainage pump, a walking mechanism, a camera, an irradiation lamp, a water level sensor, and a level. The controller can be used to receive sensor signals and issue control instructions to control the operation of the flood drainage equipment. When the flood drainage equipment is operating, the controller can control the hydraulic power unit, the lifting mechanism, the drainage pump, and the walking mechanism to work. The water level sensor is used to detect the water level at the location of the flood drainage equipment in real time and generate a corresponding electrical signal to send to the controller. The level is used to detect the inclination angle and direction of the flood drainage equipment and generate a corresponding electrical signal to send to the controller. In addition, the controller can also control the opening or closing of the irradiation lamp and receive and process the ground images collected by the camera.

[0052] Reference Figure 4 The control method includes steps 401 and 402, which can automatically control the flood drainage equipment and greatly simplify the operation of the operator.

[0053] In step 401, the water level information detected by the water level sensor on the flood drainage equipment is obtained, and the lifting mechanism is adjusted to make the chassis above the water level based on the water level information.

[0054] In step 402, when the drainage pump of the flood drainage equipment is operating, the water level information detected by the water level sensor on the flood drainage equipment is obtained, and whether the water level is higher than the drainage pump is determined based on the water level information. When the water level is not higher than the drainage pump, the drainage pump is controlled to stop operating.

[0055] The water level sensor is used to detect the water level at the location of the flood drainage equipment, which can convert the water level information into an electrical signal and transmit it to the controller, so that the controller can automatically control the flood drainage equipment based on the water level at the location of the flood drainage equipment.

[0056] In step 401, the water level sensor on the flood drainage equipment continuously detects the water level information and transmits it to the controller. The controller adjusts the lifting mechanism to make the chassis above the water level based on the water level at the location of the flood drainage equipment.

[0057] In step 402, when the drainage pump of the flood drainage equipment is operating, the water level sensor on the flood drainage equipment continuously detects the water level information and transmits it to the controller. The controller determines whether the water level is higher than the drainage pump based on the water level at the location, and controls the drainage pump to stop operating when the water level is not higher than the drainage pump.

[0058] The above steps 401 and 402 can ensure that the chassis is above the water level, and the drainage pump only works below the water surface, thereby ensuring the safe operation of the hydraulic power unit and the drainage pump. Therefore, the control method provided by the present application can automatically control the flood drainage equipment, can ensure the safe operation of the flood drainage equipment, and greatly simplifies the operation of the operator.

[0059] Reference Figure 5 In an embodiment of the present application, the control method further comprises steps 501-503, the controller controls the drainage equipment to enter the automatic drainage mode. In the automatic drainage mode, the controller can automatically control the drainage equipment to move and drain, thereby draining the accumulated water at the location.

[0060] In step 501, in response to the drainage equipment entering the automatic drainage mode, the inclination direction detected by the level meter on the drainage equipment and the water level information detected by the water level sensor are obtained; the real-time moving direction of the drainage equipment is planned according to the inclination direction and the water level information of the drainage equipment, so as to make the water level at the location of the drainage equipment lower than the upper part of the chassis and higher than the drainage pump.

[0061] In step 502, the drainage equipment is controlled to move in the planned real-time moving direction until and keep the water level at the location of the drainage equipment lower than the upper part of the chassis and higher than the drainage pump.

[0062] In step 503, when the water level at the location of the drainage equipment is lower than the upper part of the chassis and higher than the drainage pump, the drainage pump of the drainage equipment is controlled to perform the drainage work.

[0063] When the drainage equipment needs to perform the drainage work on a piece of area, the drainage equipment can enter the automatic drainage mode to drain the accumulated water in the piece of area. It should be understood that the drainage equipment needs to enter a relatively closed working environment in some cases, for example, a subway tunnel, an underground parking lot, etc., and the ground is usually uneven with a slope, so that the drainage equipment needs to work in an inclined state.

