Hydraulic control device and method for an emergency flood drainage robot

Abstract

The application relates to the technical field of machine intelligence, in particular to a hydraulic control device and method of an emergency waterlogging drainage robot. The method comprises the following steps: acquiring environment data of different waterlogging drainage areas and position and topography data of waterlogging drainage robots connected in series; combining height data and residual space proportion to determine a waterlogging urgency degree; combining water body viscosity to determine a waterlogging transmission difficulty coefficient; according to water flow, straight-line distance, pipe length and pipe vibration data of connected pipes, determining waterlogging pump demand degree of each waterlogging drainage robot in the order of water flow of the pipes connected in series; according to real-time topography difference of adjacent waterlogging drainage robots, combining the waterlogging pump demand degree, determining a waterlogging hydraulic demand coefficient; combining the waterlogging transmission difficulty coefficient and the waterlogging hydraulic demand coefficient, performing hydraulic PID control adjustment on each waterlogging drainage robot. The application can improve the hydraulic control efficiency of the waterlogging drainage robot.

Description

A hydraulic control device and method for an emergency flood drainage robot Technical Field

[0001] This invention relates to the field of machine intelligence technology, specifically to a hydraulic control device and method for an emergency flood drainage robot. Background Technology

[0002] Drainage robots are commonly used in urban drainage tasks. For some special drainage scenarios with high lift requirements, such as subways after heavy rain, multiple drainage robots often need to work in series to handle the situation. These multiple drainage robots are connected through transmission pipelines, which can effectively avoid the situation where a single drainage robot has insufficient lift when it is working.

[0003] For a single drainage robot in a series operation, its hydraulic control device can adjust the water pump pressure of the current drainage robot. This water pump pressure can pump sewage from the connecting pipe of the previous drainage robot into the connecting pipe of the next drainage robot. The water pump pressure value in the hydraulic control determines the pumping intensity of sewage in the pipe. Traditional drainage robot hydraulic control devices often adjust the water pump pressure based on the elevation difference between adjacent drainage robots. This traditional hydraulic control method has poor adaptability and cannot be combined with the real-time flood situation and complex drainage conditions in actual drainage operation scenarios, resulting in poor hydraulic control efficiency of the drainage robot. Summary of the Invention

[0004] To address the technical problem of poor hydraulic control efficiency in flood drainage robots due to their inability to adapt to real-time flood conditions and complex drainage scenarios in actual operations, this invention provides a hydraulic control device and method for an emergency flood drainage robot. The specific technical solution adopted is as follows:

[0005] This invention proposes a hydraulic control method for an emergency flood drainage robot, wherein the flood drainage robots are connected in series via pipelines, and the method includes:

[0006] The system acquires environmental data for different drainage areas, as well as location and terrain data for drainage robots. The environmental data includes water level height, remaining space ratio of drainage network, water flow rate of pipes connected to different drainage robots, water viscosity, and pipe vibration data.

[0007] By combining the changes in height data at different sampling times and the proportion of remaining space, the urgency of the flood situation can be determined; by combining the differences in water viscosity of the drainage robot at different sampling times and the urgency of the flood situation, the difficulty coefficient of drainage and transmission can be determined.

[0008] Based on the water flow sequence of the connected pipelines, and according to the water flow rate, straight distance, pipeline length, and pipeline vibration data of the pipelines connecting adjacent drainage robots, the pumping requirement of each drainage robot is determined; the head requirement is determined based on the real-time terrain difference between adjacent drainage robots; and the drainage hydraulic demand coefficient is determined by combining the pumping requirement and the head requirement.

[0009] By combining the difficulty coefficient of drainage transmission and the hydraulic demand coefficient of drainage, hydraulic PID control is applied to each drainage robot.

