Multifunctional automatic crystallizer and control method

Abstract

The invention discloses a multifunctional automatic crystallizing machine. The automatic crystallizing machine comprises a plurality of crystallizing surfaces capable of crystallizing and processing a current working surface. The multifunctional automatic crystallizer comprises an emergency obstacle avoidance system which is configured to dynamically obtain edge dynamic sensing information of a working area in real time. And obtaining driving path information according to the edge dynamic sensing information. And according to the driving path information and the edge dynamic sensing information, obtaining information of a plurality of detection areas arranged along the driving path. And obtaining an obstacle avoidance strategy according to the edge state information, the distance sensor sensing information and the cleaning pre-stored electric quantity. The problem that in the using process of the automatic crystallizer, factors such as driving, obstacle avoidance and energy cannot be integrated, and intelligent control cannot be achieved is solved.

Description

Technical Field

[0001] This invention relates to the field of stone surface treatment technology. Specifically, it relates to an emergency obstacle avoidance system and system for an automatic crystallization machine. Background Technology

[0002] Existing automated crystallization machines are mostly operated manually, requiring human intervention to avoid obstacles during operation. Adopting the intelligent driving control methods of existing electric vehicles would be costly, and the operating conditions of automated crystallization machines differ from those of ordinary vehicles; they must balance driving and the processing quality of the stone surface. Therefore, existing automated crystallization machines cannot achieve automatic obstacle avoidance, resulting in a low level of automation. Summary of the Invention

[0003] The purpose of this invention is to provide an emergency obstacle avoidance system for an automatic crystallizer, which solves the problem that automatic crystallizers cannot achieve intelligent control by comprehensively considering factors such as driving, obstacle avoidance, and energy during use.

[0004] In one aspect, the present invention provides a multifunctional automatic crystallizer, which includes multiple crystallization surfaces capable of crystallizing the current working surface.

[0005] The multi-functional automatic crystallizer includes an emergency obstacle avoidance system configured to: acquire real-time dynamic edge sensing information of the work area; and obtain travel path information based on the edge dynamic sensing information.

[0006] Based on the driving path information and edge dynamic sensing information, information on multiple detection areas arranged along the driving path is obtained. Based on the information of multiple detection areas, the current edge state information and distance sensor sensing information of multiple detection areas are collected sequentially.

[0007] An obstacle avoidance strategy is derived based on edge state information, distance sensor readings, and pre-stored cleaning power. This strategy includes an obstacle avoidance mode and a path. The pre-stored cleaning power is calculated based on the automatic crystallizer's current power level and the power level of the crystallizing surface within the completed work area. The automatic crystallizer operates according to the obstacle avoidance strategy.

[0008] In one embodiment of the multifunctional automatic crystallizer of the present invention, it includes: Based on the 3D area map of the work area and the set height, the static edge data of the work area is obtained from the top view of the 3D area map. The set height corresponds to the height of the automatic crystallizer.

[0009] Edge dynamic sensing information is obtained by using static work area edge data and real-time dynamic acquisition of the position of moving objects near the edge of the static work area.

[0010] The travel path information is obtained based on the edge dynamic sensing information and the travel width information of the automatic crystallizer. The travel path information includes travel path data and set speed information marked on the travel path. The set speed information is determined as set speed information for multiple speed segments based on the difference between the sensing width information in the edge dynamic sensing information and the travel width information of the automatic crystallizer.

[0011] Based on the set speed information of multiple speed segments in the driving path information and the sensing width information in the edge dynamic sensing information, multiple fan-shaped area information with different detection depths are obtained.

[0012] In another embodiment of the multifunctional automatic crystallizer of the present invention, it includes: Based on edge status information, distance sensor sensing information, and pre-stored cleaning power.

[0013] The system acquires image information of a fan-shaped detection area at multiple preset sensing heights. Distance sensor data is collected at these preset sensing heights. If the image information at multiple preset sensing heights indicates occlusion, and the distance sensor data collected at the same preset sensing height also indicates occlusion, then occlusion location information is generated. This occlusion location information includes the occlusion position itself.

[0014] In another embodiment of the multifunctional automatic crystallizer of the present invention, it includes: Based on the obstruction location information, the obstruction direction information and the obstruction distance information in the obstruction direction are obtained. Taking the machine center of the automatic crystallizer as the set origin coordinate, the two-dimensional coordinate information of the obstruction projected onto the current working surface is obtained based on the obstruction direction information and the obstruction distance information in the obstruction direction.

[0015] The automatic crystallizer includes a cleaning unit. The cleaning unit includes a first mode and a second mode. The first mode allows all three cleaning discs to operate simultaneously. The second mode allows one or two cleaning discs to operate simultaneously.

