A method for adjusting flow of a dredging robot, a robot, a device and a medium

Abstract

The application discloses a dredging robot flow adjusting method, which acquires operation parameters in a dredging operation process in real time through a plurality of detection sensors, carries out filtering and noise reduction processing according to the operation parameters, calculates deviation values of the operation parameters from corresponding preset threshold values, obtains a target rotating speed adjusting amount of the slurry pump according to a preset weight coefficient, and adjusts the motor rotating speed of the slurry pump in real time, so that the slurry flow is maintained in a preset flow range. The application can adapt to complex working conditions according to real-time parameters, and has high adjusting precision and strong stability.

Description

Technical Field

[0001] This invention relates to the field of pipeline dredging, and in particular to a method for adjusting the flow rate of a dredging robot, the robot, the equipment, and the medium. Background Technology

[0002] In existing sewer and culvert dredging equipment, the movement of the equipment and the adjustment of the sludge suction action are often determined by judging the composition of the sludge sucked up. If there is more water and less sludge, it means there is less sludge nearby, and the equipment or dredging head needs to be moved. However, dredging equipment is often underwater or inside sewer pipes, making it impossible to perceive visually. Furthermore, using cameras for visualization is difficult, and it is also difficult to achieve good results in turbulent water, making it relatively difficult to operate the equipment on land. Summary of the Invention

[0003] The main objective of this invention is to provide a method for adjusting the flow rate of a dredging robot, which aims to solve the aforementioned technical problems.

[0004] To achieve the above objectives, this invention proposes a flow regulation method for a dredging robot, which includes a slurry pump, multiple detection sensors, and a data processing module. The method includes the following steps:

[0005] S1. The operating parameters during the dredging operation are collected in real time by multiple detection sensors. The operating parameters include at least the inlet and outlet slurry flow rate of the slurry pump, the medium pressure in the conveying pipeline, and the medium sludge concentration in the slurry.

[0006] S2. After the data processing module performs filtering and noise reduction processing based on the operating parameters, it calculates the deviation value between the operating parameters and the corresponding preset threshold.

[0007] S3. Based on the deviation value and the preset weighting coefficient, the target speed adjustment amount of the slurry pump is calculated;

[0008] S4. Adjust the motor speed of the slurry pump in real time according to the target speed adjustment amount to keep the slurry flow rate within the preset flow range.

[0009] In one embodiment, the detection sensor includes a flow sensor, a pressure sensor, and a concentration sensor; wherein: the flow sensor is installed at the inlet and outlet of the slurry pump to simultaneously collect the inlet flow rate and the outlet flow rate;

[0010] The pressure sensor is installed in the middle section of the pipeline to collect the real-time pressure of the medium inside the pipeline.

[0011] The concentration sensor is installed at the inlet of the slurry pump to collect the concentration of slurry and sludge entering the pump.

[0012] In one embodiment, the step of the data processing module calculating the deviation between the operating parameters and the corresponding preset threshold after performing filtering and noise reduction based on the operating parameters includes:

[0013] Calculate the slurry flow deviation using the following formula. :

[0014] ;

[0015] ;

[0016] in:

[0017] The actual flow rate of the slurry is collected in real time by the flow sensor. These are the inlet flow rate and the outlet flow rate, respectively.

[0018] Preset a threshold for slurry flow rate;

[0019] This is the flow deviation correction factor, with a value range of 0.3 to 0.7.

[0020] In one embodiment, the step of calculating the deviation between the operating parameters and the corresponding preset threshold after the data processing module performs filtering and noise reduction processing based on the operating parameters further includes:

[0021] The medium pressure deviation value is calculated using the following formula. and sludge concentration deviation value :

[0022] ;

[0023] ;

[0024] in:

[0025] The pressure sensor collects the actual pressure of the medium inside the pipeline in real time. The actual sludge concentration in the slurry is collected in real time by the concentration sensor.

[0026] Preset a threshold for slurry flow rate. A preset threshold is set for sludge concentration;

[0027] This is the pressure deviation correction factor, with a value ranging from 0.8 to 1.2. This is the concentration deviation correction factor, with a value ranging from 0.5 to 0.9;

[0028] This represents the actual pressure of the medium during the current sampling period. This is the actual pressure of the medium in the previous sampling cycle. This represents the actual concentration of silt during the current sampling period. This represents the actual concentration of silt from the previous collection period.

