Pumping transfer method for solid material conveying

Abstract

The invention relates to the technical field of solid material conveying, and discloses a pumping transfer method for solid material conveying. A solid material conveying path is linearly arranged and sectioned at equal intervals, a pumping device is installed at a starting point, the lowest effective negative pressure is determined by applying pulse negative pressure, and the reference negative pressure not lower than the lowest effective negative pressure, the pulse amplitude and the pulse period are set; establishing a linear relation between the propelling speed and the negative pressure, obtaining a material response coefficient in combination with a constant negative pressure test, establishing a unit pulse period model, calculating a single-period propelling distance, deducing the number of cycles and the total conveying time according to the total length of a path, and adjusting the cycles according to the capacity of equipment. A negative pressure sequence is generated and output according to the model within the total conveying time, output is stopped and the device is closed when the negative pressure sequence is stopped, so that the materials reach the end point, controllable calculation of the position and time is achieved, and the problems that traditional pump suction conveying propulsion is unstable, blockage is difficult to measure, and distance and consumed time are difficult to estimate are solved.

Description

Technical Field

[0001] This invention relates to the field of solid material conveying technology, specifically to a pump-suction transfer method for conveying solid materials. Background Technology

[0002] Currently, in processing lines for small stone fruits such as sour plums, the intermediate transport from washing to packaging commonly uses mechanical conveyors such as belt conveyors and inclined belt conveyors to transport the fruit from lower or more distant processes to upper levels or packaging stations. This type of transport usually requires the installation of receiving hoppers or collection pits in tunnels, underground levels, or below equipment, with the conveyor belt transporting the fruit to a higher position. Due to limitations in site layout, elevation differences, and the scattered nature of the fruit, it is difficult to achieve fully automated collection of fruit at the end of the conveyor belt or transfer points, often resulting in sour plums accumulating in the collection pit and scattering around.

[0003] Currently, in processing lines for small stone fruits such as sour plums, the intermediate transport from washing to packaging commonly uses mechanical conveyors such as belt conveyors and inclined belt conveyors to transport the fruit from lower or more distant processes to upper or packaging stations. This type of transport typically requires receiving hoppers or collection pits in tunnels, underground levels, or below equipment, with the conveyor belt transporting the fruit to a higher position. Due to limitations in site layout, elevation differences, and the scattered nature of the fruit, it is difficult to achieve fully automated collection at the end of the conveyor belt or transfer points, often resulting in sour plums accumulating in the collection pit and scattering around. On the other hand, some existing agricultural product transport technologies utilize negative pressure or pneumatic conveying for long-distance transport of granular materials and grains. However, these systems are mostly designed for granular, dry materials, with negative pressure distribution, flow rate control, and conveyor pipe diameter matching all focused on loose particles, without fully considering the differences in shape, surface softness, and susceptibility to bruising of fruits like sour plums. Directly applying traditional pneumatic or pumping solutions can easily lead to high-speed collisions, blockages, or extensive damage to the fruit within the pipes, making them unsuitable for the flexible transport of sour plums between washing and packaging.

[0004] Therefore, this case aims to propose a pump-suction transfer method for solid material conveying. First, the conveying path is divided into multiple equally spaced pipe segments, and a pump-suction device is installed at the starting point. The minimum effective negative pressure and material response coefficient of the material are obtained through pre-testing, establishing a unit pulse cycle propulsion model. Then, based on the path length and the model, the number of complete pulse cycles and the supplementary propulsion time are calculated, further optimizing to the minimum pulse cycle achievable by the equipment. Finally, by numbering each complete pulse cycle and accurately calculating the material position at the end of each cycle and at the end of the supplementary propulsion, a target negative pressure sequence is generated by combining the reference negative pressure, pulse amplitude, and cycle. Closed-loop negative pressure control is implemented throughout the entire conveying process, and the pump is stopped at the end of the total conveying time to determine the completion position. Summary of the Invention

[0005] This invention provides a pump-suction transfer method for conveying solid materials, which helps to solve the problems mentioned in the background art.

[0006] This invention provides the following technical solution: a pump-suction transfer method for conveying solid materials, comprising:

[0007] The solid material conveying path is arranged in a straight line, with a starting point and an ending point set, and is divided into multiple pipe sections at equal intervals. A pump suction device is installed at the starting point.

[0008] Apply periodic pulse negative pressure at the starting position to obtain the minimum effective negative pressure, set a reference negative pressure that is not lower than the minimum effective negative pressure, and set the negative pressure pulse amplitude and the complete pulse period;

[0009] Establish a linear relationship between instantaneous propulsion speed and actual negative pressure, take the time average within the complete pulse cycle, and obtain the material response coefficient by combining constant negative pressure test to form a unit pulse cycle propulsion model, and calculate the propulsion distance of a single complete pulse cycle;

[0010] The number of complete pulse cycles and the cumulative total distance of advancement are calculated based on the total length of the solid material conveying path and the advancement distance of a single complete pulse cycle. The supplementary advancement time is calculated based on the remaining unadvanced distance and the average advancement speed. The total conveying time is calculated based on the number of complete pulse cycles, the duration of the complete pulse cycle, and the supplementary advancement time.

[0011] Substitute the minimum pulse period allowed by the equipment capacity into the unit pulse period propulsion model, and recalculate the propulsion distance of a single complete pulse period, the number of complete pulse periods, the cumulative total propulsion distance, the remaining unpropulsion distance, the supplementary propulsion time, and the total delivery time.

[0012] The complete pulse cycle is numbered, and the end position of each cycle is calculated by accumulating the advance distance of each complete pulse cycle; if there is supplementary advance time, the end position of the supplementary advance is used as the final position.

[0013] Within the time interval from the start of solid material pumping and transfer to the end of the total conveying time, a negative pressure target sequence is generated based on the reference negative pressure, negative pressure pulse amplitude, and complete pulse cycle, and output to the pumping device to implement periodic pulse negative pressure control.

[0014] The total conveying time is used as the end time. When the running time reaches the total conveying time, the output pressure setting signal is stopped and the pump suction device is turned off. The position of the solid material at this time is determined as the end position.

[0015] Optionally, the method of arranging the solid material conveying path in a straight line, setting a starting point and an ending point, dividing it into multiple pipe segments at equal intervals, and installing a pump suction device at the starting point specifically includes:

[0016] The solid material conveying path is structurally arranged as a straight pipeline. The starting and ending positions of the solid material conveying path are set, and the total length of the solid material conveying path from the starting position to the ending position is obtained.