[0010] Furthermore, by combining the changes in elevation data at different sampling times and the proportion of remaining space, the urgency of the flood situation was determined, including:

[0011] A two-dimensional rectangular coordinate system is constructed with sampling time as the abscissa and height as the ordinate. The two-dimensional coordinate points of the height data at all sampling times are obtained. A straight line is fitted based on the least squares method to determine the slope of the fitted line. The slope influence coefficient is obtained by mapping based on the ReLU function.

[0012] Calculate the mean of the height data at all sampling times, and normalize the product of the mean and the slope influence coefficient to obtain the height influence coefficient.

[0013] The negative of the remaining space percentage is normalized and used as the spatial influence coefficient;

[0014] The average of the height influence coefficient and the spatial influence coefficient is calculated as the degree of urgency of the flood situation.

[0015] Furthermore, by combining the differences in water viscosity experienced by the drainage robot at different sampling times, and the urgency of the flood situation, the difficulty coefficient of drainage and transmission was determined, including:

[0016] The mean viscosity of the water body at all sampling times of the drainage robot was calculated, and the difference between the water viscosity of the drainage robot and the mean viscosity of the water body was normalized and used as the viscosity influence coefficient.

[0017] The product of the viscosity impact coefficient and the urgency of the flood situation is used as the drainage and transmission difficulty coefficient.

[0018] Furthermore, based on the water flow sequence of the connected pipelines, and according to the water flow rate, straight-line distance, pipeline length, and pipeline vibration data of the pipelines connecting adjacent drainage robots, the pumping capacity of each drainage robot is determined, including:

[0019] Take any drainage robot as the target robot, and in accordance with the water flow sequence, take the drainage robots connected in series with the target robot as its adjacent robots.

[0020] The water flow rate between the target robot and the preceding adjacent robot is taken as the preceding water flow rate, and the water flow rate between the target robot and the following adjacent robot is taken as the following water flow rate; the difference between the preceding water flow rate and the following water flow rate is normalized and used as the water flow difference coefficient.

[0021] The degree of curvature of the pipes connecting the target robot to its adjacent robots in front and behind it is determined based on the length of the pipes and the straight-line distance between the target robot and its adjacent robots in front and behind it.

[0022] Calculate the mean value of the pipe vibration data of the pipes connected to the target robot and all adjacent robots, and normalize its negative value as the vibration influence coefficient;

[0023] The product of the flow difference coefficient, the degree of curvature, and the vibration influence coefficient is calculated and normalized to determine the required level of drainage pumps.

[0024] Furthermore, based on the length of the pipes connecting the target robot to its adjacent robots and the straight-line distance between the target robot and its adjacent robots, the degree of curvature of the pipes connecting the target robot is determined, including:

[0025] Calculate the sum of the pipe lengths and values ​​of the pipes connecting the target robot to its adjacent robots, and use this sum as the target pipe length;

[0026] Calculate the sum of Euclidean distances between the target robot and its adjacent robots, and use this sum as the total straight-line length;

[0027] The ratio of the target pipe length to the total straight length is used as the degree of curvature.

[0028] Furthermore, based on the real-time terrain difference between adjacent drainage robots, the required head is determined, including:

[0029] The terrain difference between the next adjacent robot and the previous adjacent robot is normalized and used as the lift requirement of the target robot.

[0030] Furthermore, considering the demand for drainage pumps and the required head, the hydraulic demand coefficient for drainage is determined, including:

[0031] The average of the required pumping capacity and head capacity is calculated and used as the hydraulic demand coefficient for the drainage robot.

[0032] Furthermore, combining the difficulty coefficient of drainage transmission and the hydraulic demand coefficient for drainage, hydraulic PID control is applied to each drainage robot, including:

[0033] Determine the initial proportional gain coefficient, and determine the proportional adjustment index based on the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient;

[0034] The initial proportional gain coefficient is adjusted based on the proportional adjustment index and dynamically updated to achieve PID control.

[0035] Furthermore, based on the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient, proportional adjustment indicators are determined, including:

[0036] Calculate the product of the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient, and linearly map it to the range of [1,2] to obtain the proportional adjustment index.