[0016] In the first mode, the three cleaning discs are driven by a cleaning motor with first set motor drive parameters. These first set motor drive parameters include a first drive torque parameter and a first speed parameter. Based on the first drive torque parameter and the first speed parameter, the first power consumption information per unit time is obtained.

[0017] In the second mode, the two cleaning discs are driven by a cleaning motor with second set motor drive parameters. These second set motor drive parameters include a second drive torque parameter and a second speed parameter. Based on the second drive torque parameter and the second speed parameter, second power consumption information per unit time is obtained.

[0018] In another embodiment of the multifunctional automatic crystallizer of the present invention, the shortest obstacle avoidance path information is obtained based on the two-dimensional coordinate information of the obstruction, the coordinates of the set origin, and the endpoint information of the travel path. The optimal obstacle avoidance time is then obtained based on the shortest obstacle avoidance path information and multiple speed ranges of the automatic crystallizer.

[0019] The first power consumption is obtained based on the optimal obstacle avoidance time and the first power consumption information per unit time. The second power consumption is obtained based on the optimal obstacle avoidance time and the second power consumption information per unit time. The first power consumption or the second power consumption is matched based on the current remaining power.

[0020] If the difference is greater than the first or second power consumption, the obstacle avoidance mode is the one corresponding to the power consumption with the largest difference. The obstacle avoidance trajectory is set using the shortest obstacle avoidance path information. If the difference is less than the first or second power consumption, the obstacle avoidance mode is paused.

[0021] In another embodiment of the multifunctional automatic crystallizer of the present invention, the automatic crystallizer includes a plurality of crystallization discs capable of grinding the crystallization surface; the multifunctional automatic crystallizer also includes: A motor housing includes a housing and a motor cover; the housing forms an inner cavity capable of accommodating a cleaning motor; the inner cavity communicates with an opening; the motor cover is capable of covering the opening.

[0022] In another embodiment of the multifunctional automatic crystallizer of the present invention, it further includes: An anti-theft sensor is installed on the motor cavity to detect the movement of the motor cover.

[0023] A Bluetooth communication module that can establish Bluetooth communication with a designated secure communication unit and obtain pairing success information. An anti-theft controller has multiple input terminals and multiple output terminals. The input terminals connect to the anti-theft sensors and the output terminals of the Bluetooth communication module. The output terminals connect to the motor controller of the crystallizer. Upon receiving sensing information from the anti-theft sensors, the anti-theft controller determines whether it has received a successful pairing message.

[0024] If a pairing success message is not received, a motor power-off message is sent to the motor controller to stop the motor of the crystallizer.

[0025] In another embodiment of the multifunctional automatic crystallizer of the present invention, it includes: A power supply module is connected to the main power supply line via a fuse. A self-destruct module has a control switch at both ends of its parallel fuse. When the control switch is closed, the self-destruct module outputs a voltage sufficient to melt the fuse, causing it to trip.

[0026] In another embodiment of the multifunctional automatic crystallizer of the present invention, it includes: An alarm communication module is connected to the output of the anti-theft controller. If a pairing success message is not received, the anti-theft controller sends an alarm message to the alarm communication module, causing the alarm communication module to issue an alarm notification.

[0027] In a second aspect, the present invention provides a control method for a multifunctional automatic crystallizer, the automatic crystallizer comprising multiple crystallization surfaces capable of crystallizing the current working surface.

[0028] The control method for the multifunctional automatic crystallizer includes: real-time dynamic acquisition of edge dynamic sensing information of the working area; and obtaining travel path information based on the edge dynamic sensing information.

[0029] Based on the driving path information and edge dynamic sensing information, information on multiple detection areas arranged along the driving path is obtained. Based on the information of multiple detection areas, the current edge state information and distance sensor sensing information of multiple detection areas are collected sequentially.

[0030] An obstacle avoidance strategy is derived based on edge state information, distance sensor readings, and pre-stored cleaning power. This strategy includes an obstacle avoidance mode and a path. The pre-stored cleaning power is calculated based on the automatic crystallizer's current power level and the power level of the crystallizing surface within the completed work area. The automatic crystallizer operates according to the obstacle avoidance strategy.

[0031] The following text will further explain the characteristics, technical features, advantages, and implementation methods of the emergency obstacle avoidance system and method for automatic crystallizers in a clear and easy-to-understand manner, with reference to the accompanying drawings. Attached Figure Description

[0032] Figure 1 is a schematic diagram illustrating the structure of a multifunctional automatic crystallizer in one embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram illustrating the structure of a multifunctional automatic crystallizer in another embodiment of the present invention.

[0034] Figure 3 This is a schematic diagram illustrating the structure of a multifunctional automatic crystallizer in another embodiment of the present invention. Detailed Implementation

[0035] To provide a clearer understanding of the technical features, objectives, and effects of the invention, specific embodiments of the invention are now described with reference to the accompanying drawings. In the drawings, the same reference numerals indicate components with the same or similar structures but the same function.