[0017] Based on the preset total number of pipe segments, the solid material conveying path is divided into multiple discrete pipe segments at equal intervals along the length direction, so that each pipe segment has the same pipe segment length, and sequential indexes are assigned to each pipe segment in sequence.

[0018] For any pipe segment with a sequential index, the coordinates of the starting position of the target pipe segment along the solid material conveying path are obtained based on the starting position of the solid material conveying path, the length of a single pipe segment, and the sequential index of the pipe segment, forming a parameter set for the starting position of each pipe segment.

[0019] A pump suction device is installed at the starting point of the solid material conveying path as the inlet point for applying negative pressure and starting pump suction transfer.

[0020] Optionally, the step of applying a periodic pulsed negative pressure at the starting position to obtain the lowest effective negative pressure, setting a reference negative pressure not lower than the lowest effective negative pressure, and setting the negative pressure pulse amplitude and the complete pulse period specifically includes:

[0021] Establish a negative pressure target control curve and set the negative pressure target control curve as a pulse waveform that periodically increases and decreases around the reference negative pressure, completing one negative pressure rise and fall change within each complete pulse cycle;

[0022] Obtain the minimum effective negative pressure required to drive solid material to move stably forward along the solid material conveying path, and use the minimum effective negative pressure as the minimum allowable negative pressure limit during the pump suction transfer process;

[0023] When setting the reference negative pressure, the reference negative pressure shall be greater than or equal to the minimum allowable negative pressure limit, and the actual negative pressure at any time during the entire solid material pumping and transfer process shall be subject to the constraint that it shall not be lower than the minimum allowable negative pressure limit.

[0024] Under the constraint that the actual negative pressure is not lower than the minimum allowable negative pressure limit, the variation amplitude of the negative pressure pulse is set according to the difference between the reference negative pressure and the minimum allowable negative pressure limit, so that the negative pressure is equal to the minimum allowable negative pressure limit at the lowest point of the pulse waveform, and the actual negative pressure is always not lower than the minimum allowable negative pressure limit throughout the entire pulse variation process.

[0025] Optionally, establishing a linear relationship between instantaneous propulsion speed and actual negative pressure, taking the time average over a complete pulse cycle, and combining this with a constant negative pressure test to obtain the material response coefficient, forms a unit pulse cycle propulsion model, and calculates the propulsion distance for a single complete pulse cycle, specifically including:

[0026] Establish the relationship between the instantaneous propulsion speed of solid materials and the actual negative pressure at the starting point of the solid material conveying path. It is assumed that the instantaneous propulsion speed of solid materials at any time is proportional to the actual negative pressure at the same time, and a material response coefficient is introduced to characterize the linear response characteristics of solid materials to negative pressure.

[0027] Within a complete pulse cycle, the instantaneous propulsion speed at each moment is integrated and averaged on the time axis to obtain the average propulsion speed for the corresponding complete pulse cycle. The average propulsion speed is then correlated with the material response coefficient and the reference negative pressure to form a linear expression between the average propulsion speed and the reference negative pressure.

[0028] Based on the relationship between the average propulsion speed and the duration of the complete pulse cycle, the propulsion distance of solid material along the solid material conveying path within a single complete pulse cycle is obtained, and the propulsion distance is defined as the propulsion distance of a single complete pulse cycle.

[0029] Under the test conditions, a constant negative pressure is applied to the solid material to be conveyed, and the constant negative pressure is maintained for a preset duration. The forward distance of the solid material along the solid material conveying path is recorded within the preset duration. The material response coefficient is obtained based on the proportional relationship between constant negative pressure, duration and forward distance.

[0030] The material response coefficient is substituted into the calculation relationship of the unit pulse period propulsion model, and a unit pulse period propulsion model is established accordingly, which serves as the basic model for subsequent calculations of the number of propulsion cycles and time parameters.

[0031] Optionally, the step of calculating the number of complete pulse cycles and the cumulative total advancing distance based on the total length of the solid material conveying path and the advancing distance of a single complete pulse cycle, calculating the supplementary advancing time based on the remaining unadvanced distance and the average advancing speed, and calculating the total conveying time based on the number of complete pulse cycles, the duration of the complete pulse cycle, and the supplementary advancing time specifically includes:

[0032] Based on the proportional relationship between the total length of the solid material conveying path and the advance distance of a single complete pulse cycle, the number of complete pulse cycles that can be executed in the entire solid material pumping and transfer process is obtained.

[0033] The total cumulative distance the solid material travels along the solid material conveying path after all complete pulse cycles are obtained by multiplying the number of complete pulse cycles by the distance traveled in a single complete pulse cycle.

[0034] Based on the difference between the total length of the solid material conveying path and the cumulative total advancing distance, the remaining unadvanced distance that has not been advanced after all complete pulse cycles is obtained;

[0035] When the remaining unadvanced distance is greater than zero, the supplementary advance time required to advance the remaining unadvanced distance after completing all full cycles is obtained based on the ratio between the remaining unadvanced distance and the average advance speed; when the remaining unadvanced distance is equal to zero, the supplementary advance time is set to zero.

[0036] The total conveying time required to complete the entire solid material pumping and transfer process is obtained by summing the number of complete pulse cycles, the duration of complete pulse cycles, and the supplementary propulsion time.

[0037] Optionally, the minimum pulse period allowed by the equipment capacity is substituted into the unit pulse period propulsion model to recalculate the propulsion distance of a single complete pulse period, the number of complete pulse periods, the cumulative total propulsion distance, the remaining unpropulsion distance, the supplementary propulsion time, and the total delivery time, specifically including:

[0038] Obtain the minimum pulse period achievable under device capability constraints;

[0039] Set the complete pulse period as the minimum pulse period, and substitute the minimum pulse period, the determined material response coefficient, and the reference negative pressure into the unit pulse period propulsion model to obtain the propulsion distance of a single complete pulse period under the minimum pulse period.

[0040] Based on the ratio between the total length of the solid material conveying path and the advance distance of a single complete pulse cycle under the minimum pulse cycle setting, the number of complete pulse cycles that can be executed under the minimum pulse cycle setting is obtained.

[0041] The cumulative total distance advanced under the minimum pulse cycle is obtained by multiplying the number of complete pulse cycles by the distance advanced in a single complete pulse cycle, and then compared with the total length of the solid material conveying path to obtain the remaining unadvanced distance.

[0042] When the remaining unadvanced distance is greater than zero, the supplementary advance time is obtained based on the relationship between the remaining unadvanced distance and the average advance speed; when the remaining unadvanced distance is equal to zero, the supplementary advance time is set to zero.