[0037] On the other hand, a hydraulic control device for an emergency drainage robot is also provided, the device including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any of the foregoing.

[0038] The present invention has the following beneficial effects:

[0039] This invention achieves multi-dimensional data analysis and provides more comprehensive and reliable hydraulic control by acquiring multiple data parameters from different dimensions, including environmental data of different drainage areas and the location and terrain data of drainage robots. First, the urgency of the flood situation is determined based on the water level and the status of the underground drainage network. Then, the difficulty of drainage transmission is assessed by combining the viscosity of the water inside the pipes. Next, based on the water flow sequence in the series of pipes, the pump demand is analyzed using four dimensions: water flow rate, straight-line distance, pipe length, and pipe vibration data. The head requirement is determined based on the real-time terrain difference, resulting in a comprehensive drainage hydraulic demand coefficient. Combining the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient, hydraulic PID control is applied to each drainage robot. Compared to traditional hydraulic control methods, this invention can obtain more accurate pump pressure adjustment results by combining real-time flood conditions and the complex drainage working conditions of serially operated drainage robots in actual drainage scenarios, thereby improving the hydraulic control efficiency of the drainage robots. Attached Figure Description

[0040] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 is a flowchart of a hydraulic control method for an emergency drainage robot according to an embodiment of the present invention;

[0042] Figure 2 is an example of the application of a drainage robot provided in an embodiment of the present invention;

[0043] Figure 3 is a schematic diagram of the bending phenomenon provided by an embodiment of the present invention. Detailed Implementation

[0044] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a hydraulic control device and method for an emergency flood drainage robot proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0046] The specific scheme of the hydraulic control method for an emergency drainage robot provided by the present invention will be described in detail below with reference to the accompanying drawings.

[0047] Please refer to Figure 1, which shows a flowchart of a hydraulic control method for an emergency flood drainage robot according to an embodiment of the present invention. The method includes:

[0048] S101: Acquire environmental data for different drainage areas, as well as the location and terrain data of drainage robots. The environmental data includes the height of the water surface, the remaining space ratio of the drainage network, the water flow rate of the pipes connected to different drainage robots, the water viscosity, and the pipe vibration data.

[0049] Drainage robots are commonly used in urban drainage tasks. However, for special drainage scenarios with high lift requirements, such as subways after heavy rain, multiple drainage robots often need to work in series. These robots are connected through transmission pipelines, which effectively avoids the situation where a single drainage robot has insufficient lift. See Figure 2, which is an application example of a drainage robot provided by an embodiment of the present invention.

[0050] For a single drainage robot in a series operation, its hydraulic control device can adjust the water pump pressure of the current drainage robot. This water pump pressure can pump sewage from the connecting pipe of the previous drainage robot to the connecting pipe of the next drainage robot. The water pump pressure value in the hydraulic control determines the pumping intensity of sewage in the pipe. Traditional drainage robot hydraulic control devices often adjust the water pump pressure based on the elevation difference between drainage robots. This traditional hydraulic control method has poor adaptability. Therefore, this invention combines the real-time flood situation in the actual scenario and the complex drainage conditions of the drainage robot to adaptively adjust the water pump pressure value of the hydraulic control device, thereby improving the hydraulic control efficiency of the drainage robot.

[0051] First, the robot's location and terrain data are read using its built-in GPS and elevation positioning.

[0052] Secondly, by using the underground drainage data storage network and data reading network, the height of the water level in the flooded area and the real-time remaining water storage space ratio of the underground drainage pipes are obtained to determine the remaining space ratio of the drainage network. The pipeline monitoring module reads relevant monitoring data from the pipes connecting the drainage robots, including the length of the connecting transmission pipes, the water flow rate at the midpoint of the connecting pipes between the two drainage robots, water viscosity, and pipe vibration data.

[0053] Various types of data can be generated from different sources to form multidimensional data. This multidimensional data can then be transmitted to the corresponding processing system to achieve multidimensional data analysis.