[0036] In this document, "illustrative" means "serving as an example, illustration, or description," and any illustrations or embodiments described herein as "illustrative" should not be construed as a more preferred or advantageous technical solution. For the sake of brevity, each figure only schematically shows the parts relevant to this exemplary embodiment, and they do not represent the actual structure or true proportions of the product.

[0037] One aspect of the invention, such as Figure 1 As shown, a multifunctional automatic crystallizer is provided, which includes multiple crystallization surfaces capable of crystallizing the current working surface.

[0038] like Figure 1 As shown, the multi-functional automatic crystallizer includes an emergency obstacle avoidance system configured to: dynamically acquire edge dynamic sensing information of the work area 90 in real time; and obtain travel path information based on the edge dynamic sensing information. For example, the current work area 90 is as follows: Figure 1 The rectangular area shown is obtained through site scanning information or measurement methods, such as the environment inside a shopping mall. In each area, the dynamic distribution of pedestrian flow can be seen through camera equipment. Combined with infrared sensors and visual recognition technology, the location and movement trend of pedestrians can be determined in real time.

[0039] The dynamic sensing information formed by dynamic crowds can be obtained by modeling and analyzing the density, direction of movement, and speed changes of the dynamic crowds, or by analyzing images from on-site cameras, thus obtaining the edge 91 of the dynamic sensing area. Based on the above information, the system can autonomously plan the optimal route and dynamically adjust the crystallizer's trajectory 92 to avoid collisions with pedestrians or other obstacles.

[0040] Based on the driving path information and edge dynamic sensing information, information on multiple detection areas arranged along the driving path is obtained. Based on the information of multiple detection areas, the current edge state information and distance sensor sensing information of multiple detection areas are collected sequentially.

[0041] Based on the aforementioned running trajectory 92 and the edge 91 of the aforementioned dynamic sensing area, the first detection area 93, the second detection area 94, and the third detection area 95 can be arranged along the running trajectory 92. The current edge state information and distance sensor sensing information of the first detection area 93, the second detection area 94, and the third detection area 95 are collected in sequence. The current edge state information can be captured by the infrared array and depth camera in the detection area to identify the real-time changes in the edge contour. Combined with the relative distance measured by the distance sensor, it can be determined whether there are sudden obstacles or people approaching.

[0042] The aforementioned distance sensor 20 is located at the front end of the feeding box 30. The distance sensor 20 can work in conjunction with an ultrasonic radar and an infrared ranging module, specifically a VL53L3CX and HC-SR04 combination module. It possesses high-precision ranging and multi-target recognition capabilities, with a measurement range covering 0.2 to 5 meters and a response frequency of up to 50Hz. This configuration can effectively capture sudden approaching behavior of nearby obstacles and feed the data back to the main control unit in real time. Combined with edge computing algorithms, it dynamically optimizes the movement strategy, ensuring stable operation of the equipment in complex environments.

[0043] An obstacle avoidance strategy is derived based on edge state information, distance sensor readings, and pre-stored cleaning power. This strategy includes an obstacle avoidance mode and a path. The pre-stored cleaning power is calculated based on the automatic crystallizer's current power level and the power level of the crystallizing surface within the completed 90° work area. The automatic crystallizer operates according to the obstacle avoidance strategy.

[0044] In this step, based on the edge information of the first detection area 93, the second detection area 94 and the third detection area 95 and the real-time feedback data of the distance sensor 20, combined with the pre-stored power status, the system intelligently determines the currently executable obstacle avoidance mode.

[0045] When the battery is sufficiently charged and a dense flow of people appears at the dynamic edge ahead, the system automatically switches to active detour mode, planning a smooth avoidance trajectory. If the battery is low, an energy-saving obstacle avoidance mode is activated, prioritizing slowing down and pausing while waiting for the passage to clear. The entire process relies on multi-source sensor fusion and edge computing to achieve real-time response, ensuring operational continuity while improving operational safety and energy efficiency. The aforementioned battery detection uses a built-in battery monitoring module to collect the voltage, current, and remaining capacity of the battery in the feed hopper 30 in real time, and combines this with historical power consumption data to predict the duration of subsequent operations.

[0046] When the pre-stored battery level is detected to be lower than a preset threshold, the system automatically triggers a low-battery warning mechanism, prioritizing the shortest return route and avoiding high-energy-consuming obstacle avoidance operations. Simultaneously, the main control unit dynamically adjusts the driving speed and sensor sampling frequency to reduce overall power consumption while ensuring safety, guaranteeing the equipment can smoothly return to the charging station for autonomous recharging and maintain long-term stable operation.

