Full-automatic crystallizer and system capable of realizing multiple control modes

Abstract

The invention discloses a full-automatic crystallizer capable of realizing multiple control modes. The full-automatic crystallizer comprises a machine body, a distance measuring sensor, a grinding unit and a local working condition controller, and the distance measuring sensor can sense barrier distance data between the machine body and a shielding object in the operation direction. The grinding unit comprises a grinding motor and a hydraulic dosing system capable of jointly metering liquid grinding materials. And the local working condition controller obtains a rotating speed adjusting control instruction according to the pipeline pressure information and the rotating error rate in the unit time so as to control the grinding motor to rotate through the rotating speed adjusting control instruction. The problems that an existing automatic crystallizer is single in control mode and lacks a grinding and driving combined control mode are solved. And therefore, the operation collaboration and the operation precision of the equipment are improved, and the dynamic matching of the grinding efficiency and the advancing control is realized. And it is ensured that the optimal working state can be maintained under different working conditions. Therefore, the automation degree of the equipment is improved.

Description

Technical Field

[0001] This invention relates to the technical field of stone surface polishing. Specifically, it relates to a fully automated crystallization machine and system capable of multiple control modes. Background Technology

[0002] In the use of crystallizers, most are controlled locally, and the control method is simple. It is also difficult to balance the grinding and forward functions of the crystallizer during manual control. If we consider referring to the intelligent driving solution of motor vehicles, on the one hand, the real-time system cost is high, and on the other hand, the operating conditions of the equipment have little overlap, resulting in poor system portability and applicability. Summary of the Invention

[0003] The purpose of this invention is to provide a fully automatic crystallizer and system that can realize multiple control modes, solving the problem that existing automatic crystallizers have a single control mode and lack a combined control mode for grinding and driving.

[0004] A first aspect of the present invention provides a fully automatic crystallizer capable of multiple control modes, comprising: a machine body, a distance sensor, a grinding unit, and a local operating condition controller. Wherein: The machine body is capable of moving along the working direction and has a forward-moving end facing the working direction. A distance sensor is located at the forward-moving end and is capable of sensing the distance data between the machine body and obstacles in the working direction.

[0005] The grinding unit is located within the machine body. The grinding unit includes a grinding motor and a hydraulic drug delivery system capable of distributing liquid grinding materials. A local operating condition controller generates current hydraulic drive information based on barrier distance data, the rotational error rate within the current unit time, and the hydraulic error rate.

[0006] The hydraulic drug delivery system is driven by the current hydraulic drive information. After the local operating condition controller sends the current hydraulic drive information, it reads the pipeline pressure information in the current hydraulic drug delivery system. Based on the pipeline pressure information and the rotational error rate per unit time, a speed adjustment control command is obtained to control the rotation of the grinding motor.

[0007] In one embodiment of the fully automatic crystallizer of the present invention, which enables multiple control modes, the grinding unit includes: a grinding component, a grinding material nozzle, a drug delivery component, a speed sensor, and a pump inlet hydraulic gauge. Wherein: The grinding assembly is rotatably mounted at the forward end. Driven by a grinding motor, the grinding assembly outputs power to a grinding disc capable of grinding the stone surface. The grinding disc has a grinding surface that is parallel to the stone surface. The grinding motor is controlled and driven by a grinding controller.

[0008] The abrasive nozzle is positioned near the grinding surface. The drug delivery component outputs liquid abrasive to the abrasive nozzle via a hydraulic drug delivery system, allowing the liquid abrasive to be ejected from the nozzle. The sensing end of the speed sensor is positioned perpendicular to the end of the grinding disc facing away from the grinding surface and can acquire the current rotational speed of the grinding disc in real time. A hydraulic pressure gauge is located at the outlet of the hydraulic pump in the hydraulic drug delivery system to read the pump inlet pressure value in real time.

[0009] In another embodiment of the fully automatic crystallizer of the present invention, which enables multiple control modes, a local operating condition controller includes multiple input and drive output interfaces. The input interfaces are connected to the drive parameter reading terminal of the motor controller to collect the motor speed information.