[0064] In step 501, after the drainage equipment enters the automatic drainage mode, the level meter on the drainage equipment continuously detects the inclination direction and generates a corresponding electrical signal sent to the controller, and the water level sensor on the drainage equipment continuously detects the water level information and generates a corresponding electrical signal sent to the controller. The controller can plan the real-time moving direction of the drainage equipment according to the inclination direction and the water level information of the drainage equipment. In step 502, the controller controls the drainage equipment to move in the planned real-time moving direction until and keep the water level at the location of the drainage equipment lower than the upper part of the chassis and higher than the drainage pump. In step 503, when the water level at the location of the drainage equipment is lower than the upper part of the chassis and higher than the drainage pump, the controller controls the drainage pump of the drainage equipment to perform the drainage work.

[0065] The control process of steps 501-503 is based on steps 401-402. When the water level at the location of the water drainage device changes, the controller will simultaneously adjust the lifting mechanism according to the water level feedback to make the superstructure above the water level. Therefore, when the water level at the location of the water drainage device rises, the controller will control the lifting mechanism to raise the height of the superstructure until the maximum limit of the height adjustment of the superstructure is reached.

[0066] When the controller controls the movement of the water drainage device, in order to ensure that the water pump can suck water, it will continue to drive downward in the direction of inclination to ensure that the water level at the location of the water drainage device is higher than the water pump. In addition, based on step 401, the controller will adjust the lifting mechanism according to the water level information to make the superstructure above the water level. Therefore, when the controller plans the real-time moving direction of the water drainage device, the adjustment range of the lifting mechanism will be taken into account, and the maximum limit of the height adjustment of the superstructure will be used to control the moving direction of the water drainage device.

[0067] Further, the real-time moving direction of the water drainage device is planned according to the inclination direction of the water drainage device and the water level information, which specifically includes the following steps.

[0068] When the water level at the location of the water drainage device is determined to be lowered to a first threshold value according to the water level information, the real-time moving direction of the water drainage device is set to the direction of the decrease of the ground height according to the inclination direction of the water drainage device.

[0069] When the water level at the location of the water drainage device is determined to be raised to a second threshold value according to the water level information, the real-time moving direction of the water drainage device is set to the direction of the increase of the ground height according to the inclination direction of the water drainage device.

[0070] The second threshold value is greater than the first threshold value, and the water levels corresponding to the first threshold value and the second threshold value are both lower than the maximum limit of the height adjustment of the superstructure and higher than the water pump.

[0071] When the water level at the location of the water drainage device is lowered to the first threshold value, the controller sets the real-time moving direction of the water drainage device to the direction of the decrease of the ground height to raise the water level at the location of the water drainage device, so as to ensure that the water pump can suck water. When the water level at the location of the water drainage device is raised to the second threshold value, the controller sets the real-time moving direction of the water drainage device to the direction of the increase of the ground height to lower the water level at the location of the water drainage device, so as to ensure that the water level is lower than the superstructure. In this way, the water level at the location of the water drainage device is controlled between the first threshold value and the second threshold value. Since the water levels corresponding to the first threshold value and the second threshold value are both lower than the maximum limit of the height adjustment of the superstructure and higher than the water pump, when the water level at the location of the water drainage device is controlled between the first threshold value and the second threshold value, the water level at the location of the water drainage device is lower than the maximum limit of the height adjustment of the superstructure and higher than the water pump.

[0072] Further, the control method further comprises: determining the first threshold L1 according to the height H1 of the drainage pump; wherein L1 = k1*H1, k1 is the first sensitivity coefficient and is greater than 1.

[0073] Determining the second threshold L2 according to the highest limit value H2 of the height adjustment of the chassis; wherein L2 = H2 / k2, k2 is the second sensitivity coefficient and is greater than 1.

[0074] The closer the first sensitivity coefficient k1 is to 1, the closer the first threshold L1 is to the height H1 of the drainage pump; the closer the second sensitivity coefficient k2 is to 1, the closer the second threshold L2 is to the highest limit value H2 of the height adjustment of the chassis; therefore, the closer the first sensitivity coefficient k1 and the second sensitivity coefficient k2 are to 1, the greater the difference between the first threshold L1 and the second threshold L2, and the greater the range of water level change allowed, the lower the moving frequency of the drainage equipment in the automatic drainage mode, the better the stability of operation, and the more energy-saving; the farther the first sensitivity coefficient k1 and the second sensitivity coefficient k2 are from 1, the smaller the difference between the first threshold L1 and the second threshold L2, and the smaller the range of water level change allowed, the higher the water level control accuracy, but the moving frequency of the drainage equipment in the automatic drainage mode is increased, the stability of operation is reduced, and the energy consumption is increased. The first sensitivity coefficient k1 and the second sensitivity coefficient k2 can be used for adjusting the operation of the drainage equipment in the automatic drainage mode.