[0047] Therefore, the multifunctional automatic crystallizer of this invention has the advantage of achieving coordinated optimization of autonomous obstacle avoidance and energy management in complex environments. Through multimodal sensor fusion and edge computing technology, it analyzes environmental dynamics in real time and generates adaptive obstacle avoidance strategies, significantly improving energy efficiency while ensuring operational safety. Combined with power prediction and path planning algorithms, the equipment can autonomously select the optimal return path under low power conditions, avoiding operational interruptions due to energy depletion and ensuring long-term continuous and stable operation.

[0048] Furthermore, the system introduces a dynamic weight allocation mechanism to prioritize sensor data according to different operating conditions, improving decision-making robustness in complex scenarios. In areas with high pedestrian density, the weight of distance sensor data is strengthened to achieve accurate detection of small obstacles; in open areas, the sampling frequency is appropriately reduced to save energy. The obstacle avoidance strategy library is continuously optimized through machine learning models, enabling the device to have self-evolution capabilities in changing environments, further enhancing its intelligence and adaptability.

[0049] like Figure 2 As shown, in one embodiment of the multifunctional automatic crystallizer of the present invention, the method includes: obtaining static edge data of the working area 90 from a top view of the three-dimensional area diagram based on the three-dimensional area diagram of the working area 90 and a set height. The set height corresponds to the height of the automatic crystallizer. The three-dimensional area of ​​the working area 90 can be realized by setting ultrasonic radar and infrared ranging module arrays 21 and 22 at multiple positions at the front end of the feeding box 30.

[0050] like Figure 2 As shown, a three-dimensional detection area 93, a second detection area 94, and a third detection area 95 are formed, enabling layered detection of obstacles with a certain height of obstruction and improving spatial perception accuracy. Through data fusion of multiple detection areas, the system can identify potential risks behind obstructions and plan obstacle-crossing or detour paths in advance.

[0051] By combining 3D point cloud reconstruction technology, the equipment dynamically models the operating environment, further enhancing its adaptability to complex terrain and ensuring stable operation in unstructured scenarios. Specific 3D point cloud reconstruction techniques include employing a multi-source data fusion method based on depth cameras and LiDAR, using the ICP algorithm to achieve point cloud registration, and constructing a high-precision environmental map. The system utilizes voxel mesh downsampling to optimize computational efficiency and updates obstacle position and shape information in real time in dynamic environments, improving navigation reliability.

[0052] Edge dynamic sensing information is obtained based on the edge data of the static work area 90 and the position of the dynamically moving object adjacent to the edge of the static work area 90 in real time.

[0053] Based on the edge dynamic sensing information and the travel width information of the automatic crystallizer (i.e., the required width of the automatic crystallizer in the travel direction), the travel path information is obtained. The travel path information includes travel path data and set speed information marked on the travel path. The set speed information is determined as multiple speed ranges based on the difference between the sensing width information in the edge dynamic sensing information and the travel width information of the automatic crystallizer.

[0054] like Figure 1As shown, based on the set speed information of multiple speed segments in the driving path information and the sensing width information in the edge dynamic sensing information, multiple fan-shaped region information with different detection depths are obtained. In another embodiment of the multifunctional automatic crystallizer of the present invention, it includes: Based on edge status information, distance sensor sensing information, and pre-stored cleaning power.

[0055] The system acquires image information of a fan-shaped detection area at multiple preset sensing heights. Distance sensor data is collected at these heights. If the image information at multiple preset sensing heights indicates occlusion, and the distance sensor data collected at the same height also indicates occlusion, occlusion location information is generated. This occlusion location information includes the occlusion position itself. This location information is used to mark the obstacle's specific coordinates in three-dimensional space and, combined with historical movement trajectories, predicts its dynamic trend. Based on the relative relationship between the occlusion location information and the travel path, the system adjusts the speed and direction parameters of the automatic crystallizer in real time. When the sensing width is less than a safety threshold, a deceleration or pause command is triggered to ensure operational safety.

[0056] In another embodiment of the multifunctional automatic crystallizer of the present invention, the method includes: obtaining obstruction direction information and obstruction distance information in the obstruction direction based on obstruction position information. Using the machine center of the automatic crystallizer as the set origin coordinate, the two-dimensional coordinate information of the obstruction projected onto the current working surface is obtained based on the obstruction direction information and the obstruction distance information in the obstruction direction.

[0057] The automatic crystallizer includes a cleaning unit. The cleaning unit includes a first mode and a second mode. The first mode allows all three cleaning discs to operate simultaneously. The second mode allows one or two cleaning discs to operate simultaneously.