[0010] The input interface connects to the acquisition end of the speed sensor to acquire the current rotational speed of the grinding disc. The input interface connects to the pressure sensing end of the hydraulic drug delivery system to acquire the pipeline pressure value of the hydraulic drug delivery system. The input interface connects to the pump inlet hydraulic gauge to read the pump inlet pressure value in real time. The input interface connects to the sensing output end of the distance sensor to acquire barrier distance data. The output interface connects to the hydraulic pump controller of the hydraulic drug delivery system. The output interface connects to the control command receiver of the grinding controller.

[0011] The local operating condition controller drives the hydraulic pump controller based on the current hydraulic drive information. The local operating condition controller controls the rotation of the grinding motor through the grinding controller.

[0012] In another embodiment of the fully automatic crystallizer of the present invention, which enables multiple control modes, it further includes: a remote operating condition control terminal and a local communication module. Wherein: The remote operating condition control terminal is located on a remote cloud platform or mobile terminal. The local communication module can connect to the local operating condition controller. The local communication module can achieve two-way communication with the remote operating condition control terminal.

[0013] The steps for generating current hydraulic drive information based on barrier distance data, rotational error rate, and hydraulic error rate within the current unit time include: The rotational error rate is obtained based on the motor speed and the current speed of the grinding disc within a unit of time. The hydraulic error rate is obtained based on the pipeline pressure and pump inlet pressure.

[0014] If the hydraulic error rate is less than the rotational error rate, the pipeline pressure and barrier distance data comparison table is adjusted based on the current pipeline pressure value. The current hydraulic drive information is then generated based on the adjusted pipeline pressure and barrier distance data comparison table and the current barrier distance data.

[0015] If the hydraulic error rate is greater than the rotation error rate, the rotation speed and barrier distance data comparison table is adjusted based on the current rotation data. Then, the current hydraulic drive information is generated based on the adjusted rotation speed and barrier distance data comparison table, the corresponding pipeline pressure and barrier distance data comparison table, and the current barrier distance data.

[0016] In another embodiment of the fully automatic crystallizer of the present invention, which can realize multiple control modes, the step of obtaining a speed adjustment control command based on pipeline pressure information and rotation error rate per unit time, and controlling the rotation of the grinding motor through the speed adjustment control command, includes: Adjust the speed and pipeline pressure comparison table according to the rotation error rate, and obtain the speed regulation control command based on the adjusted speed and pipeline pressure comparison table and the current management pressure.

[0017] In another embodiment of the fully automated crystallizer of the present invention, which can realize multiple control modes, it includes: The local operating condition controller reads the motor speed information, the current speed of the grinding disc, the pipeline pressure value, and the pump inlet pressure value. The local operating condition controller then transmits this information to the remote operating condition control terminal via the local communication module.

[0018] The remote operating condition control terminal can display the motor speed information, the current speed of the grinding disc, the pipeline pressure value, and the pump inlet pressure value locally. The remote operating condition control terminal can also transmit pipeline pressure and barrier distance data comparison tables, as well as speed and barrier distance data comparison tables, to the local operating condition controller via a local communication module.

[0019] In another embodiment of the fully automatic crystallizer of the present invention, which can realize multiple control modes, the remote operating condition control terminal is further configured to send multiple control commands to the local operating condition controller through the local communication module. The control commands include: forward command, backward command, left turn command, and right turn command.

[0020] In another embodiment of the fully automatic crystallizer of the present invention, which enables multiple control modes, the remote operating condition control terminal is further configured as a user display interface. The user display interface displays control command information, motor speed information, current grinding disc speed, pipeline pressure value, and pump inlet pressure value.

[0021] In another embodiment of the fully automated crystallizer of the present invention, which can realize multiple control modes, it includes: The control voice recognition unit is connected to the input of the local operating condition controller. The control voice recognition unit is implemented through a voice recognition network. The voice recognition network is implemented by training a voice recognition model. The input to the voice recognition model is the control command voice and industrial noise; the output voice of the voice recognition model is the control command of the fully automatic crystallizer.

[0022] A second aspect of the present invention provides a fully automated crystallizer control method capable of implementing multiple control modes, comprising: Based on the barrier distance data, the rotational error rate and hydraulic error rate within the current unit time, the current hydraulic drive information is generated.