[0029] For data collection cycle;

[0030] This is a correction factor for the rate of change of pressure, with a value ranging from 0.4 to 0.8. This is a pipe length correction factor, with a value ranging from 1.0 to 1.5. This is a viscosity correction factor for the medium, with a value ranging from 0.9 to 1.3. This is the correction factor for the rate of change of concentration, with a value ranging from 0.3 to 0.7. This is a correction factor for sludge viscosity, with a value ranging from 0.8 to 1.4. This is the temperature correction factor, with a value ranging from 0.95 to 1.05.

[0031] In one embodiment, the step of calculating the target speed adjustment of the slurry pump based on the deviation value and a preset weighting coefficient specifically includes:

[0032] Slurry flow deviation value Medium pressure deviation value and sludge concentration deviation value After normalization and calculation, the weighted sum of each deviation value is obtained;

[0033] The real-time rate of change of the comprehensive deviation value is obtained by weighting and summing, and the target speed adjustment of the slurry pump is obtained based on the real-time rate of change.

[0034] In one embodiment, after the data processing module performs filtering and noise reduction based on the operating parameters and calculates the deviation between the operating parameters and the corresponding preset threshold, the dredging robot flow adjustment method further includes:

[0035] The system continuously monitors whether the deviation of each operating parameter exceeds the corresponding preset safety threshold. If the deviation of at least one parameter exceeds the preset safety threshold, the speed of the slurry pump is reduced to the preset safe speed.

[0036] In one embodiment, the step of adjusting the motor speed of the slurry pump in real time according to the target speed adjustment amount to maintain the slurry flow rate within a preset flow range specifically includes:

[0037] If the absolute value of the target speed adjustment is greater than the preset adjustment threshold, the speed will be adjusted using the maximum adjustment step value.

[0038] If the absolute value of the target speed adjustment is less than or equal to the preset adjustment threshold, the speed will be adjusted using the minimum adjustment step value.

[0039] The maximum adjustment step value is 5%-8% of the rated speed of the slurry pump, and the minimum adjustment step value is 0.5%-1% of the rated speed of the slurry pump.

[0040] In addition, to achieve the above objectives, the present invention also provides a robot, characterized in that the robot includes a robot body and a control module, the control module being used to execute the dredging robot flow regulation method as described above.

[0041] In addition, to achieve the above objectives, the present invention also provides a dredging robot flow regulation device, characterized in that the dredging robot flow regulation device includes: a memory, a processor, and a flow regulation program stored in the memory and executable on the processor, wherein when the flow regulation program is executed by the processor, it implements the steps of the dredging robot flow regulation method as described above.

[0042] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a flow regulation program, which, when executed by a processor, implements the steps of the dredging robot flow regulation method as described above.

[0043] In the technical solution of this invention, multiple detection sensors collect operating parameters in real time during the dredging operation. After filtering and noise reduction based on the operating parameters, the deviation between the operating parameters and the corresponding preset threshold is calculated. Then, based on a preset weighting coefficient, the target speed adjustment amount of the slurry pump is obtained, and the motor speed of the slurry pump is adjusted in real time to maintain the slurry flow rate within the preset flow range. This application can adapt to complex working conditions based on real-time parameters and has high adjustment accuracy and strong stability. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the hardware operating environment of the device involved in the embodiments of the present invention;

[0046] Figure 2 This is a flowchart illustrating the flow rate adjustment method for the dredging robot of the present invention.

[0047] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0049] like Figure 1 As shown, Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention.

[0050] The terminal in this invention embodiment can be a PC, or a smartphone, tablet computer, e-book reader, MP3 (Moving Picture Experts Group Audio Layer III) player, MP4 (Moving Picture Experts Group Audio Layer IV) player, portable computer, or other portable terminal devices with display functions.