[0058] like Figure 3 As shown, in the first mode, the three cleaning discs 31, 32, and 33 are driven by a cleaning motor with first set motor drive parameters. The first set motor drive parameters include a first drive torque parameter and a first speed parameter. The first power consumption information per unit time is obtained based on the first drive torque parameter and the first speed parameter. The aforementioned first drive torque parameter and first speed parameter can be obtained through the controller of the drive motor. The aforementioned cleaning motor can be a 24V-48V DC motor. Under normal motor drive parameters, the drive speed is 0-800 revolutions per minute, and the contact pressure between the cleaning disc and the working surface is stable between 50-2800N. Based on the degree of contamination, three levels of floor wear (medium wear zone, high wear zone, and low wear zone) have different resistance and power consumption. By changing the speed of the cleaning disc, the automatic switching operation mode (power consumption, dosage, speed, and pressure) for the three floor types is obtained.

[0059] In the second mode, the two cleaning discs are driven by a cleaning motor with second set motor drive parameters. These second set motor drive parameters include a second drive torque parameter and a second speed parameter. Based on the second drive torque parameter and the second speed parameter, second power consumption information per unit time is obtained.

[0060] The system dynamically selects between Mode 1 and Mode 2 based on the cleaning task type, the degree of contamination on the work surface, and the remaining battery power to balance cleaning efficiency and energy consumption. When a highly contaminated area is detected, it automatically switches to Mode 1 to increase cleaning intensity; in low-contamination areas or when the battery is low, it switches to Mode 2 to extend the work time. The switching between the two modes is decided in real time by the control module to ensure continuous operation and optimal energy efficiency.

[0061] In another embodiment of the multifunctional automatic crystallizer of the present invention, the shortest obstacle avoidance path information is obtained based on the two-dimensional coordinate information of the obstruction, the coordinates of the set origin, and the endpoint information of the travel path. The optimal obstacle avoidance time is then obtained based on the shortest obstacle avoidance path information and multiple speed ranges of the automatic crystallizer.

[0062] The first power consumption is obtained based on the optimal obstacle avoidance time and the first power consumption per unit time. The second power consumption is obtained based on the second power consumption per unit time and the second optimal obstacle avoidance time. The system matches either the first or second power consumption based on the remaining power. An optimal mode is selected: when there is sufficient remaining power and the task is urgent, the mode corresponding to the first power consumption is prioritized to ensure efficient completion of the cleaning task; when the remaining power is below a preset threshold, the system automatically switches to the mode corresponding to the second power consumption to extend the runtime. Combining real-time environmental perception and energy consumption prediction models, the system dynamically optimizes path planning and cleaning mode combinations, improving overall operational efficiency and energy utilization, achieving intelligent energy-saving operation while ensuring cleaning quality. The controller will limit the current when the preset minimum power value is reached.

[0063] If the difference is greater than the first or second power consumption, the first or second mode corresponding to the power consumption with the largest difference is selected as the obstacle avoidance mode. The obstacle avoidance trajectory is set using the shortest obstacle avoidance path information. If the difference is less than the first or second power consumption, the obstacle avoidance mode is paused. If the difference is less than the first or second power consumption, the system determines that it cannot complete the entire obstacle avoidance task, triggers a low power warning, and initiates a return-to-home strategy. At the same time, it enters the lowest power consumption mode, prioritizing the safe evacuation of the device to a charging area. The entire decision-making process is based on dynamic calculations of real-time power and path data, ensuring reliable response even under extreme conditions. In another implementation, the device itself has a separate battery (for other devices) that automatically connects to transmit data for obstacle avoidance, recording, and other 4G communication modules when the main battery is completely depleted.

[0064] When the system determines that an obstacle avoidance task can be performed, it immediately invokes a pre-stored motion control algorithm to generate corresponding drive commands, controlling the cleaning machine to smoothly navigate around the obstacle along the optimal path. Throughout the obstacle avoidance process, it continuously monitors changes in the surrounding environment and power consumption, dynamically adjusting subsequent paths and mode selections. If the pollution level suddenly changes during the process, the cleaning needs are reassessed, and a matching operating mode is switched to ensure that the cleaning effect and energy consumption are always maintained at the optimal balance. All operations are coordinated in real time by the main control unit, ensuring smooth operation and timely response.

[0065] In another embodiment of the multifunctional automatic crystallizer of the present invention, the automatic crystallizer includes a plurality of crystallization discs capable of grinding the crystallization surface; the multifunctional automatic crystallizer also includes: a motor housing, the motor housing including a housing and a motor cover; the housing forms an inner cavity capable of accommodating a cleaning motor; the inner cavity communicates with a cavity opening; the motor cover is capable of covering the cavity opening.

[0066] In another embodiment of the multifunctional automatic crystallizer of the present invention, it further includes: an anti-theft sensor, a Bluetooth communication module, and an anti-theft controller. The anti-theft sensor is disposed on the motor cavity and can sense the movement information of the motor cavity. The anti-theft sensor can be installed on the edge of the motor cavity to detect whether the motor cavity has been illegally opened; the Bluetooth communication module is electrically connected to the anti-theft sensor and transmits real-time status information to the user terminal; the anti-theft controller receives the signal from the Bluetooth communication module, and when an abnormal opening event is detected, triggers an audible and visual alarm and locks the equipment operation. The entire anti-theft system is linked with the main control unit to ensure that crystallization operations cannot be started under unauthorized operation, ensuring equipment safety and the integrity of process data.