[0054] S102: By combining the changes in height data at different sampling times and the proportion of remaining space, the urgency of the flood situation is determined; by combining the differences in water viscosity of the drainage robot at different sampling times and the urgency of the flood situation, the difficulty coefficient of drainage and transmission is determined.

[0055] The purpose of this invention is to control the water pump pressure of the hydraulic device of the flood drainage robot. It is necessary to first analyze the urgency of the flood situation itself, and then determine the degree of difficulty for the flood drainage robot in carrying out flood drainage operations.

[0056] Considering that the more urgent the real-time flood situation, the higher the water pump pressure should be applied to cope with it, the higher the water level in the flooded subway water area and the more obvious the rise in the water level in a short period of time, the more urgent the flood situation is. At the same time, in addition to the drainage robot, the drainage system of the flooded area itself can also carry out drainage during the drainage process. Therefore, if the remaining water storage space of the underground drainage pipe network of the flooded subway is less, it further reflects that the real-time flood situation is more urgent. Therefore, in this embodiment of the invention, the change in the water level height data of the water area where the drainage robot is located, as well as the proportion of remaining space, can determine the degree of urgency of the flood situation.

[0057] Furthermore, in some embodiments of the present invention, the urgency of the flood situation is determined by combining the changes in height data at different sampling times and the proportion of remaining space. This includes: constructing a two-dimensional rectangular coordinate system with the sampling time as the abscissa and height as the ordinate; obtaining the two-dimensional coordinate points of the height data at all sampling times; performing line fitting based on the least squares method to determine the slope of the fitted line; mapping based on the ReLU function to obtain the slope influence coefficient; calculating the mean of the height data at all sampling times; normalizing the product of the mean and the slope influence coefficient to obtain the height influence coefficient; normalizing the negative of the proportion of remaining space to obtain the space influence coefficient; and calculating the mean of the height influence coefficient and the space influence coefficient to determine the urgency of the flood situation.

[0058] In this embodiment of the invention, a two-dimensional coordinate system is first constructed to represent the fluctuation of height at different sampling times, so as to perform straight line fitting to obtain the slope of the fitted straight line. It should be noted that the least squares method is a fitting method well known to those skilled in the art, and will not be described in detail here.

[0059] The ReLU function is a mapping function. When the data is less than 0, the value after mapping by the ReLU function is 0. When the data is greater than or equal to 0, the value after mapping by the ReLU function is itself. In this embodiment of the invention, if the slope is less than 0, it means that the water level is gradually decreasing and the flooding has been suppressed. Therefore, the slope influence coefficient is obtained by mapping by the ReLU function and eliminating the dimensions.

[0060] In this embodiment of the invention, the mean value of the height data at all sampling times is calculated, and the product of the mean value and the slope influence coefficient is normalized to obtain the height influence coefficient. The larger the value of the height influence coefficient, the more severe the height status of the water surface and the more obvious the flooding effect.

[0061] The remaining space ratio represents the water storage capacity of the area. A smaller remaining space ratio indicates poor water storage potential. Therefore, the negative of the remaining space ratio is normalized to obtain the spatial influence coefficient. A larger spatial influence coefficient indicates less remaining water storage space and a more severe flood situation. In summary, in this embodiment of the invention, the average of the height influence coefficient and the spatial influence coefficient is calculated as the degree of urgency of the flood situation.

[0062] The urgency of the flood situation is based on the environmental conditions and the severity of the flood, reflecting the real-time flood status of the area where each drainage robot is located.

[0063] For a single drainage robot, it operates in series with adjacent drainage robots via a transmission pipeline. The hydraulic system of the current drainage robot can regulate the water pump pressure; higher pump pressure allows for greater force to pump sewage from the preceding transmission pipeline into the following one. It is understood that the sewage to be drained will dissolve the soil on the ground, resulting in varying viscosities. The viscosity of the sewage medium within the pipeline affects its flowability; for example, highly viscous sewage has poor flowability, increasing the difficulty of drainage. Therefore, in this embodiment of the invention, it is also necessary to analyze the characteristics of water viscosity.