[0051] like Figure 1 As shown, the terminal may include: a processor 1001, such as a CPU; a communication bus 1002; a user interface 1003; a network interface 1004; and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0052] Optionally, the terminal may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, a WiFi module, and so on. Sensors may include light sensors, motion sensors, and other sensors. Specifically, light sensors may include ambient light sensors and proximity sensors. The ambient light sensor can adjust the display brightness according to the ambient light level, while the proximity sensor can turn off the display and / or backlight when the mobile terminal is moved to the ear. As a type of motion sensor, a gravity accelerometer can detect the magnitude of acceleration in various directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity, and can be used for applications that identify the mobile terminal's posture (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition functions (such as pedometers, taps), etc. Of course, the mobile terminal may also be equipped with other sensors such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors, which will not be elaborated here.

[0053] Those skilled in the art will understand that Figure 1 The terminal structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0054] like Figure 1 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a flow regulation program.

[0055] exist Figure 1 In the terminal shown, network interface 1004 is mainly used to connect to the backend server and communicate with it; user interface 1003 is mainly used to connect to the client (user terminal) and communicate with it; while processor 1001 can be used to call the flow regulation program stored in memory 1005 and perform the following operations:

[0056] The operating parameters during the dredging operation are collected in real time by multiple detection sensors. The operating parameters include at least the inlet and outlet slurry flow rate of the slurry pump, the medium pressure in the conveying pipeline, and the medium sludge concentration in the slurry.

[0057] After the data processing module performs filtering and noise reduction based on the operating parameters, it calculates the deviation between the operating parameters and the corresponding preset threshold.

[0058] Based on the deviation value and the preset weighting coefficient, the target speed adjustment amount of the slurry pump is calculated;

[0059] Based on the target speed adjustment amount, the motor speed of the slurry pump is adjusted in real time to maintain the slurry flow rate within the preset flow range.

[0060] Furthermore, the processor 1001 can call the flow regulation program stored in the memory 1005 and also perform the following operations:

[0061] Calculate the slurry flow deviation using the following formula. :

[0062] ;

[0063] .

[0064] Furthermore, the processor 1001 can call the flow regulation program stored in the memory 1005 and also perform the following operations:

[0065] The medium pressure deviation value is calculated using the following formula. and sludge concentration deviation value :

[0066] ;

[0067] .

[0068] Furthermore, the processor 1001 can call the flow regulation program stored in the memory 1005 and also perform the following operations:

[0069] Slurry flow deviation value Medium pressure deviation value and sludge concentration deviation value After normalization and calculation, the weighted sum of each deviation value is obtained;

[0070] The real-time rate of change of the comprehensive deviation value is obtained by weighting and summing, and the target speed adjustment of the slurry pump is obtained based on the real-time rate of change.

[0071] Furthermore, the processor 1001 can call the flow regulation program stored in the memory 1005 and also perform the following operations:

[0072] The system continuously monitors whether the deviation of each operating parameter exceeds the corresponding preset safety threshold. If the deviation of at least one parameter exceeds the preset safety threshold, the speed of the slurry pump is reduced to the preset safe speed.

[0073] Furthermore, the processor 1001 can call the flow regulation program stored in the memory 1005 and also perform the following operations:

[0074] If the absolute value of the target speed adjustment is greater than the preset adjustment threshold, the speed will be adjusted using the maximum adjustment step value.

[0075] If the absolute value of the target speed adjustment is less than or equal to the preset adjustment threshold, the speed will be adjusted using the minimum adjustment step value.

[0076] The maximum adjustment step value is 5%-8% of the rated speed of the slurry pump, and the minimum adjustment step value is 0.5%-1% of the rated speed of the slurry pump.

[0077] The specific embodiments of the dredging robot flow regulation device of the present invention are basically the same as the embodiments of the dredging robot flow regulation method described below, and will not be repeated here.

[0078] Reference Figure 2 The first embodiment of the present invention provides a flow rate adjustment method for a dredging robot, which is applied to a dredging robot. The dredging robot includes a slurry pump, multiple detection sensors, and a data processing module. The method includes the following steps:

[0079] S1. The operating parameters during the dredging operation are collected in real time by multiple detection sensors. The operating parameters include at least the inlet and outlet slurry flow rate of the slurry pump, the medium pressure in the conveying pipeline, and the sludge concentration in the slurry.