[0067] The anti-theft sensor can employ a door magnetic sensor or an infrared sensor to monitor the opening and closing status of the motor cavity in real time. When the motor cavity is illegally opened, the door magnetic sensor (specifically model HW-1204A) uses a magnet linked to the motor cavity; when the cavity is opened, the change in the magnetic field triggers a signal. The infrared sensor detects the proximity of a human body, providing dual verification to enhance anti-theft reliability. The Bluetooth communication module uses the low-power BLE 5.2 protocol to ensure stable signal transmission to the user's mobile app. Upon receiving an alarm signal, the main control unit immediately records the abnormal time and uploads it to the cloud log, while simultaneously activating the device locking mechanism to prevent unauthorized operation.

[0068] The anti-theft sensor can be a high-sensitivity magnetic induction switch with IP68 protection; the recommended model is HS-308M. This sensor determines the opening and closing status of the motor cavity by the relative position change between the magnet and the switch. Combined with a sealed installation structure, it effectively resists interference from humid and dusty environments, ensuring long-term stable operation. The Bluetooth communication module uses the low-power Bluetooth 5.2 protocol, supporting wireless satellite or 4G data transmission, and can be linked with a mobile terminal APP for remote monitoring.

[0069] The Bluetooth communication module can establish Bluetooth communication with a designated secure communication unit and obtain pairing success information. Specifically, the Bluetooth communication module can use the CSR1013A chip solution, supporting AES encrypted transmission to ensure communication link security; device binding employs a dynamic key authentication mechanism to prevent unauthorized access. When the Bluetooth signal is interrupted for 30 seconds, the device automatically triggers sleep mode and records the abnormal event log. The main control unit periodically polls the communication status and, combined with anti-theft sensor data, implements multiple security checks to comprehensively enhance the device's proactive protection capabilities.

[0070] The anti-theft controller has multiple input terminals and multiple output terminals. The input terminals connect to the anti-theft sensors and the output terminals of the Bluetooth communication module. The output terminals connect to the motor controller of the crystallizer. Upon receiving sensing information from the anti-theft sensors, the anti-theft controller determines whether it has received a successful pairing message. This anti-theft controller can use a programmable controller such as the Siemens S7-1200 series, which has multiple digital input / output channels, integrated logic operation functions, and can preset alarm thresholds and linkage strategies. When it receives an abnormal signal from the anti-theft sensor or a Bluetooth communication interruption command, it immediately cuts off the power supply circuit to the motor controller, prevents the crystallizer from starting, and uploads the event log to the cloud server via the Ethernet interface.

[0071] Alternatively, a microcontroller such as the STM32F407 series can be used in conjunction with peripheral drive circuits to control the on / off state of the motor controller; a built-in watchdog circuit ensures the controller's reliable operation and automatically resets in case of malfunction. The anti-theft controller communicates with the main control unit via the MODBUS protocol to synchronize the device's security status in real time, supports remote parameter configuration and firmware upgrades, and improves system maintainability and scalability.

[0072] If a pairing success message is not received, a motor power-off message is sent to the motor controller to stop the motor of the crystallizing disc. In another embodiment of the multifunctional automatic crystallizer of the present invention, it includes: A power supply module is connected to the main power supply line via a fuse. A self-destruct module, with a control switch at both ends of its parallel fuse, is also included. When the control switch is closed, the self-destruct module outputs a voltage sufficient to melt the fuse, causing it to trip. The instantaneous high current from the fuse tripping triggers the power supply module to physically disconnect, ensuring irreversible failure of the core circuitry in the event of unauthorized disassembly or attack. The self-destruct module is directly driven by an anti-theft controller, with a response time of less than 100 milliseconds, and supports both remote command and local threshold triggering modes. This design combines multiple security mechanisms to achieve end-to-end protection from sensing and communication to execution, ensuring the safe and stable operation of the automatic crystallizer in an unattended environment.

[0073] The self-destruct mechanism can also cut off the main power supply via a 4G signal. Specifically, the built-in 4G communication module receives remote commands, and the anti-theft controller interprets the signal to trigger a relay, cutting off the main power contactor control circuit and thus disconnecting the main power supply. This process, along with the local self-destruct logic, serves as a backup, ensuring that power-off operations can still be performed in the event of communication failures or physical attacks, enhancing device security. Simultaneously, the 4G communication module has a signal strength self-check function. When a weak or disconnected network is detected, it automatically switches to local storage mode, temporarily storing critical event logs in an encrypted Flash chip. Once the network is restored, the logs are synchronized to the cloud, ensuring data integrity. The anti-theft controller also integrates a GPS positioning unit, which can report geographical coordinates in real time when the device moves abnormally. Combined with electronic fence technology, this enables active tracking and remote locking, further enhancing security.