[0043] Based on the sum of the number of complete pulse cycles, the duration of the minimum pulse cycle, and the supplementary propulsion time, the total conveying time required to complete the entire solid material pumping and transfer process under the minimum pulse cycle setting is obtained, and the minimum pulse cycle and the corresponding propulsion parameters are solidified as the setting parameters for the solid material pumping and transfer process.

[0044] Optionally, the complete pulse cycle number is used to calculate the end position of each cycle by accumulating the advancement distance of a single complete pulse cycle; when there is supplementary advancement time, the end position of the supplementary advancement is used as the endpoint position, specifically including:

[0045] Assign sequential indices to each complete pulse cycle, and treat each complete pulse cycle as a step size;

[0046] At the end of each complete pulse cycle, based on the linear cumulative relationship between the advance distance of a single complete pulse cycle and the corresponding sequence index, the position coordinates of the solid material on the solid material conveying path at the end of the corresponding complete pulse cycle are obtained, forming a material position sequence with the complete pulse cycle as the node;

[0047] When there is a remaining unadvanced distance, the supplementary advance time is calculated based on the remaining unadvanced distance and the average advance speed. At the end of the supplementary advance time, the solid material position is set as the end position of the solid material conveying path, and the end position of the solid material conveying path is used as the end point in the material position sequence.

[0048] When there is no remaining unadvanced distance, at the end of the last complete pulse cycle, the solid material position is set as the end position of the solid material conveying path, and the end position of the solid material conveying path is used as the end point in the material position sequence.

[0049] Optionally, the step of generating a negative pressure target sequence based on a reference negative pressure, negative pressure pulse amplitude, and complete pulse cycle, and outputting it to the pumping device for periodic pulse negative pressure control within the time interval from the start of solid material pumping and transfer to the end of the total conveying time, specifically includes:

[0050] Within the time interval from the start of solid material pumping and transfer to the end of the total conveying time, a negative pressure target sequence that varies with time is generated based on the reference negative pressure, negative pressure pulse amplitude, and complete pulse cycle. This ensures that the negative pressure increases and decreases periodically around the reference negative pressure according to a predetermined pattern within each complete pulse cycle, and the minimum negative pressure value is equal to the minimum allowable negative pressure limit.

[0051] During the time interval from the start of solid material pumping and transfer to the end of the total conveying time, the generated negative pressure target sequence is output to the pumping device hourly as a pressure setting signal, and the pumping device performs periodic pulse negative pressure control according to the negative pressure target sequence throughout the entire solid material pumping and transfer process.

[0052] Optionally, the step of using the total conveying time as the termination time, stopping the output of the pressure setting signal and shutting down the pump suction device when the running time reaches the total conveying time, and determining the position of the solid material at this time as the endpoint position, specifically includes:

[0053] Set the total delivery time as the termination time parameter for negative pressure control;

[0054] When the actual running time has not reached the total delivery time, the pressure setting signal is continuously output to the pump suction device according to the negative pressure target sequence; when the actual running time reaches the total delivery time, the pressure setting signal output to the pump suction device is stopped and the pump suction device is turned off.

[0055] When the actual running time equals the total conveying time, the position of the solid material on the solid material conveying path is determined to be at the end of the solid material conveying path, and the end status of the solid material pumping and transfer process is recorded.

[0056] The present invention has the following beneficial effects:

[0057] 1. The proposed solution first proposes a method to straighten the solid material conveying path and divide it into multiple equally spaced pipe segments. Each segment has the same length and is assigned a sequential index, which not only simplifies the calibration of pipe segment parameters but also facilitates subsequent accurate tracking of the material position in each segment. Unlike traditional one-time overall path control, discretized pipe segments improve the system's adaptability to local changes in resistance, density, etc., in different segments of the conveying path, and can dynamically adjust pulse negative pressure parameters in specific pipe segments. In addition, fixing the pump suction device at the starting point of the path forms a centralized negative pressure source with a single inlet, improving the simplicity and reliability of the equipment structure.

[0058] 2. Regarding the key process parameter of the minimum effective negative pressure for propelling solid materials, this solution designs a pulsed negative pressure control curve that periodically rises and falls around a reference negative pressure. This ensures that the negative pressure smoothly transitions from its minimum limit to its peak value and then falls back within each complete cycle. This fundamentally avoids phenomena such as particle precipitation and pipe wall adhesion that can occur due to continuous pulling of the material under constant pressure differential. Furthermore, the constraint that the negative pressure pulse amplitude ≤ reference negative pressure - minimum effective negative pressure ensures that the negative pressure will never drop to a point where the material remains stationary. Unlike existing continuous negative pressure or single-frequency, single-amplitude control methods, this solution's pulsed negative pressure not only guarantees propulsion efficiency but also allows the system to recalibrate the material state in each cycle, avoiding accumulated errors and improving the stability and consistency of long-distance, large-volume solid material transport.

[0059] 3. This scheme addresses the material propulsion characteristics by establishing a linear relationship between instantaneous propulsion speed and actual negative pressure within a complete pulse cycle, averaging the relationship over time. This is combined with constant negative pressure test data to obtain the material response coefficient, thereby constructing a unit pulse cycle propulsion model. This model simplifies complex nonlinear friction and volumetric rheology into a linear dynamic relationship, enabling precise calculation of the propulsion distance per pulse cycle. Combining real-time online testing with the pulse cycle dynamic model allows for adaptive correction of response characteristics under different materials and environmental conditions. The linear expression of average speed and reference negative pressure eliminates instantaneous noise interference, providing a stable and repeatable physical basis for subsequent time and cycle calculations.

[0060] 4. Based on the aforementioned propulsion model, this solution systematically proposes an algorithm to calculate the number of executable complete cycles based on the total path length and single-cycle propulsion distance, and to determine the supplementary propulsion time based on the remaining un-propulsed distance and average speed. This algorithm innovatively incorporates the supplementary propulsion time into the overall transport sequence calculation, allowing the total transport time to be accurately obtained in one go, rather than through post-processing adjustments. Compared to traditional experience-based estimations or manual scheduling, this solution can output complete time indicators during the design phase, effectively supporting production planning and resource allocation, and reducing unplanned downtime.