[0023] The hydraulic drug delivery system is driven by the current hydraulic drive information. After the local operating condition controller sends the current hydraulic drive information, it reads the pipeline pressure information in the current hydraulic drug delivery system. Based on the pipeline pressure information and the rotational error rate per unit time, a speed adjustment control command is obtained to control the rotation of the grinding motor.

[0024] The following text will further explain the characteristics, technical features, advantages, and implementation methods of the fully automated crystallizer and system that can achieve multiple control modes in a clear and easy-to-understand manner, with the aid of accompanying drawings. Attached Figure Description

[0025] Figure 1 This is a schematic diagram illustrating the structure of a fully automatic crystallizer capable of multiple control modes in one embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram illustrating the structure of a fully automated crystallizer capable of multiple control modes in another embodiment of the present invention. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] The first aspect of the invention, Figure 1 This is a schematic diagram illustrating the structure of a fully automated crystallizer capable of multiple control modes in one embodiment of the present invention. (Refer to...) Figure 1A fully automatic crystallizer capable of multiple control modes is provided, comprising: a machine body 10, a distance sensor 20, a grinding unit 30, and a local operating condition controller 40. The machine body 10 is movable along the working direction and has a forward end facing the working direction. The distance sensor 20 is disposed at the forward end and is capable of sensing the barrier distance data between the machine body 10 and any obstruction in the working direction.

[0030] Figure 2 This is a schematic diagram illustrating the structure of a fully automated crystallizer capable of multiple control modes in another embodiment of the present invention, with reference to... Figure 2 The aforementioned grinding unit 30 employs a combination structure of three grinding discs: a first grinding disc 31, a second grinding disc 32, and a third grinding disc 33. Through their coordinated operation, they achieve continuous processing of rough grinding, fine grinding, and polishing. The aforementioned distance sensor 20 transmits the real-time collected barrier distance data to the local condition controller 40. Ultrasonic or laser ranging technology can be used to ensure data acquisition accuracy and response speed. The local condition controller 40 can be implemented using an embedded PLC controller or a microcontroller; specific models can include STM32F407VGT6 or Siemens S7-1200 series, which possess multiple input / output interfaces and real-time data processing capabilities.

[0031] Reference Figure 1 The grinding unit 30 is disposed on the machine body 10. The grinding unit 30 includes a grinding motor and a hydraulic dosing system 50 capable of dispensing liquid grinding material. The grinding motor can be a DC brushless motor or an AC servo motor, with a rated power range of 1.5kW to 3.0kW and an adjustable speed range of 200rpm to 1500rpm to adapt to the grinding requirements of different process stages.

[0032] Reference Figure 2 The hydraulic drug delivery system 50 is equipped with a first abrasive nozzle 51 and a second abrasive nozzle 52 on the side of the grinding disc for uniformly supplying and dispensing liquid abrasive. The abrasive is stirred in the material tank 53. The first abrasive nozzle 51 and the second abrasive nozzle 52 are symmetrically arranged along the rotation direction of the grinding disc to ensure that the abrasive forms a uniformly distributed fluid film on the disc surface. The hydraulic drug delivery system 50 achieves precise flow regulation through PID closed-loop control, and with real-time feedback from a pressure sensor, ensures stable material supply.

[0033] The local operating condition controller 40 generates current hydraulic drive information based on the barrier distance data, the rotational error rate and hydraulic error rate within the current unit time.

[0034] The hydraulic drug delivery system 50 is driven by the current hydraulic drive information. After the local operating condition controller 40 sends the current hydraulic drive information, it reads the pipeline pressure information in the current hydraulic drug delivery system 50. Based on the pipeline pressure information and the rotational error rate per unit time, a speed adjustment control command is obtained to control the rotation of the grinding motor.