[0080] The detection sensors include a flow sensor, a pressure sensor, and a concentration sensor;

[0081] The flow sensor is installed at the inlet and outlet of the slurry pump to simultaneously collect the inlet and outlet flow rates. This avoids errors caused by collecting only the inlet or outlet flow rate (such as deviations caused by pipeline leaks or sensor malfunctions). By collecting the flow rate bidirectionally, the accuracy of the flow data can be further verified.

[0082] The pressure sensor is installed in the middle section of the conveying pipeline to collect the real-time medium pressure in the pipeline, so as to reflect the actual pressure state of the medium in the pipeline and avoid pressure data distortion caused by excessively high pressure near the slurry pump outlet or excessively low pressure near the end of the conveying process.

[0083] The concentration sensor is installed at the inlet of the slurry pump to collect the concentration of slurry and sludge entering the pump. Pre-collecting the slurry concentration directly affects the viscosity and fluidity of the slurry, which in turn affects the load and flow stability of the slurry pump. High concentration of sludge will increase the operating load of the slurry pump, which can easily lead to pump overload and blockage. Therefore, collecting the concentration parameter in advance can provide a more accurate basis for subsequent pretreatment and deviation calculation.

[0084] S2. After the data processing module performs filtering and noise reduction processing based on the operating parameters, it calculates the deviation value between the operating parameters and the corresponding preset threshold.

[0085] In this embodiment, for each detection sensor, multiple sets of data are continuously collected. First, the maximum and minimum values ​​are removed (to avoid the influence of extreme abnormal data). Then, the average value of the remaining data is calculated, and this average value is used as the valid detection data of the sensor. The number of continuously collected data sets can be dynamically adjusted according to the working conditions, and the number of sets should not be less than 5 to ensure that the average value can truly reflect the actual state of the parameters and avoid data distortion caused by too few sets.

[0086] Furthermore, this application employs a multi-influence factor coupling method to calculate the deviation values ​​of three core parameters: flow rate, pressure, and concentration. The deviation calculation for each parameter incorporates multiple influencing factors.

[0087] Specifically, the slurry flow deviation value is calculated according to the following formula. :

[0088] ;

[0089] ;

[0090] in:

[0091] The actual flow rate of the slurry is collected in real time by the flow sensor. These are the inlet flow rate and the outlet flow rate, respectively.

[0092] Preset a threshold for slurry flow rate;

[0093] This is the flow deviation correction factor, with a value range of 0.3 to 0.7.

[0094] Slurry flow deviation value The calculation method combines absolute deviation and relative deviation. The absolute deviation reflects the actual degree of deviation of the flow rate, while the relative deviation reflects the proportion of the flow rate deviation. The combination of the two can avoid different deviation judgments caused by different preset flow rate thresholds. The correction coefficient is used to adjust the weight of the relative deviation to adapt to the flow rate accuracy requirements of different dredging scenarios.

[0095] The medium pressure deviation value is calculated using the following formula. and sludge concentration deviation value :

[0096] ;

[0097] ;

[0098] in:

[0099] The pressure sensor collects the actual pressure of the medium inside the pipeline in real time. The actual sludge concentration in the slurry is collected in real time by the concentration sensor.

[0100] Preset a threshold for slurry flow rate. A preset threshold is set for sludge concentration;

[0101] This is the pressure deviation correction factor, with a value ranging from 0.8 to 1.2. This is the concentration deviation correction factor, with a value ranging from 0.5 to 0.9;

[0102] This represents the actual pressure of the medium during the current sampling period. This is the actual pressure of the medium in the previous sampling cycle. This represents the actual concentration of silt during the current sampling period. This represents the actual concentration of silt from the previous collection period.

[0103] For data collection cycle;

[0104] This is a correction factor for the rate of change of pressure, with a value ranging from 0.4 to 0.8. This is a pipe length correction factor, with a value ranging from 1.0 to 1.5. This is a viscosity correction factor for the medium, with a value ranging from 0.9 to 1.3. This is the correction factor for the rate of change of concentration, with a value ranging from 0.3 to 0.7. This is a correction factor for sludge viscosity, with a value ranging from 0.8 to 1.4. This is the temperature correction factor, with a value ranging from 0.95 to 1.05.