[0075] Further, the control method further comprises: receiving a first input operation of a user, and in response to the first input operation, adjusting the first sensitivity coefficient and the second sensitivity coefficient to be larger.

[0076] Receiving a second input operation of a user, and in response to the second input operation, adjusting the first sensitivity coefficient and the second sensitivity coefficient to be smaller.

[0077] The controller can be configured with an input device, which can be a button, a knob, a touch screen, etc., and an operator can perform the first input operation and the second input operation through the input device. The controller can adjust the first sensitivity coefficient and the second sensitivity coefficient to be larger in response to the first input operation, and adjust the first sensitivity coefficient and the second sensitivity coefficient to be smaller in response to the second input operation. Therefore, the operator can adjust the first sensitivity coefficient and the second sensitivity coefficient according to the field environment, control the moving frequency of the drainage equipment in the automatic drainage mode within a reasonable range, and ensure the safe and stable operation of the drainage equipment.

[0078] In an embodiment of the present application, the control method further comprises: obtaining the inclination angle detected by the level gauge on the drainage equipment when the drainage equipment is moving, and determining the maximum limit value of the height adjustment of the chassis according to the inclination angle; when the inclination angle is 0, the maximum limit value of the height adjustment of the chassis is set as the height of the chassis when the lifting mechanism is adjusted to the highest state; and the greater the inclination angle, the smaller the corresponding maximum limit value.

[0079] When the drainage equipment is moving, the level gauge detects the inclination angle and sends it to the controller, and the controller can determine the maximum limit value of the height adjustment of the chassis according to the inclination angle, so as to ensure that the drainage equipment will not overturn and improve the stability of the drainage equipment in operation.

[0080] In an embodiment of the present application, referring to Figure 6 , the control method further comprises steps 601-603 for limiting the moving speed and turning angle of the drainage equipment according to the inclination angle and water level information, so as to ensure the stability of the operation.

[0081] Step 601: In response to the drainage equipment entering the automatic drainage mode, the inclination angle detected by the level gauge on the drainage equipment and the water level information detected by the water level sensor are obtained.

[0082] Step 602: According to the inclination angle and water level information of the drainage equipment, the maximum moving speed of the drainage equipment is set; the greater the inclination angle of the position where the drainage equipment is located, the smaller the corresponding maximum moving speed; the higher the water level of the position where the drainage equipment is located, the smaller the corresponding maximum moving speed.

[0083] Step 603: According to the inclination angle and water level information of the drainage equipment, the maximum turning angle of the drainage equipment is set; the greater the inclination angle of the position where the drainage equipment is located, the smaller the corresponding maximum turning angle; the higher the water level of the position where the drainage equipment is located, the smaller the corresponding maximum turning angle.

[0084] Based on steps 601-603, the greater the inclination angle of the position where the drainage equipment is located, the higher the water level of the position where the drainage equipment is located, the smaller the corresponding maximum moving speed; the greater the inclination angle of the position where the drainage equipment is located, the higher the water level of the position where the drainage equipment is located, the smaller the corresponding maximum turning angle. Such setting can increase the stability of the drainage equipment in the automatic drainage mode.

[0085] In an embodiment of the present application, referring to Figure 7 , the control method further comprises steps 701-703 for controlling the operation of the drainage equipment when the drainage equipment is in a dark working environment.

[0086] Step 701, when the drainage equipment is in a dark working environment, in response to the drainage equipment entering an automatic drainage mode, turning on the irradiation lamp to irradiate the environment around the drainage equipment, and collecting a ground image around the drainage equipment through the camera.

[0087] Step 702, judging the water distribution around the drainage equipment according to the ground image around the drainage equipment.

[0088] Step 703, planning a driving path of the drainage equipment in real time according to the water distribution around the drainage equipment, so as to drive into the water for drainage operation.