[0035] In one embodiment of the fully automatic crystallizer of the present invention, which can realize multiple control modes, the grinding unit 30 includes: a grinding component, a grinding material nozzle, a drug delivery component, a speed sensor, and a pump inlet hydraulic gauge. Wherein: Reference Figure 2 The grinding assembly is rotatably mounted at the forward end. Driven by a grinding motor, the grinding assembly outputs power to a combination structure of a first grinding disc 31, a second grinding disc 32, and a third grinding disc 33 capable of grinding the stone surface. Each grinding disc has a grinding surface parallel to the stone surface. The grinding motor is controlled and driven by a grinding controller.

[0036] The abrasive nozzles are positioned near the grinding surface. The drug delivery component outputs liquid abrasive to the first abrasive nozzle 51 and the second abrasive nozzle 52 via a hydraulic drug delivery system 50, allowing the liquid abrasive to be ejected from the nozzles. The liquid abrasive can be a liquid alumina suspension or a diamond micron powder emulsion, with its particle size distribution controlled within the range of 0.5μm to 10μm to meet the different cutting requirements of rough grinding, fine grinding, and polishing stages. The outlet flow rate of the abrasive nozzles is dynamically adjusted by the hydraulic system pressure, ranging from 1.2L / min to 3.8L / min, ensuring the formation of a stable fluid film at different rotational speeds and improving surface finish consistency.

[0037] The sensing end of the speed sensor is positioned perpendicular to the end of the grinding disc facing away from the grinding surface, and it can acquire the current rotational speed of the grinding disc in real time. A hydraulic gauge is located at the outlet of the hydraulic pump in the hydraulic drug delivery system 50 to read the pump inlet pressure value in real time.

[0038] Therefore, the advantages of the fully automatic crystallizer with multiple control modes in this invention are: it can dynamically optimize grinding parameters based on real-time working conditions, achieving coordinated control of rotation speed, feeding pressure, and grinding force; through multi-sensor data fusion technology, it accurately senses system response deviations, and combined with a closed-loop feedback mechanism, effectively suppresses the influence of disturbances, significantly improving processing stability and surface quality consistency; it also supports integrated automatic switching between rough grinding, fine grinding, and polishing processes, reducing manual intervention and improving production efficiency. The structure is compact, responsive, and suitable for various stone surface treatment scenarios, possessing promising industrial application prospects.

[0039] In another embodiment of the fully automatic crystallizer with multiple control modes of the present invention, the local operating condition controller 40 includes multiple input and drive output interfaces. The input interfaces are connected to the drive parameter reading terminal of the motor controller to collect real-time data on motor speed, current, and voltage; simultaneously, they receive feedback signals from the speed sensor and the pump inlet hydraulic gauge to construct a multi-dimensional operating condition sensing network. The drive output interfaces are electrically connected to the grinding motor, the solenoid valves of the hydraulic drug delivery system, and the pressure regulating module to achieve coordinated control of the execution units. The local operating condition controller automatically matches the optimal parameter combination based on a preset process curve, supports simultaneous switching between manual debugging mode and remote command, and ensures stable operation of the equipment at different operating stages.

[0040] The input interface connects to the acquisition end of the speed sensor to acquire the current rotational speed of the grinding disc. The input interface also connects to the pressure sensing end of the hydraulic drug delivery system 50 to acquire the pipeline pressure value of the hydraulic drug delivery system 50. Furthermore, the input interface connects to the pump port hydraulic gauge to read the pump port pressure value in real time. Finally, the input interface connects to the sensing output end of the distance sensor 20 to acquire barrier distance data. The output interface connects to the hydraulic pump controller of the hydraulic drug delivery system 50. Finally, the output interface connects to the control command receiving end of the grinding controller.

[0041] The local operating condition controller 40 drives the hydraulic pump controller based on the current hydraulic drive information. The local operating condition controller 40 controls the rotation of the grinding motor through the grinding controller.

[0042] In another embodiment of the fully automatic crystallizer of the present invention, which enables multiple control modes, it further includes: a remote operating condition control terminal and a local communication module. Wherein: The remote operating condition control terminal is located on a remote cloud platform or mobile terminal. The local communication module can connect to the local operating condition controller 40. The local communication module can achieve bidirectional communication with the remote operating condition control terminal.