[0061] 5. Considering the physical limits of the response rate of the equipment control system and actuators, the proposed solution substitutes the minimum allowable pulse period into the unit propulsion model to recalculate the propulsion distance and timing parameters, and then fixes this period and related parameters as the final set values. This innovation ensures that the system achieves the highest delivery efficiency under the highest speed conditions, while avoiding overload or control instability of actuators caused by excessively fast pulses. Unlike simply considering only theoretical optimization or designing solely based on equipment limits, this method takes into account both the theoretical model and the actual performance of the equipment, making the design parameters both scientifically reasonable and engineering feasible.

[0062] 6. To ensure visualization and traceability of the material propulsion process, the solution refines the algorithm by calculating position coordinates based on cycle index and single-cycle propulsion distance accumulation, forming a material position sequence with the cycle as the node, for two scenarios: the end of each complete pulse cycle and the end of supplementary propulsion. Discretizing the material position at each pulse cycle node allows for real-time monitoring and verification during operation, supporting automatic deviation correction and early warning; simultaneously, the sequence based on numbered nodes provides a visual representation of the material distribution in the pipeline.

[0063] 7. Combining the aforementioned model and timing calculations, this scheme proposes a method for continuously outputting a target negative pressure sequence with pulse amplitude and complete cycle parameters throughout the entire transfer process and controlling the pump suction device in a closed loop. Seamlessly integrating the model calculation results with real-time execution allows the control system to output set signals hourly based on the pre-obtained target sequence, achieving closed-loop dynamic control from model to execution. Unlike traditional methods that rely solely on simple clock or fixed-frequency outputs, this scheme's closed-loop signal can dynamically match the material propulsion requirements, avoiding overshoot or lag, and improving stability and accuracy.

[0064] 8. Finally, the solution uses the total conveying time as the termination condition, combined with real-time running time, to propose a logic for automatically stopping the output pressure signal and shutting down the pump when the total time expires, using the material position as the endpoint for completion determination and pump shutdown. This innovation avoids the shortcomings of relying on external sensors or manual intervention, ensuring reliable pump shutdown and position determination in the absence of sensor failures. Furthermore, combining this with the position sequence of each cycle allows for double verification of the conveying completion status, further enhancing the system's safety and automation level. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] Example, refer to Figure 1 A pump-suction transfer method for conveying solid materials, comprising:

[0068] The solid material conveying path is arranged in a straight line, with a starting point and an ending point set, and is divided into multiple pipe sections at equal intervals. A pump suction device is installed at the starting point.

[0069] Apply periodic pulse negative pressure at the starting position to obtain the minimum effective negative pressure, set a reference negative pressure that is not lower than the minimum effective negative pressure, and set the negative pressure pulse amplitude and the complete pulse period;

[0070] Establish a linear relationship between instantaneous propulsion speed and actual negative pressure, take the time average within the complete pulse cycle, and obtain the material response coefficient by combining constant negative pressure test to form a unit pulse cycle propulsion model, and calculate the propulsion distance of a single complete pulse cycle;

[0071] The number of complete pulse cycles and the cumulative total distance of advancement are calculated based on the total length of the solid material conveying path and the advancement distance of a single complete pulse cycle. The supplementary advancement time is calculated based on the remaining unadvanced distance and the average advancement speed. The total conveying time is calculated based on the number of complete pulse cycles, the duration of the complete pulse cycle, and the supplementary advancement time.

[0072] Substitute the minimum pulse period allowed by the equipment capacity into the unit pulse period propulsion model, and recalculate the propulsion distance of a single complete pulse period, the number of complete pulse periods, the cumulative total propulsion distance, the remaining unpropulsion distance, the supplementary propulsion time, and the total delivery time.

[0073] The complete pulse cycle is numbered, and the end position of each cycle is calculated by accumulating the advance distance of each complete pulse cycle; if there is supplementary advance time, the end position of the supplementary advance is used as the final position.

[0074] Within the time interval from the start of solid material pumping and transfer to the end of the total conveying time, a negative pressure target sequence is generated based on the reference negative pressure, negative pressure pulse amplitude, and complete pulse cycle, and output to the pumping device to implement periodic pulse negative pressure control.

[0075] The total conveying time is used as the end time. When the running time reaches the total conveying time, the output pressure setting signal is stopped and the pump suction device is turned off. The position of the solid material at this time is determined as the end position.

[0076] By straightening the solid material conveying path and dividing it into multiple equally spaced pipe segments, installing a pump suction device at the starting point, and combining this with the system calculation steps of the entire periodic pulse negative pressure control and propulsion model, this solution effectively solves the problems of uneven propulsion, unpredictable blockage, and inaccurate estimation of conveying distance and time in traditional solid material pump suction conveying processes. Specifically, the complex path is first discretized into several small segments of equal length, allowing the system to accurately track the material's position at the end of each pipe segment. Then, through pulse negative pressure, sufficient suction is provided at the peak of each cycle, while some pressure is released at the trough, ensuring that vacuum blockage or pulse jumps do not occur during material propulsion. Secondly, by establishing a linear relationship between instantaneous velocity and actual negative pressure, and combining this with actual experimental data to calculate the material response coefficient, the propulsion distance within a single pulse cycle can be accurately predicted. Then, based on the total path length and single-cycle distance, the number of complete cycles and supplementary propulsion time are calculated, and the calculation can be re-optimized for the equipment's minimum allowable pulse cycle. Finally, a closed-loop negative pressure sequence is output according to cycle numbering, and the total conveying time is used as the termination criterion, ensuring that the material neither ends prematurely nor runs idle for an extended period. Compared with existing technologies that rely heavily on trial and error adjustments and lack full-process closed-loop positioning and timing calculations, this method has higher prediction accuracy, maintainability and automation level, making it very suitable for the systematic transportation of long-distance, large-volume solid materials.

[0077] The method of arranging the solid material conveying path in a straight line, setting a starting point and an ending point, dividing it into multiple pipe segments at equal intervals, and installing a pump suction device at the starting point specifically includes:

[0078] The solid material conveying path is structurally arranged as a straight pipeline. The starting and ending positions of the solid material conveying path are set, and the total length of the solid material conveying path from the starting position to the ending position is obtained.

[0079] Based on the preset total number of pipe segments, the solid material conveying path is divided into multiple discrete pipe segments at equal intervals along the length direction, so that each pipe segment has the same pipe segment length, and sequential indexes are assigned to each pipe segment in sequence.

[0080] For any pipe segment with a sequential index, the coordinates of the starting position of the target pipe segment along the solid material conveying path are obtained based on the starting position of the solid material conveying path, the length of a single pipe segment, and the sequential index of the pipe segment, forming a parameter set for the starting position of each pipe segment.