[0074] Upon triggering the self-destruct module, the anti-theft controller simultaneously erases the encryption key and device binding information from the storage chip to prevent sensitive data leakage. At the same time, the log information is signed and stored via a hardware encryption unit to ensure that event records are immutable and provide a reliable basis for subsequent security audits.

[0075] In another embodiment of the multifunctional automatic crystallizer of the present invention, it includes: an alarm communication module connected to the output terminal of an anti-theft controller. If a pairing success message is not received, the anti-theft controller sends an alarm message to the alarm communication module, causing the alarm communication module to issue an alarm notification. The alarm communication module uploads the alarm message to the monitoring center via a GPRS / NB-IoT network and triggers an audible and visual alarm to alert the user to an anomaly. The alarm message can be sent via SMS (for non-professionals forcibly opening the cover), WeChat (for non-professionals forcibly opening the cover), or telephone (for non-professionals forcibly opening the cover, please check immediately). It also supports sending multimodal alarm notifications to multiple preset contacts to ensure timely and reliable information delivery. The alarm communication module has network adaptive capabilities, automatically switching to the NB-IoT channel when the GPRS signal is weak, ensuring a high communication success rate in complex environments.

[0076] Meanwhile, the alarm information includes the device's unique identifier, geographical location, and event type, supporting remote real-time tracking and emergency response. The communication module has a built-in backup power supply, which can maintain normal operation for 72 hours after the main power is cut off, ensuring uninterrupted alarm link. All communication data is transmitted using AES-128 encryption to prevent information interception or forgery, further enhancing system security.

[0077] In a second aspect, the present invention provides a control method for a multifunctional automatic crystallizer, the automatic crystallizer comprising multiple crystallization surfaces capable of crystallizing the current working surface.

[0078] The control method for the multifunctional automatic crystallizer includes: real-time dynamic acquisition of edge dynamic sensing information of the working area 90°; and obtaining travel path information based on the edge dynamic sensing information.

[0079] Based on the driving path information and edge dynamic sensing information, information on multiple detection areas arranged along the driving path is obtained. Based on the information of multiple detection areas, the current edge state information and distance sensor sensing information of multiple detection areas are collected sequentially.

[0080] It should be understood that although this specification describes various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0081] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multifunctional automatic crystallizer, characterized in that, The automatic crystallizer includes multiple crystallization surfaces capable of crystallizing and processing the current working surface; The multifunctional automatic crystallizer includes an emergency obstacle avoidance system configured as follows: Real-time dynamic acquisition of edge dynamic sensing information of the work area; obtaining driving path information based on the edge dynamic sensing information; Based on the driving path information and the edge dynamic sensing information, information on multiple detection areas arranged along the driving path is obtained; Based on the information from the multiple detection areas, the current edge state information and distance sensor sensing information of the multiple detection areas are collected sequentially. Based on the edge state information, the distance sensor sensing information, and the pre-stored battery power, an obstacle avoidance strategy is obtained; the obstacle avoidance strategy includes an obstacle avoidance mode and an obstacle avoidance trajectory. The pre-stored cleaning power is obtained based on the current power of the automatic crystallizer and the power of the crystallization surface in the completed work area; The automatic crystallizer is operated according to the obstacle avoidance strategy.

2. The multifunctional automatic crystallizer according to claim 1, characterized in that, include: Based on the three-dimensional area map of the work area and the set height, static work area edge data is obtained from the top view of the three-dimensional area map; the set height corresponds to the height of the automatic crystallizer. Based on the edge data of the static work area and the position of the dynamically moving object near the edge of the static work area collected in real time, edge dynamic sensing information is obtained; Based on the edge dynamic sensing information and the travel width information of the automatic crystallizer, travel path information is obtained; the travel path information includes travel path data and set speed information marked on the travel path; The set speed information is determined as set speed information for multiple speed segments based on the difference between the sensing width information in the edge dynamic sensing information and the travel width information of the automatic crystallizer; Based on the set speed information of multiple speed segments in the driving path information and the sensing width information in the edge dynamic sensing information, multiple fan-shaped region information with different detection depths are obtained.

3. The multifunctional automatic crystallizer according to claim 2, characterized in that, include: Based on the edge state information, the distance sensor sensing information, and the pre-stored cleaning power time; Acquire image information of a fan-shaped detection area at multiple set sensing heights; At the set sensing height, distance sensor sensing information is collected; if the image information at the multiple set sensing heights is occlusion information, and the distance sensor sensing information collected at the same set sensing height is also occlusion sensing, then occlusion position information is generated; the occlusion position information includes occlusion position information.