[0043] The steps for generating current hydraulic drive information based on barrier distance data, rotational error rate, and hydraulic error rate within the current unit time include: The rotational error rate is obtained based on the motor speed and the current speed of the grinding disc within a unit of time. The hydraulic error rate is obtained based on the pipeline pressure and pump inlet pressure.

[0044] If the hydraulic error rate is less than the rotational error rate, the pipeline pressure and barrier distance data lookup table is adjusted based on the current pipeline pressure value. Then, the current hydraulic drive information is generated based on the adjusted lookup table and the current barrier distance data. For example, the lookup table is dynamically compensated based on the current pipeline pressure value, and the target pressure threshold is obtained by interpolation using real-time barrier distance data. A matching hydraulic drive signal is then generated to ensure that the nozzle flow rate and the grinding disc rotation speed are adaptively adjusted in tandem, maintaining a uniform and stable fluid film.

[0045] If the rotational error rate is less than or equal to the hydraulic error rate, the motor speed control parameters are adjusted based on the current rotational error rate. The grinding disc angular velocity is dynamically optimized in conjunction with barrier distance data to match the grinding shear force with the crystallization interface growth rate. Real-time operating data is uploaded to a remote operating control terminal via bidirectional communication, supporting the distribution of remote iterative control strategies. This enables collaborative control between local and cloud-based systems, improving the system's adaptive accuracy and stability.

[0046] If the hydraulic error rate is greater than the rotation error rate, the rotation speed and barrier distance data comparison table is adjusted based on the current rotation data. Then, the current hydraulic drive information is generated based on the adjusted rotation speed and barrier distance data comparison table, the corresponding pipeline pressure and barrier distance data comparison table, and the current barrier distance data. In another embodiment of the fully automatic crystallizer of the present invention, which can realize multiple control modes, the step of obtaining a speed adjustment control command based on pipeline pressure information and rotation error rate per unit time, and controlling the rotation of the grinding motor through the speed adjustment control command, includes: Based on the rotational error rate, the rotational speed and pipeline pressure are adjusted using a reference table. Then, based on the adjusted table and the current managed pressure, a speed regulation control command is generated. The target rotational speed of the grinding motor is dynamically corrected. When pipeline pressure fluctuations exceed a set threshold, a weighted calculation is performed using the real-time rotational error rate to generate a compensatory speed regulation command, ensuring that the grinding disc rotational speed is synchronously matched with the fluid delivery rate.

[0047] Control commands are sent to the grinding motor driver via a local communication module, enabling millisecond-level response and adjustment. Simultaneously, execution feedback data is uploaded to a remote operating condition control terminal, supporting remote optimization and iteration of control parameters to ensure interface stability and crystal uniformity during crystallization.

[0048] In another embodiment of the fully automatic crystallizer capable of multiple control modes of the present invention, the method includes: a local operating condition controller 40 reading the motor speed information, the current speed of the grinding disc, the pipeline pressure value, and the pump inlet pressure value. The local operating condition controller 40 transmits the motor speed information, the current speed of the grinding disc, the pipeline pressure value, and the pump inlet pressure value to a remote operating condition control terminal via a local communication module.

[0049] The remote operating condition control terminal can locally display the motor speed information, the current speed of the grinding disc, pipeline pressure values, and pump inlet pressure values. The remote operating condition control terminal can transmit pipeline pressure and barrier distance data comparison tables, as well as speed and barrier distance data comparison tables, to the local operating condition controller 40 via the local communication module. These tables are also stored in the local control module for real-time retrieval. When operating conditions change, the remote terminal generates optimized control strategies based on multi-dimensional data and sends them to the local controller via an encrypted communication protocol, achieving dynamic updates and precise execution of control parameters to ensure a continuous and stable crystallization process.

[0050] In another embodiment of the fully automatic crystallizer with multiple control modes of the present invention, the remote operating condition control terminal is further configured to send multiple control commands to the local operating condition controller 40 through the local communication module. The control commands include: forward command, backward command, left turn command, and right turn command.

[0051] In another embodiment of the fully automatic crystallizer of the present invention, which enables multiple control modes, the remote operating condition control terminal is further configured as a user display interface. The user display interface displays control command information, motor speed information, current grinding disc speed, pipeline pressure value, and pump inlet pressure value.