[0081] A pump suction device is installed at the starting point of the solid material conveying path as the inlet point for applying negative pressure and starting pump suction transfer.

[0082] The solid material conveying path is set as a straight line, with a total length of [length missing]. The starting position is 0, and the ending position is ;in, This represents the total length of the solid material conveying path.

[0083] Divide the conveying path into equal parts There are discrete pipe segments, with pipe segment indices as follows: The length of each segment is: ;in, This represents the total number of pipe segments into which the transport path is divided; For pipe segment index; This refers to the length of a single pipe segment;

[0084] For any pipe segment Set the starting position of this segment as: ;in, For the first The coordinates of the starting point of each pipe section;

[0085] Install a pump suction device at the starting point 0.

[0086] The process of applying periodic pulsed negative pressure at the starting position to obtain the minimum effective negative pressure, setting a reference negative pressure that is not lower than the minimum effective negative pressure, and setting the negative pressure pulse amplitude and the complete pulse period specifically includes:

[0087] Establish a negative pressure target control curve and set the negative pressure target control curve as a pulse waveform that periodically increases and decreases around the reference negative pressure, completing one negative pressure rise and fall change within each complete pulse cycle;

[0088] Obtain the minimum effective negative pressure required to drive solid material to move stably forward along the solid material conveying path, and use the minimum effective negative pressure as the minimum allowable negative pressure limit during the pump suction transfer process;

[0089] When setting the reference negative pressure, the reference negative pressure shall be greater than or equal to the minimum allowable negative pressure limit, and the actual negative pressure at any time during the entire solid material pumping and transfer process shall be subject to the constraint that it shall not be lower than the minimum allowable negative pressure limit.

[0090] Under the constraint that the actual negative pressure is not lower than the minimum allowable negative pressure limit, the variation amplitude of the negative pressure pulse is set according to the difference between the reference negative pressure and the minimum allowable negative pressure limit, so that the negative pressure is equal to the minimum allowable negative pressure limit at the lowest point of the pulse waveform, and the actual negative pressure is always not lower than the minimum allowable negative pressure limit throughout the entire pulse variation process.

[0091] Construct the function of pump suction negative pressure as a function of time, specifically:

[0092] ;in, For continuous time variables; For at any time The negative pressure applied at the beginning of the pipeline by the pump suction device; The amplitude of the negative pressure pulse; The period of the negative pressure pulse; The baseline negative pressure value;

[0093] The minimum permissible effective negative pressure required to drive the solid material forward is denoted as... ;

[0094] Select the reference negative pressure To satisfy ;

[0095] For any time Apply constraints: ;

[0096] Will Substituting the expression into the constraints, we get the inequality:

[0097] ;

[0098] use Substituting the worst-case scenario into the property of , we get:

[0099] Thus, the upper bound of the pulse amplitude is obtained as follows:

[0100] ;

[0101] Under the condition that the constraints are satisfied, the pulse amplitude is selected as: .

[0102] The process involves establishing a linear relationship between instantaneous propulsion speed and actual negative pressure, taking time averaging over a complete pulse cycle, and combining this with a constant negative pressure test to obtain the material response coefficient. This forms a unit pulse cycle propulsion model, which calculates the propulsion distance for a single complete pulse cycle. Specifically, this includes:

[0103] Establish the relationship between the instantaneous propulsion speed of solid materials and the actual negative pressure at the starting point of the solid material conveying path. It is assumed that the instantaneous propulsion speed of solid materials at any time is proportional to the actual negative pressure at the same time, and a material response coefficient is introduced to characterize the linear response characteristics of solid materials to negative pressure.

[0104] Within a complete pulse cycle, the instantaneous propulsion speed at each moment is integrated and averaged on the time axis to obtain the average propulsion speed for the corresponding complete pulse cycle. The average propulsion speed is then correlated with the material response coefficient and the reference negative pressure to form a linear expression between the average propulsion speed and the reference negative pressure.

[0105] Based on the relationship between the average propulsion speed and the duration of the complete pulse cycle, the propulsion distance of solid material along the solid material conveying path within a single complete pulse cycle is obtained, and the propulsion distance is defined as the propulsion distance of a single complete pulse cycle.

[0106] Under the test conditions, a constant negative pressure is applied to the solid material to be conveyed, and the constant negative pressure is maintained for a preset duration. The forward distance of the solid material along the solid material conveying path is recorded within the preset duration. The material response coefficient is obtained based on the proportional relationship between constant negative pressure, duration and forward distance.

[0107] The material response coefficient is substituted into the calculation relationship of the unit pulse period propulsion model, and a unit pulse period propulsion model is established accordingly, which serves as the basic model for subsequent calculations of the number of propulsion cycles and time parameters.

[0108] The instantaneous propulsion velocity function of the material is constructed as follows: ;in, For at any time The instantaneous propulsion speed of solid materials along the conveying path; This refers to the material response coefficient.

[0109] The average propulsion speed within one pulse cycle is calculated as follows:

[0110] ;in, The average propulsion speed over a complete pulse cycle;

[0111] Will Substituting the expression into the average velocity formula, we get:

[0112] ;

[0113] Will Substituting the expression into the integral, we get:

[0114] ;

[0115] Integrating by terms, we obtain:

[0116] ;

[0117] use The average velocity is simplified to:

[0118] ;

[0119] The propulsion distance within a single complete pulse cycle is calculated as follows: ;in, The distance the solid material is propelled along the conveying direction within a single complete pulse cycle;

[0120] Will Substituting the expression, we get: ;

[0121] Based on the above integration results, we obtain: ;

[0122] Apply constant negative pressure under test conditions and satisfy In the time interval Maintain this negative pressure internally and record the expected migration distance. Calculate the material response coefficient:

[0123] ;in, This refers to the constant negative pressure applied during the testing phase; The duration of the trial phase; This refers to the distance the material is moved forward during the testing phase.

[0124] The process of calculating the number of complete pulse cycles and the cumulative total distance traveled based on the total length of the solid material conveying path and the distance traveled in a single complete pulse cycle, calculating the supplementary propulsion time based on the remaining un-propulsed distance and the average propulsion speed, and calculating the total conveying time based on the number of complete pulse cycles, the duration of the complete pulse cycle, and the supplementary propulsion time, specifically includes:

[0125] Based on the proportional relationship between the total length of the solid material conveying path and the advance distance of a single complete pulse cycle, the number of complete pulse cycles that can be executed in the entire solid material pumping and transfer process is obtained.