[0064] Furthermore, in some embodiments of the present invention, the drainage transmission difficulty coefficient is determined by combining the differences in water viscosity of the drainage robot at different sampling times and the urgency of the flood situation. This includes: calculating the average water viscosity at all sampling times of the drainage robot; normalizing the difference between the water viscosity of the drainage robot and the average water viscosity as a viscosity influence coefficient; and using the product of the viscosity influence coefficient and the urgency of the flood situation as the drainage transmission difficulty coefficient.

[0065] In this embodiment of the invention, the average water viscosity of the drainage robot at all sampling times is used as the environmental viscosity state of the drainage robot. The average water viscosity is calculated, and the difference between the water viscosity of the drainage robot and the average water viscosity is normalized to obtain the viscosity influence coefficient.

[0066] The higher the real-time water viscosity in the drainage robot's transmission pipeline compared to historical levels, the stronger the resistance of the water pump to the sewage transmission, and the greater the difficulty of drainage transmission.

[0067] In this embodiment of the invention, the product of the viscosity influence coefficient and the urgency of the flood situation is used as the drainage transmission difficulty coefficient. The higher the real-time urgency of the flood situation in the flooded area, and the higher the viscosity of the water in the drainage robot's transmission pipeline, the greater the real-time drainage transmission difficulty for the drainage robot.

[0068] S103: Based on the water flow sequence of the pipelines connected in series, and according to the water flow rate, straight distance, pipeline length, and pipeline vibration data of the pipelines connected to adjacent drainage robots, determine the pumping demand of each drainage robot; determine the head demand based on the real-time terrain difference between adjacent drainage robots; and determine the drainage hydraulic demand coefficient by combining the pumping demand and head demand.

[0069] Considering a single drainage robot, if the water flow rate in the front pipe is significantly higher than the water flow rate in the rear pipe, it indicates that the real-time water pump pressure needs to be increased to prevent water accumulation at the current robot node. Therefore, based on the difficulty of drainage transmission, we analyze the water flow difference and combine it with the characteristics that the high terrain where the drainage robot is located and the multiple bends in the connecting pipes will increase the water transmission resistance to obtain the degree of drainage pump pressure required.

[0070] Furthermore, in some embodiments of the present invention, according to the water flow sequence of the connected pipes, the pumping requirement of each drainage robot is determined based on the water flow rate, straight-line distance, pipe length, and pipe vibration data of the pipes connected between adjacent drainage robots. This includes: taking any drainage robot as the target robot, and taking the drainage robots connected in series with the target robot before and after it as its adjacent robots according to the water flow sequence; taking the water flow rate of the pipe between the target robot and the previous adjacent robot as the front water flow rate, and taking the water flow rate of the pipe between the target robot and the next adjacent robot as the back water flow rate; and normalizing the difference between the front water flow rate and the back water flow rate as the water flow difference coefficient.

[0071] Among them, the water flow sequence refers to the order in which the drainage robots perform water drainage in series. The robot that has the greatest impact on any drainage robot is its adjacent robot. Therefore, when the water flow rate in front is greater than the water flow rate in back, it indicates that a large drainage obstruction has occurred at the target robot, which also reflects that the water pump pressure needs to be increased to quickly pump the water in the front pipe into the back pipe. The larger the value of the water flow difference coefficient, the greater the water pump pressure required by the target robot to improve the drainage effect.

[0072] Since the drainage robots are connected by a transmission pipe of a certain length, when the distance between the drainage robots is too close, the transmission pipe will have more bends. When the sewage is transported to the bend, it will collide and cause kinetic energy loss. See Figure 3. Figure 3 is a schematic diagram of the bend phenomenon provided by an embodiment of the present invention. The next level drainage robot is the previous adjacent robot, the previous level drainage robot is the next adjacent robot, and the current drainage robot is the target robot. It vividly illustrates the kinetic energy loss effect caused by the bend of the pipe.