[0052] In another embodiment of the fully automated crystallizer of the present invention, which can realize multiple control modes, it includes: A voice recognition unit is connected to the input terminal of the local operating condition controller 40. The voice recognition unit is implemented through a voice recognition network, which is established by training a voice recognition model. The input to the voice recognition model is the control command voice and industrial noise; the output voice of the voice recognition model is the control command of the fully automatic crystallizer. The command text is semantically parsed and converted into executable instructions, which are then transmitted to the local operating condition controller. This process integrates an attention mechanism and a context-aware algorithm to effectively suppress industrial environmental noise interference and improve recognition accuracy. The system supports multilingual voice input and custom command training to meet the needs of different operating scenarios. When a voice command is successfully parsed and verified, the local controller immediately drives the actuator to respond, achieving efficient human-machine interaction and further enhancing the intelligence and ease of operation of the fully automatic crystallizer.

[0053] A second aspect of the present invention provides a fully automated crystallizer control method capable of implementing multiple control modes, comprising: Based on the barrier distance data, the rotational error rate and hydraulic error rate within the current unit time, the current hydraulic drive information is generated.

[0054] The hydraulic drug delivery system 50 is driven by the current hydraulic drive information. After the local operating condition controller 40 sends the current hydraulic drive information, it reads the pipeline pressure information in the current hydraulic drug delivery system 50. Based on the pipeline pressure information and the rotational error rate per unit time, a speed adjustment control command is obtained to control the rotation of the grinding motor.

[0055] 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.

[0056] 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 fully automatic crystallizer capable of multiple control modes, characterized in that, It includes: A fuselage capable of moving along a working direction and having a forward end facing the working direction; A ranging sensor is disposed at the forward end and is capable of sensing the distance data of the barrier between the machine body and an obstruction in the working direction; A grinding unit is disposed in the body; the grinding unit includes a grinding motor and a hydraulic drug delivery system capable of dispensing liquid abrasive. and A local operating condition controller generates current hydraulic drive information based on the barrier distance data, the rotational error rate and the hydraulic error rate within the current unit time. The hydraulic drug delivery system is driven by the current hydraulic drive information; after the local operating condition controller sends the current hydraulic drive information, it reads the pipeline pressure information in the current hydraulic drug delivery system; based on the pipeline pressure information and the rotation error rate per unit time, it obtains a speed adjustment control command to control the rotation of the grinding motor.

2. The fully automatic crystallizer capable of multiple control modes according to claim 1, characterized in that, The grinding unit includes: A grinding assembly is rotatably mounted at the forward end; the grinding assembly is driven by a grinding motor to output power to a grinding disc capable of grinding the surface of stone; the grinding disc has a grinding surface; the grinding surface is parallel to the surface of stone; the grinding motor is controlled and driven by a grinding controller; An abrasive nozzle is positioned adjacent to the abrasive surface; A drug delivery component that outputs liquid abrasive material to the abrasive nozzle via a hydraulic drug delivery system, so that the liquid abrasive material can be ejected from the abrasive nozzle; A speed sensor, wherein the sensing end of the speed sensor is set perpendicular to the end of the grinding disc away from the grinding surface, and can collect the current rotation speed of the grinding disc in real time; A pump outlet pressure gauge is installed at the outlet of the hydraulic pump in the hydraulic drug delivery system to read the pump outlet pressure value in real time.

3. The fully automatic crystallizer capable of multiple control modes according to claim 2, characterized in that, The local operating condition controller includes multiple input and drive output interfaces; The input interface is connected to the drive parameter reading terminal of the motor controller to collect the motor speed information; The input interface is connected to the acquisition end of the speed sensor to acquire the current rotational speed of the grinding disc; The input interface is connected to the pressure sensing end of the hydraulic drug delivery system to collect the pipeline pressure value of the hydraulic drug delivery system. The input interface is connected to the pump port hydraulic gauge to read the pump port pressure value in real time. The input interface is connected to the sensing output terminal of the ranging sensor to acquire the barrier distance data; The output interface is connected to the hydraulic pump controller of the hydraulic drug delivery system; the output interface is also connected to the control command receiving end of the grinding controller. The local operating condition controller drives the hydraulic pump controller through the current hydraulic drive information; the local operating condition controller controls the rotation of the grinding motor through the grinding controller.