[0126] The total cumulative distance the solid material travels along the solid material conveying path after all complete pulse cycles are obtained by multiplying the number of complete pulse cycles by the distance traveled in a single complete pulse cycle.

[0127] Based on the difference between the total length of the solid material conveying path and the cumulative total advancing distance, the remaining unadvanced distance that has not been advanced after all complete pulse cycles is obtained;

[0128] When the remaining unadvanced distance is greater than zero, the supplementary advance time required to advance the remaining unadvanced distance after completing all full cycles is obtained based on the ratio between the remaining unadvanced distance and the average advance speed; when the remaining unadvanced distance is equal to zero, the supplementary advance time is set to zero.

[0129] The total conveying time required to complete the entire solid material pumping and transfer process is obtained by summing the number of complete pulse cycles, the duration of complete pulse cycles, and the supplementary propulsion time.

[0130] The number of complete pulse cycles is calculated as follows: ;in, The number of complete pulse cycles that can be executed;

[0131] The number of complete pulse cycles for a fully executable program is calculated as follows: ;in, To execute The total distance the solid material has traveled after one complete pulse cycle;

[0132] The remaining unexpanded distance is calculated as follows: ;in, The remaining distance that has not been advanced after all full pulse cycles have been completed;

[0133] when At that time, the supplementary propulsion time is calculated as follows: ;in, To advance the remaining distance after completing the entire cycle. Required supplementary time;

[0134] when When, set ;

[0135] Calculate the total time required to complete the entire transport process. Specifically:

[0136] .

[0137] The minimum pulse period allowed by the equipment capacity is substituted into the unit pulse period propulsion model to recalculate the propulsion distance of a single complete pulse period, the number of complete pulse periods, the cumulative total propulsion distance, the remaining unpropulsion distance, the supplementary propulsion time, and the total delivery time. Specifically, this includes:

[0138] Obtain the minimum pulse period achievable under device capability constraints;

[0139] Set the complete pulse period as the minimum pulse period, and substitute the minimum pulse period, the determined material response coefficient, and the reference negative pressure into the unit pulse period propulsion model to obtain the propulsion distance of a single complete pulse period under the minimum pulse period.

[0140] Based on the ratio between the total length of the solid material conveying path and the advance distance of a single complete pulse cycle under the minimum pulse cycle setting, the number of complete pulse cycles that can be executed under the minimum pulse cycle setting is obtained.

[0141] The cumulative total distance advanced under the minimum pulse cycle is obtained by multiplying the number of complete pulse cycles by the distance advanced in a single complete pulse cycle, and then compared with the total length of the solid material conveying path to obtain the remaining unadvanced distance.

[0142] When the remaining unadvanced distance is greater than zero, the supplementary advance time is obtained based on the relationship between the remaining unadvanced distance and the average advance speed; when the remaining unadvanced distance is equal to zero, the supplementary advance time is set to zero.

[0143] Based on the sum of the number of complete pulse cycles, the duration of the minimum pulse cycle, and the supplementary propulsion time, the total conveying time required to complete the entire solid material pumping and transfer process under the minimum pulse cycle setting is obtained, and the minimum pulse cycle and the corresponding propulsion parameters are solidified as the setting parameters for the solid material pumping and transfer process.

[0144] Obtain the minimum achievable pulse period limited by device capabilities, denoted as . ;

[0145] Using pulse period ;

[0146] Will Substituting into the expression for the single-cycle propulsion distance, we get:

[0147] ;

[0148] Calculate the number of complete pulse cycles: ;

[0149] Calculate the cumulative propulsion distance for the entire cycle: ;

[0150] Calculate the remaining unadvanced distance: ;

[0151] when At that time, the supplementary propulsion time is calculated as follows: ;

[0152] when When, set ;

[0153] Calculate the total time required to complete the entire transport process:

[0154] .

[0155] The term refers to the complete pulse cycle numbering. The end position of each cycle is calculated by accumulating the advancement distance of a single complete pulse cycle. When there is supplementary advancement time, the end position of the supplementary advancement is used as the endpoint position. Specifically, this includes:

[0156] Assign sequential indices to each complete pulse cycle, and treat each complete pulse cycle as a step size;

[0157] At the end of each complete pulse cycle, based on the linear cumulative relationship between the advance distance of a single complete pulse cycle and the corresponding sequence index, the position coordinates of the solid material on the solid material conveying path at the end of the corresponding complete pulse cycle are obtained, forming a material position sequence with the complete pulse cycle as the node;

[0158] When there is a remaining unadvanced distance, the supplementary advance time is calculated based on the remaining unadvanced distance and the average advance speed. At the end of the supplementary advance time, the solid material position is set as the end position of the solid material conveying path, and the end position of the solid material conveying path is used as the end point in the material position sequence.

[0159] When there is no remaining unadvanced distance, at the end of the last complete pulse cycle, the solid material position is set as the end position of the solid material conveying path, and the end position of the solid material conveying path is used as the end point in the material position sequence.

[0160] Set the index of the complete pulse period as ;

[0161] In the At the end of a complete pulse cycle, the material position is calculated as follows: ;in, In the first The position of the material on the conveying path at the end of a complete pulse cycle;

[0162] when During the supplementary time At the end, the final position of the material is ;in, This is the final position of the material on the conveying path at the end of the conveying process;

[0163] when At that time, in the At the end of a complete pulse cycle, the final position of the material is .

[0164] Within the time interval from the start of solid material pumping and transfer to the end of the total conveying time, a negative pressure target sequence is generated based on the reference negative pressure, negative pressure pulse amplitude, and complete pulse cycle, and output to the pumping device to implement periodic pulse negative pressure control. Specifically, this includes:

[0165] Within the time interval from the start of solid material pumping and transfer to the end of the total conveying time, a negative pressure target sequence that varies with time is generated based on the reference negative pressure, negative pressure pulse amplitude, and complete pulse cycle. This ensures that the negative pressure increases and decreases periodically around the reference negative pressure according to a predetermined pattern within each complete pulse cycle, and the minimum negative pressure value is equal to the minimum allowable negative pressure limit.

[0166] During the time interval from the start of solid material pumping and transfer to the end of the total conveying time, the generated negative pressure target sequence is output to the pumping device hourly as a pressure setting signal, and the pumping device performs periodic pulse negative pressure control according to the negative pressure target sequence throughout the entire solid material pumping and transfer process.

[0167] In time interval Internally, the negative pressure control function is:

[0168] ;

[0169] In time interval within, will The pressure setting signal is output to the pump suction device as a pressure setting signal.