[0089] It should be understood that the drainage equipment needs to enter a relatively closed working environment for operation in some cases, for example, a subway tunnel, an underground parking lot, etc., and the light condition is poor, which is not convenient for the operator to control. The steps provided in steps 701-703 can replace the automatic control of the drainage equipment by the operator.

[0090] When the drainage equipment is in a dark working environment, the controller can control the irradiation lamp on the drainage equipment to be turned on to irradiate the environment around the drainage equipment. At the same time, the camera collects a ground image around the drainage equipment and transmits it to the controller. The controller can judge the water distribution around the drainage equipment according to the ground image around the drainage equipment, and plan a driving path of the drainage equipment in real time according to the water distribution around the drainage equipment, so as to drive into the water for drainage operation, thereby replacing the operator to control the drainage equipment for operation in a dark environment.

[0091] Further, judging the water distribution around the drainage equipment according to the ground image around the drainage equipment specifically includes: identifying water ripples in the ground image, and judging the water distribution around the drainage equipment according to the water ripples in the ground image.

[0092] In a dark working environment, when the light of the irradiation lamp irradiates the environment around the drainage equipment, the water ripples will reflect the light of the irradiation lamp, and the water ripple area in the ground image will be significantly different from the area without water ripples. The controller can identify the water ripples in the ground image and judge the water distribution around the drainage equipment accordingly.

[0093] Based on the control method of the above-mentioned drainage equipment, when the drainage equipment moves, the water level information detected by the water level sensor on the drainage equipment is acquired; and according to the water level information, the lifting mechanism is fed back to adjust the chassis to be located above the water level; when the drainage pump of the drainage equipment operates, the water level information detected by the water level sensor on the drainage equipment is acquired, and according to the water level information, it is determined whether the water level is higher than the drainage pump; when the water level is not higher than the drainage pump, the drainage pump is controlled to stop running. The control method provided by the application can automatically control the drainage equipment, can guarantee the safe operation of the drainage equipment, and greatly simplifies the operation of the operator, and is convenient for the operator to remotely control.

[0094] In addition, the application also provides a drainage equipment for realizing the control method provided in the previous part. The related description and technical effects can be referred to the description of the control method in the previous part, which will not be repeated here.

[0095] In the above-mentioned embodiments of the application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0096] In addition, the terms "first", "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited. It should be noted that the terms used herein are only for the purpose of describing the specific embodiments, and are not intended to limit the exemplary embodiments according to the application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form, and furthermore, it should be understood that when the terms "include" and / or "comprise" are used in the specification, they mean that the features, steps, operations, devices, components and / or their combinations are present.

[0097] The specific embodiments described herein are merely illustrative of the technical solutions of the application. Those skilled in the art of the technical field to which the application belongs can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, without departing from the scope defined by the claims of the application.

Claims

1. A control method of a flood control device, characterized by, The drainage equipment comprises a walking mechanism, a bottom frame lower mounting, a bottom frame upper mounting, a lifting mechanism, a drainage pump, and a hydraulic power unit; the walking mechanism is used for walking movement; the walking mechanism and the drainage pump are arranged on the bottom frame lower mounting, and the hydraulic power unit is arranged on the bottom frame upper mounting; the lifting mechanism is arranged between the bottom frame upper mounting and the bottom frame lower mounting, and can drive the bottom frame upper mounting to be adjusted in height relative to the bottom frame lower mounting; the control method comprises: obtaining water level information detected by a water level sensor on the drainage equipment; and according to the water level information, feeding back to adjust the lifting mechanism so that the bottom frame upper mounting is located above the water level; when the drainage pump of the drainage equipment is operating, obtaining water level information detected by a water level sensor on the drainage equipment, and according to the water level information, determining whether the water level is higher than the drainage pump; when the water level is not higher than the drainage pump, controlling the drainage pump to stop running; in response to the drainage equipment entering an automatic drainage mode, obtaining an inclination direction detected by a level meter on the drainage equipment and water level information detected by a water level sensor; according to the inclination direction of the drainage equipment and the water level information, planning a real-time moving direction of the drainage equipment, so that the water level at the position of the drainage equipment is lower than the bottom frame upper mounting and higher than the drainage pump.