[0073] To analyze the bending situation, in this embodiment of the invention, the degree of bending of the pipe connected to the target robot is determined based on the pipe lengths of the pipes connecting the target robot to the adjacent robots in front and behind, and the straight-line distances between the target robot and the adjacent robots in front and behind. This includes: calculating the sum of the pipe lengths of the pipes connecting the target robot to the adjacent robots in front and behind, as the target pipe length; calculating the sum of the Euclidean distances between the target robot and the adjacent robots in front and behind, as the total straight-line length; and taking the ratio of the target pipe length to the total straight-line length as the degree of bending.

[0074] The difference between the straight-line distance and the pipe distance represents the length of the pipe itself that is used more. The longer this length, the greater the degree of curvature and the greater the kinetic energy loss. Therefore, in this embodiment of the invention, the degree of curvature is obtained by calculating the ratio of the target pipe length to the total straight-line length.

[0075] In this embodiment of the invention, the pipeline vibration data is vibration intensity data, i.e., amplitude. The mean value of the pipeline vibration data of the target robot and all adjacent robots is calculated, and its negative value is normalized to obtain the vibration influence coefficient. When the water pump pressure is too high, the pipeline will exhibit strong vibration. In this case, the pump pressure needs to be reduced. Therefore, the vibration influence coefficient is obtained by combining the hydraulic resistance with the pipeline vibration performance. The larger the value of the vibration influence coefficient, the smaller the pipeline vibration intensity, which means that the water pump pressure is too low and the water pump pressure needs to be increased.

[0076] The product of the water flow difference coefficient, the degree of curvature, and the vibration influence coefficient is calculated and normalized to represent the pumping demand level. The pumping demand level is analyzed from several dimensions, including water flow rate, straight distance, pipe length, and pipe vibration data. The larger the value, the more the pump pressure needs to be increased during the drainage process, which is applicable to the environment and pipe characteristics of the series-connected drainage robots.

[0077] When handling flood drainage tasks in a series of operations, different drainage robots may be located at different elevations. The greater the head required to pump sewage from a low elevation to a high elevation, the higher the pump pressure should be.

[0078] Furthermore, in some embodiments of the present invention, determining the pumping head requirement based on the real-time terrain difference between adjacent drainage robots includes: normalizing the terrain difference between the next adjacent robot and the previous adjacent robot as the pumping head requirement of the target robot.

[0079] For each target robot, the terrain difference between the next adjacent robot and the previous adjacent robot is calculated as the terrain condition of the target robot's location. The normalization process is then used to obtain the head requirement. The larger the head requirement value, the more water pump pressure is required to pump sewage from a low terrain to a high terrain.

[0080] In summary, by combining the demand for drainage pumps and the demand for head, the hydraulic demand coefficient for drainage is determined, including: calculating the average value of the demand for drainage pumps and the demand for head, which is used as the hydraulic demand coefficient for drainage robots.

[0081] Since a larger value for the drainage pump demand level indicates that the drainage process requires a higher pump pressure, and a larger value for the head demand level indicates that the sewage needs to be pumped from a low-lying area to a high-lying area, requiring a higher pump pressure, the embodiment of this invention directly calculates the drainage hydraulic demand coefficient to represent the drainage hydraulic demand.

[0082] S104: Combining the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient, hydraulic PID control is applied to each drainage robot.

[0083] Furthermore, in some embodiments of the present invention, hydraulic PID control adjustment is performed on each drainage robot by combining the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient, including: determining the initial proportional gain coefficient; determining the proportional adjustment index based on the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient; adjusting the initial proportional gain coefficient based on the proportional adjustment index and dynamically updating it to realize PID control adjustment.