4. The fully automatic crystallizer capable of multiple control modes according to claim 3, characterized in that, Also includes: A remote operating condition control terminal, which is set up on a remote cloud or mobile terminal; A local communication module capable of connecting to the local operating condition controller; The local communication module is capable of bidirectional communication with the remote operating condition control terminal; The step of generating current hydraulic drive information based on the barrier distance data, the rotation error rate and the hydraulic error rate within the current unit time includes: The rotational error rate is obtained per unit time based on the motor's rotational speed information and the current rotational speed of the grinding disc; The hydraulic error rate is obtained based on the pipeline pressure value and the pump inlet pressure value; If the hydraulic error rate is less than the rotation error rate, then the pipeline pressure and barrier distance data comparison table is adjusted according to the current pipeline pressure value. Based on the adjusted pipeline pressure and barrier distance data comparison table and the current barrier distance data, the current hydraulic drive information is generated. If the hydraulic error rate is greater than the rotation error rate, then the rotation speed and barrier distance data comparison table is adjusted based on the current rotation data. According to the adjusted rotation speed and barrier distance data comparison table, the corresponding pipeline pressure and barrier distance data comparison table, and the current barrier distance data, the current hydraulic drive information is generated.

5. The fully automatic crystallizer capable of multiple control modes according to claim 3, characterized in that, The step of obtaining a speed adjustment control command based on the pipeline pressure information and the rotation error rate per unit time, and controlling the rotation of the grinding motor through the speed adjustment control command, includes: Based on the rotational error rate, adjust the speed and pipeline pressure comparison table. Based on the adjusted speed and pipeline pressure comparison table and the corresponding current management pressure, obtain the speed regulation control command.

6. The fully automatic crystallizer capable of multiple control modes according to claim 4, characterized in that, include: The local operating condition controller reads the motor speed information, the current speed of the grinding disc, the pipeline pressure value, and the pump inlet pressure value; The local operating condition controller transmits the motor speed information, the current speed of the grinding disc, the pipeline pressure value, and the pump inlet pressure value to the remote operating condition control terminal through the local communication module. The remote operating condition control terminal can locally display the motor speed information, the current speed of the grinding disc, the pipeline pressure value, and the pump inlet pressure value; The remote operating condition control terminal can transmit the pipeline pressure and barrier distance data comparison table and the speed and barrier distance data comparison table to the local operating condition controller through the local communication module.

7. The fully automatic crystallizer capable of multiple control modes according to claim 6, characterized in that, The remote operating condition control terminal is also configured to send multiple control commands to the local operating condition controller through the local communication module. The control commands include: forward command, backward command, left turn command, and right turn command.

8. The fully automatic crystallizer capable of multiple control modes according to claim 7, characterized in that, The remote operating condition control terminal is also configured as a user display interface; the user display interface displays the control command information, the motor speed information, the current speed of the grinding disc, the pipeline pressure value, and the pump inlet pressure value.

9. The fully automatic crystallizer capable of multiple control modes according to claim 1, characterized in that, include: A control voice recognition unit is connected to the input terminal of the local operating condition controller; the control voice recognition unit is implemented through a voice recognition network; The speech recognition network is implemented by training a speech recognition model; The input to the speech recognition model is control command speech and industrial noise, and the output speech of the speech recognition model is the control command of the fully automatic crystallizer.

10. A fully automatic crystallizer control method capable of implementing multiple control modes, characterized in that, It includes: Based on the barrier distance data, the rotation error rate and hydraulic error rate within the current unit time, the current hydraulic drive information is generated; The hydraulic drug delivery system is driven by the current hydraulic drive information; after the local operating condition controller sends the current hydraulic drive information, it reads the pipeline pressure information in the current hydraulic drug delivery system; based on the pipeline pressure information and the rotation error rate per unit time, it obtains a speed adjustment control command to control the rotation of the grinding motor.

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