2. The control method of the flood control apparatus according to claim 1, characterized by, The control method further comprises: controlling the drainage equipment to move in the planned real-time moving direction until and keeping the water level at the position of the drainage equipment lower than the bottom frame upper mounting and higher than the drainage pump; when the water level at the position of the drainage equipment is lower than the bottom frame upper mounting and higher than the drainage pump, controlling the drainage pump of the drainage equipment to perform drainage operation.

3. The control method of the flood control apparatus according to claim 2, characterized by, The planning of the real-time moving direction of the drainage equipment according to the inclination direction of the drainage equipment and the water level information specifically comprises: when the water level information indicates that the water level at the position of the drainage equipment decreases to a first threshold value, setting the real-time moving direction of the drainage equipment as a direction in which the ground height decreases according to the inclination direction of the drainage equipment; when the water level information indicates that the water level at the position of the drainage equipment increases to a second threshold value, setting the real-time moving direction of the drainage equipment as a direction in which the ground height increases according to the inclination direction of the drainage equipment; The second threshold value is greater than the first threshold value, and the water levels corresponding to the first threshold value and the second threshold value are both lower than the maximum limit value of the height adjustment of the bottom frame upper mounting and higher than the drainage pump.

4. The control method of the flood control apparatus according to claim 3, characterized by, The control method further comprises: determining the first threshold value L1 according to the height H1 of the drainage pump; wherein L1 = k1×H1, k1 is a first sensitivity coefficient and is greater than 1; determining the second threshold value L2 according to the maximum limit value H2 of the height adjustment of the bottom frame upper mounting; wherein L2 = H2 / k2, k2 is a second sensitivity coefficient and is greater than 1.

5. The control method of the flood control apparatus according to claim 4, characterized by, The control method further comprises: receiving a first input operation of a user and, in response to the first input operation, adjusting the first sensitivity coefficient and the second sensitivity coefficient to be larger; receiving a second input operation of a user and, in response to the second input operation, adjusting the first sensitivity coefficient and the second sensitivity coefficient to be smaller.

6. The control method of the flood control apparatus according to any one of claims 1 to 5, characterized by, The control method further comprises: When the drainage equipment moves, an inclination angle detected by a level gauge on the drainage equipment is acquired, and a maximum limit value of height adjustment of the chassis is determined according to the inclination angle; when the inclination angle is 0, the maximum limit value of height adjustment of the chassis is set as a height value of the chassis when the lifting mechanism is adjusted to the highest state; and the greater the inclination angle, the smaller the corresponding maximum limit value.

7. The control method of the flood control apparatus according to any one of claims 2 to 5, characterized by, The control method further comprises: In response to the drainage equipment entering the automatic drainage mode, an inclination angle detected by a level gauge on the drainage equipment and water level information detected by a water level sensor are acquired; According to the inclination angle and the water level information of the drainage equipment, a maximum moving speed of the drainage equipment is set; the greater the inclination angle of the position where the drainage equipment is located, the smaller the corresponding maximum moving speed; the higher the water level of the position where the drainage equipment is located, the smaller the corresponding maximum moving speed; According to the inclination angle and the water level information of the drainage equipment, a maximum turning angle of the drainage equipment is set; the greater the inclination angle of the position where the drainage equipment is located, the smaller the corresponding maximum turning angle; the higher the water level of the position where the drainage equipment is located, the smaller the corresponding maximum turning angle.

8. The control method of the flood control apparatus according to claim 1, wherein The control method further comprises: When the drainage equipment is in a dark working environment, in response to the drainage equipment entering the automatic drainage mode, an illuminating lamp is turned on to illuminate the environment around the drainage equipment, and a ground image around the drainage equipment is acquired by a camera; According to the ground image around the drainage equipment, water distribution around the drainage equipment is determined; According to the water distribution around the drainage equipment, a driving path of the drainage equipment is planned in real time so as to drive into the water for drainage work.

9. The control method of the flood control apparatus according to claim 8, characterized by, The determination of the water distribution around the drainage equipment according to the ground image around the drainage equipment specifically comprises: Water ripples in the ground image are identified, and the water distribution around the drainage equipment is determined according to the water ripples in the ground image.

10. A flood control apparatus, characterized by, The drainage equipment is used to implement the control method according to any one of claims 1-9.

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