[0084] First, for a single drainage robot, the initial PID parameters of the hydraulic control device are obtained, such as Kp (proportional gain coefficient). It should be noted that when the drainage robot is running, its PID parameters are initial parameters, which are adjusted based on the drainage transmission difficulty coefficient and drainage hydraulic demand coefficient in this embodiment of the invention.

[0085] Based on the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient, a proportional adjustment index is determined, including: calculating the product of the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient, and linearly mapping it to the value range of [1,2] to obtain the proportional adjustment index. By linearly mapping to [1,2], the proportional adjustment coefficient can be flexibly increased to increase the water pump pressure.

[0086] In this embodiment of the invention, the proportional gain coefficient corresponding to the drainage robot in real time is multiplied by the initial proportional gain coefficient to obtain the adjusted proportional gain coefficient. The adjusted parameters are then re-input into the PID controller. The calculated control output is then converted into an actual control signal to control the pressure of the hydraulic pump. Subsequently, the parameters of the PID controller are dynamically updated during the continuous serial operation of the drainage robot to ensure the stability of the hydraulic pump pressure control during processing. Finally, after the control cycle ends, the control effect of the device is evaluated to check for overshoot or oscillation. Based on the actual feedback results, the relevant parameters can be fine-tuned and optimized to improve the efficiency and device performance in subsequent molding processes. It is understood that the specific PID control process is well known to those skilled in the art and will not be further elaborated upon.

[0087] This invention achieves multi-dimensional data analysis and provides more comprehensive and reliable hydraulic control by acquiring multiple data parameters from different dimensions, including environmental data of different drainage areas and the location and terrain data of drainage robots. First, the urgency of the flood situation is determined based on the water level and the status of the underground drainage network. Then, the difficulty of drainage transmission is assessed by combining the viscosity of the water inside the pipes. Next, based on the water flow sequence in the series of pipes, the pump demand is analyzed using four dimensions: water flow rate, straight-line distance, pipe length, and pipe vibration data. The head requirement is determined based on the real-time terrain difference, and a comprehensive hydraulic demand coefficient for drainage is obtained. Combining the drainage transmission difficulty coefficient and the hydraulic demand coefficient, hydraulic PID control is applied to each drainage robot. Compared to traditional hydraulic control methods, this invention can obtain more accurate pump pressure adjustment results by combining real-time flood conditions and the complex drainage working conditions of serially operated drainage robots in actual drainage scenarios, thereby improving the hydraulic control efficiency of the drainage robots.

[0088] On the other hand, the present invention also provides a hydraulic control device for an emergency drainage robot, the device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the hydraulic control method for an emergency drainage robot as described in any of the foregoing claims.

[0089] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0090] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A hydraulic control method for an emergency flood drainage robot, characterized in that, The drainage robots are connected via a series of pipes. The method includes: acquiring environmental data from different drainage areas, as well as the location and terrain data of the drainage robots. The environmental data includes water level height, remaining space ratio in the drainage network, water flow rate in the pipes connecting different drainage robots, water viscosity, and pipe vibration data. The urgency of the flood situation is determined by combining changes in height data at different sampling times and the remaining space ratio. The drainage transmission difficulty coefficient is determined by combining differences in water viscosity between drainage robots at different sampling times and the urgency of the flood situation. The pumping requirement for each drainage robot is determined according to the water flow sequence in the series of pipes, based on the water flow rate, straight-line distance, pipe length, and pipe vibration data of the pipes connecting adjacent drainage robots. The head requirement is determined based on the real-time terrain difference between adjacent drainage robots. The hydraulic pressure requirement coefficient for drainage is determined by combining the pumping requirement and the head requirement. The drainage transmission difficulty coefficient and the hydraulic pressure requirement coefficient are then combined. The hydraulic PID control is used to adjust the hydraulic demand coefficient for each drainage robot. The method for determining the drainage pump demand includes: taking any drainage robot as the target robot, and taking the drainage robots connected in series with the target robot as its adjacent robots according to the water flow sequence; taking the water flow rate between the target robot and the previous adjacent robot as the front water flow rate, and the water flow rate between the target robot and the next adjacent robot as the back water flow rate; normalizing the difference between the front and back water flow rates as the water flow difference coefficient; determining the curvature of the pipe connected to the target robot based on the pipe length and the straight-line distance between the target robot and the previous and next adjacent robots; calculating the mean value of the pipe vibration data of the pipe connected to the target robot and all adjacent robots, and normalizing its negative value as the vibration influence coefficient; calculating the product of the water flow difference coefficient, curvature, and vibration influence coefficient, and normalizing it as the drainage pump demand.