[0170] The process of using the total conveying time as the termination time, stopping the output of the pressure setting signal and shutting off the pump suction device when the total conveying time is reached, and determining the position of the solid material at this point as the endpoint position, specifically includes:

[0171] Set the total delivery time as the termination time parameter for negative pressure control;

[0172] When the actual running time has not reached the total delivery time, the pressure setting signal is continuously output to the pump suction device according to the negative pressure target sequence; when the actual running time reaches the total delivery time, the pressure setting signal output to the pump suction device is stopped and the pump suction device is turned off.

[0173] When the actual running time equals the total conveying time, the position of the solid material on the solid material conveying path is determined to be at the end of the solid material conveying path, and the end status of the solid material pumping and transfer process is recorded.

[0174] use As a negative pressure control function The end time;

[0175] When the time reaches At that time, stop outputting the pressure setting signal to the pump suction device. ;

[0176] In time At that time, the material position is The solid material conveying process has ended.

[0177] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0178] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A pump transfer method for the transfer of solid material, characterized in that, The application relates to a solid material conveying method and device. The solid material conveying path is arranged in a straight line, a starting position and an ending position are set, the solid material conveying path is equally divided into multiple pipe sections, and a pumping device is installed at the starting position; Periodic pulse negative pressure is applied at the starting position, the minimum effective negative pressure is obtained, the reference negative pressure is set to be not lower than the minimum effective negative pressure, and the negative pressure pulse amplitude and the complete pulse period are set; A linear relationship between the instantaneous advancing speed and the actual negative pressure is established, the time average is taken in the complete pulse period, the material response coefficient is obtained by combining the constant negative pressure test, the unit pulse period advancing model is formed, and the single complete pulse period advancing distance is calculated; The total conveying distance is calculated according to the total length of the solid material conveying path and the single complete pulse period advancing distance, the supplementary advancing time is calculated according to the remaining unadvancing distance and the average advancing speed, and the total conveying time is calculated according to the complete pulse period number, the complete pulse period length and the supplementary advancing time; The minimum pulse period allowed by the equipment capacity is substituted into the unit pulse period advancing model, and the single complete pulse period advancing distance, the complete pulse period number, the total advancing distance, the remaining unadvancing distance, the supplementary advancing time and the total conveying time are recalculated; The complete pulse period is numbered, and the ending position of each period is calculated by accumulating the single complete pulse period advancing distance; when the supplementary advancing time exists, the ending position of the supplementary advancing is the ending position; In the time interval from the start of the solid material pumping and transferring to the end of the total conveying time, the negative pressure target sequence is generated according to the reference negative pressure, the negative pressure pulse amplitude and the complete pulse period, and is output to the pumping device to implement the periodic pulse negative pressure control; The total conveying time is taken as the termination time, the output pressure setting signal is stopped and the pumping device is closed when the running time reaches the total conveying time, and the solid material position at this time is determined as the ending position.

2. A pump transfer method for solid material conveying according to claim 1, characterized in that, The solid material conveying path is arranged in a straight line, a starting position and an ending position are set, the solid material conveying path is equally divided into multiple pipe sections, and a pumping device is installed at the starting position, and the method specifically comprises the following steps: The solid material conveying path is arranged in a straight line, a starting position and an ending position are set, the solid material conveying path is equally divided into multiple pipe sections, and a pumping device is installed at the starting position, and the method specifically comprises the following steps: The solid material conveying path is arranged in a straight line, a starting position and an ending position are set, the solid material conveying path is equally divided into multiple pipe sections, and a pumping device is installed at the starting position, and the method specifically comprises the following steps: The starting position coordinate of the target pipe section along the solid material conveying path direction is obtained according to the starting position of the solid material conveying path, the single pipe section length and the pipe section sequence index, and a parameter set of the starting positions of the pipe sections is formed; The pumping device is installed at the starting position of the solid material conveying path, and serves as the inlet position for applying negative pressure and starting pumping and transferring.

3. A pump transfer method for solid material conveying according to claim 2, characterized in that, The periodic pulse negative pressure is applied at the starting position, the minimum effective negative pressure is obtained, the reference negative pressure is set to be not lower than the minimum effective negative pressure, and the negative pressure pulse amplitude and the complete pulse period are set, and the method specifically comprises the following steps: The negative pressure target control curve is established, and the negative pressure target control curve is set as the pulse waveform periodically rising and falling around the reference negative pressure, and the negative pressure rising and falling change is completed in each complete pulse period; Obtaining the minimum effective negative pressure required for driving the solid materials to steadily move forward along the solid material conveying path direction, and taking the minimum effective negative pressure as the allowed minimum negative pressure limit value in the pump suction and transfer process; In setting the reference negative pressure, the reference negative pressure is greater than or equal to the allowed minimum negative pressure limit value, and a constraint condition that the actual negative pressure at any time in the entire solid material pump suction and transfer process cannot be lower than the allowed minimum negative pressure limit value is applied; Under the constraint condition that the actual negative pressure is not lower than the allowed minimum negative pressure limit value, the variation amplitude of the negative pressure pulse is set according to the difference between the reference negative pressure and the allowed minimum negative pressure limit value, so that the minimum point of the negative pressure pulse waveform is equal to the allowed minimum negative pressure limit value, and the actual negative pressure is always not lower than the allowed minimum negative pressure limit value in the entire pulse variation process.

4. A pump transfer method for solid material conveying according to claim 3, characterized in that, The linear relationship between the instantaneous advancing speed and the actual negative pressure is established, the time average is taken in the complete pulse period, the material response coefficient is obtained through the constant negative pressure test, the unit pulse period advancing model is formed, and the single complete pulse period advancing distance is calculated, which specifically includes: The relationship between the instantaneous advancing speed of the solid materials and the actual negative pressure at the starting position of the solid material conveying path is established, it is assumed that the instantaneous advancing speed of the solid materials at any time is proportional to the actual negative pressure at the same time, and the material response coefficient is introduced to represent the linear response characteristics of the solid materials to the negative pressure; In a complete pulse period, the instantaneous advancing speed at each time is integrated and averaged on the time axis to obtain the average advancing speed corresponding to the complete pulse period, and the average advancing speed is related to the material response coefficient and the reference negative pressure to form a linear expression between the average advancing speed and the reference negative pressure; According to the relationship between the average advancing speed and the length of the complete pulse period, the advancing distance of the solid materials along the solid material conveying path direction in a single complete pulse period is obtained, and the advancing distance is defined as the single complete pulse period advancing distance; Under the test conditions, a constant negative pressure is applied to the solid materials to be conveyed, the constant negative pressure is maintained for a predetermined duration, the forward moving distance of the solid materials along the solid material conveying path direction within the predetermined duration is recorded, and the material response coefficient is obtained according to the proportional relationship between the constant negative pressure, the duration and the forward moving distance; The material response coefficient is substituted into the calculation relationship of the unit pulse period advancing model, and the unit pulse period advancing model is established accordingly, which is used as the basic model for subsequent calculation of the number of advancing periods and time parameters.