4. The multifunctional automatic crystallizer according to claim 3, characterized in that, include: Based on the occlusion location information, occlusion direction information and occlusion distance information in the occlusion direction are obtained; Using the machine center of the automatic crystallizer as the set origin coordinate, and based on the blocking direction information and the blocking distance information in the blocking direction, the two-dimensional coordinate information of the blocking projected onto the current working surface is obtained; The automatic crystallizer includes a cleaning unit; the cleaning unit includes a first mode and a second mode; the first mode is a mode in which three cleaning discs work simultaneously; the second mode is a mode in which two cleaning discs work simultaneously. In the first mode, the three cleaning discs are driven by a cleaning motor with a first set motor drive parameter; The first set motor drive parameters include a first drive torque parameter and a first speed parameter; The first power consumption information per unit time is obtained based on the first driving torque parameter and the first speed parameter; In the second mode, the two cleaning discs are driven by a cleaning motor with the second set motor drive parameters; The second set motor drive parameters include a second drive torque parameter and a second speed parameter; The second power consumption information per unit time is obtained based on the second driving torque parameter and the second speed parameter.

5. The multifunctional automatic crystallizer according to claim 4, characterized in that, Based on the occlusion two-dimensional coordinate information, the set origin coordinates, and the endpoint information of the driving path information, the shortest obstacle avoidance path information is obtained; based on the shortest obstacle avoidance path information and the multiple speed segment information of the automatic crystallizer, the optimal obstacle avoidance time is obtained. The first power consumption is obtained based on the optimal obstacle avoidance time and the first power consumption information within the unit time; the second power consumption is obtained based on the optimal obstacle avoidance time and the second power consumption information within the unit time. Match the first power consumption or the second power consumption based on the current remaining power; If the difference is greater than the current remaining power consumption or the second power consumption, then the first mode or the second mode corresponding to the power consumption with the largest difference is obtained as the obstacle avoidance mode. The obstacle avoidance trajectory is set using the shortest obstacle avoidance path information; If the difference is less than the first power consumption or the second power consumption, then pause is used as the obstacle avoidance mode.

6. The multifunctional automatic crystallizer according to claim 3, characterized in that, The automatic crystallizer includes multiple crystallization discs capable of grinding the crystallization surface; the multifunctional automatic crystallizer also includes: A motor housing includes a housing and a motor cover; the housing forms an inner cavity capable of accommodating a cleaning motor; the inner cavity communicates with an opening; the motor cover is capable of covering the opening.

7. The multifunctional automatic crystallizer according to claim 6, characterized in that, Also includes: An anti-theft sensor is installed on the motor cavity and can sense the movement information of the motor cover; and A Bluetooth communication module that can establish Bluetooth communication with a designated secure communication unit and obtain pairing success information; An anti-theft controller has multiple input terminals and multiple output terminals; the input terminals are connected to the output terminals of the anti-theft sensor and the Bluetooth communication module; the output terminals are connected to the motor controller of the crystallizer; when the anti-theft controller receives the sensing information from the anti-theft sensor, it determines whether it has received the pairing success information. If the pairing success message is not received, a motor power-off message is sent to the motor controller to stop the motor of the crystallizing disk from running.

8. The multifunctional automatic crystallizer according to claim 6 or 7, characterized in that, include: A power supply module that is connected to the main power supply line via a fuse; A self-destruct module having a control switch terminal at both ends of the fuse connected in parallel; When the control switch is closed, the self-destruct module outputs a voltage that can melt the fuse, thereby causing the fuse to disconnect.

9. The multifunctional automatic crystallizer according to claim 6 or 7, characterized in that, include: An alarm communication module is connected to the output terminal of the anti-theft controller; If the pairing success information is not received, the anti-theft controller sends an alarm message to the alarm communication module, so that the alarm communication module sends an alarm notification message.

10. A control method for a multifunctional automatic crystallizer, characterized in that, The automatic crystallizer includes multiple crystallization surfaces capable of crystallizing and processing the current working surface; The control method for the multifunctional automatic crystallizer includes: Real-time dynamic acquisition of edge dynamic sensing information of the work area; obtaining driving path information based on the edge dynamic sensing information; Based on the driving path information and the edge dynamic sensing information, information on multiple detection areas arranged along the driving path is obtained; based on the information on multiple detection areas, current edge state information and distance sensor sensing information of multiple detection areas are collected sequentially. An obstacle avoidance strategy is obtained based on the edge state information, the distance sensor sensing information, and the pre-stored cleaning power; the obstacle avoidance strategy includes an obstacle avoidance mode and an obstacle avoidance trajectory; the pre-stored cleaning power is obtained based on the current power of the automatic crystallizer and the power of the crystallizing surface in the completed work area; The automatic crystallizer is operated according to the obstacle avoidance strategy.

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