2. The hydraulic control method for an emergency drainage robot as described in claim 1, characterized in that, By combining the changes in height data at different sampling times and the proportion of remaining space, the urgency of the flood situation is determined, including: constructing a two-dimensional rectangular coordinate system with sampling time as the abscissa and height as the ordinate; obtaining the two-dimensional coordinate points of height data at all sampling times; performing linear fitting based on the least squares method to determine the slope of the fitted line; mapping based on the ReLU function to obtain the slope influence coefficient; calculating the mean of height data at all sampling times; normalizing the product of the mean and the slope influence coefficient to obtain the height influence coefficient; normalizing the inverse of the proportion of remaining space to obtain the spatial influence coefficient; and calculating the mean of the height influence coefficient and the spatial influence coefficient to determine the urgency of the flood situation.

3. The hydraulic control method for an emergency drainage robot as described in claim 1, characterized in that, By combining the differences in water viscosity obtained by the drainage robot at different sampling times and the urgency of the flood situation, the drainage transmission difficulty coefficient is determined. This includes: calculating the average water viscosity at all sampling times of the drainage robot, normalizing the difference between the water viscosity obtained by the drainage robot and the average water viscosity as the viscosity influence coefficient, and using the product of the viscosity influence coefficient and the urgency of the flood situation as the drainage transmission difficulty coefficient.

4. The hydraulic control method for an emergency drainage robot as described in claim 1, characterized in that, The degree of curvature of the pipes connected to the target robot is determined based on the pipe lengths of the pipes connecting the target robot to the robots in front and behind it, as well as the straight-line distances between the target robot and the robots in front and behind it. This includes: calculating the sum of the pipe lengths of the pipes connecting the target robot to the robots in front and behind it, as the target pipe length; calculating the sum of the Euclidean distances between the target robot and the robots in front and behind it, as the total straight-line length; and taking the ratio of the target pipe length to the total straight-line length as the degree of curvature.

5. The hydraulic control method for an emergency drainage robot as described in claim 1, characterized in that, The head requirement is determined based on the real-time terrain difference between adjacent drainage robots, including normalizing the terrain difference between the next adjacent robot and the previous adjacent robot to determine the head requirement of the target robot.

6. The hydraulic control method for an emergency drainage robot as described in claim 1, characterized in that, Based on the demand for drainage pumps and the demand for head, the hydraulic demand coefficient for drainage is determined, including: calculating the average value of the demand for drainage pumps and the demand for head, which is used as the hydraulic demand coefficient for drainage robots.

7. The hydraulic control method for an emergency drainage robot as described in claim 1, characterized in that, Combining the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient, hydraulic PID control is applied to each drainage robot, including: determining the initial proportional gain coefficient; determining the proportional adjustment index based on the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient; adjusting the initial proportional gain coefficient based on the proportional adjustment index and dynamically updating it to achieve PID control adjustment.

8. The hydraulic control method for an emergency drainage robot as described in claim 7, characterized in that, Based on the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient, the proportional adjustment index is determined, including: calculating the product of the drainage transmission difficulty coefficient and the drainage hydraulic demand coefficient, and linearly mapping it to the value range of [1,2] to obtain the proportional adjustment index.

9. A hydraulic control device for an emergency flood drainage robot, the device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 8.

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