5. A pump transfer method for solid material conveying according to claim 4, characterized in that, The number of complete pulse periods and the total cumulative advancing distance are calculated according to the total length of the solid material conveying path and the single complete pulse period advancing distance, the supplementary advancing time is calculated according to the remaining unadvancing distance and the average advancing speed, and the total conveying time is calculated according to the number of complete pulse periods, the length of the complete pulse period and the supplementary advancing time, which specifically includes: According to the proportional relationship between the total length of the solid material conveying path and the single complete pulse period advancing distance, the number of complete pulse periods that can be executed in the entire solid material pump suction and transfer process is obtained; According to the product of the number of complete pulse periods and the single complete pulse period advancing distance, the cumulative total advancing distance of the solid material along the solid material conveying path direction after executing all complete pulse periods is obtained; According to the difference between the total length of the solid material conveying path and the cumulative total advancing distance, the remaining unadvancing distance which is not advanced after completing all complete pulse periods is obtained; When the remaining unadvancing distance is greater than zero, according to the proportional relationship between the remaining unadvancing distance and the average advancing speed, the supplementary advancing time required for advancing the remaining unadvancing distance after completing all complete periods is obtained; when the remaining unadvancing distance is equal to zero, the supplementary advancing time is set to zero; According to the sum of the number of complete pulse periods, the complete pulse period length and the supplementary advancing time, the total conveying time required for completing the entire solid material pumping and transferring process is obtained.

6. A pump transfer method for solid material conveying according to claim 5, characterized in that, The minimum pulse period allowed by the equipment capacity is substituted into the unit pulse period advancing model to recalculate the single complete pulse period advancing distance, the number of complete pulse periods, the cumulative total advancing distance, the remaining unadvancing distance, the supplementary advancing time and the total conveying time, specifically including: The minimum pulse period that can be achieved under the equipment capacity constraint is obtained; The complete pulse period is set to the minimum pulse period, and the minimum pulse period, the material response coefficient and the reference negative pressure determined are substituted into the unit pulse period advancing model to obtain the single complete pulse period advancing distance under the minimum pulse period; According to the proportional relationship between the total length of the solid material conveying path and the single complete pulse period advancing distance under the minimum pulse period, the number of complete pulse periods that can be executed under the minimum pulse period setting is obtained; According to the product of the number of complete pulse periods and the single complete pulse period advancing distance, the cumulative total advancing distance under the minimum pulse period is obtained, and compared with the total length of the solid material conveying path to obtain the remaining unadvancing distance; When the remaining unadvancing distance is greater than zero, the supplementary advancing time is obtained according to the relationship between the remaining unadvancing distance and the average advancing speed; when the remaining unadvancing distance is equal to zero, the supplementary advancing time is set to zero; According to the sum of the number of complete pulse periods, the minimum pulse period length and the supplementary advancing time, the total conveying time required for completing the entire solid material pumping and transferring process under the minimum pulse period setting is obtained, and the minimum pulse period and the corresponding advancing parameters are solidified as the setting parameters of the solid material pumping and transferring process.

7. A pump transfer method for solid material conveying according to claim 6, characterized in that, The complete pulse period number is numbered, and the position at the end of each period is obtained by accumulating the single complete pulse period advancing distance; When the supplementary advancing time exists, the position at the end of the supplementary advancing is the terminal position, specifically including: Each complete pulse period is sequentially assigned a sequence index, and each complete pulse period is regarded as a advancing step; At the end of each complete pulse period, the position coordinates of the solid material on the solid material conveying path at the end of the corresponding complete pulse period are obtained according to the linear accumulation relationship between the single complete pulse period advancing distance and the corresponding sequence index, forming a material position sequence with complete pulse periods as nodes; When the remaining unpropelled distance exists, the solid material position is set as the solid material conveying path end position at the end of the additional propelling time calculated according to the remaining unpropelled distance and the average propelling speed, and the solid material conveying path end position is taken as the end point in the material position sequence; When the remaining unpropelled distance does not exist, the solid material position is set as the solid material conveying path end position at the end of the last complete pulse cycle, and the solid material conveying path end position is taken as the end point in the material position sequence.

8. A pump transfer method for solid material conveying according to claim 7, characterized in that, The negative pressure target sequence is generated according to the reference negative pressure, the negative pressure pulse amplitude and the complete pulse cycle in the time interval from the start of the solid material pump suction transfer to the end of the total conveying time, and is output to the pump suction device to implement periodic pulse negative pressure control, and specifically includes: In the time interval from the start of the solid material pump suction transfer to the end of the total conveying time, the negative pressure target sequence varying with time is generated according to the reference negative pressure, the negative pressure pulse amplitude and the complete pulse cycle, so that the negative pressure is periodically raised and lowered around the reference negative pressure according to a predetermined rule in each complete pulse cycle, and the minimum negative pressure is equal to the allowable minimum negative pressure limit; In the time interval from the start of the solid material pump suction transfer to the end of the total conveying time, the generated negative pressure target sequence is output to the pump suction device as a pressure setting signal at each time, and the pump suction device is controlled according to the negative pressure target sequence for periodic pulse negative pressure control during the entire solid material pump suction transfer process.

9. A pump transfer method for solid material conveying according to claim 8, characterized in that, The total conveying time is taken as the termination time, the pressure setting signal is stopped and the pump suction device is closed when the running time reaches the total conveying time, and the solid material position at this time is determined as the end position, and specifically includes: The total conveying time is set as the termination time parameter of the negative pressure control; When the actual running time does not reach the total conveying time, the pressure setting signal is continuously output to the pump suction device according to the negative pressure target sequence; when the actual running time reaches the total conveying time, the pressure setting signal is stopped and the pump suction device is closed; When the actual running time is equal to the total conveying time, the position of the solid material on the solid material conveying path is determined as being located at the solid material conveying path end position, and the end state of the solid material pump suction transfer process is recorded.

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