[0105] Medium pressure deviation value It integrates two core factors: absolute pressure deviation and pressure change rate, and simultaneously adjusts them using pipeline length correction coefficients and medium viscosity correction coefficients. (Sludge concentration deviation value) It integrates two core factors: absolute concentration deviation and concentration change rate, and makes adaptation adjustments through sludge viscosity correction coefficient and temperature correction coefficient.

[0106] S3. Based on the deviation value and the preset weighting coefficient, the target speed adjustment of the slurry pump is calculated, specifically including:

[0107] Slurry flow deviation value Medium pressure deviation value and sludge concentration deviation value After normalization and calculation, the weighted sum of each deviation value is obtained;

[0108] The real-time rate of change of the comprehensive deviation value is obtained by weighting and summing, and the target speed adjustment of the slurry pump is obtained based on the real-time rate of change.

[0109] Specifically, after the deviation values ​​are calculated, all deviation values ​​are normalized to unify the dimensions to the [0,1] interval, which facilitates the subsequent calculation of the adaptive PID control algorithm. The normalization formula is as follows: , The original deviation value corresponds to , , , , These are the minimum and maximum deviation thresholds for the corresponding parameters.

[0110] First, calculate the weighted sum of the normalized deviation values ​​(overall deviation value):

[0111] ;in , , These are preset weighting coefficients for the deviation values ​​of flow rate, pressure, and concentration, respectively. The weighting coefficients are dynamically allocated based on the operational scenario. Specifically, when the dredging area is a shallow water area and the sludge concentration is lower than the preset concentration threshold, the weighting coefficient of the slurry flow deviation value is the largest; when the length of the conveying pipeline exceeds the preset length threshold, the weighting coefficient of the medium pressure deviation value is greater than the weighting coefficient of the sludge concentration deviation value.

[0112] Then the overall deviation value is calculated. Real-time rate of change:

[0113] ;in This is the overall deviation value for the current acquisition period. This is the overall deviation value from the previous data collection period. The data acquisition period (value 0.1~0.5s) is consistent with the acquisition period used in step S2 for calculating the pressure and concentration change rate. Used to determine the trend of deviation changes; positive indicates an increase in deviation, negative indicates a decrease in deviation, and close to 0 indicates a stable deviation.

[0114] And dynamically adjust the proportion of the adaptive PID ( ),integral( ),differential( )coefficient.

[0115] proportionality coefficient Adjustment:

[0116] Adjust the formula:

[0117] ;in for The initial reference value is set to 5~10 based on the rated speed of the slurry pump and the dredging conditions. for The adjustment factor is generally taken as 0.3 to 0.7; The maximum threshold for the overall deviation value is preset to 1.0;

[0118] when When the deviation is large, Take the upper limit and increase it. Accelerate the response; when When the deviation is small, Take the lower limit and decrease it. Avoid shocks; hour, Follow Linear change.

[0119] Integral coefficient Adjustment:

[0120] Adjust the formula: ;in for The initial baseline value is set between 0.1 and 0.5. This is the integral suppression coefficient, ranging from 0.2 to 0.4; The coefficient for compensation of the rate of change is 0.1 to 0.3.

[0121] when and When the deviation is large and increases, increase , reduce Suppressing integral action; when and When the deviation is small and stable, reduce Increase This enhances the role of points.

[0122] Differential coefficients Adjustment:

[0123] Adjust the formula: ;in for The initial baseline value ranges from 1 to 3. The differential attenuation coefficient is taken as 0.4~0.8;

[0124] when When the deviation changes rapidly, increase , reduce Avoid shocks; when When the deviation changes gradually, reduce Increase Improve accuracy.

[0125] Finally, based on real-time adjustments , , Calculate the target speed adjustment amount: ;in To adjust the time.

[0126] S4. Adjust the motor speed of the slurry pump in real time according to the target speed adjustment amount to keep the slurry flow rate within the preset flow range.

[0127] In this embodiment, the use of a graded adjustment method can balance adjustment efficiency and adjustment accuracy.

[0128] Specifically, if the absolute value of the target speed adjustment is greater than the preset adjustment threshold, the speed is adjusted using the maximum adjustment step value to accelerate the adjustment speed and make the flow rate quickly approach the preset optimal range. The maximum adjustment step value is 5%-8% of the rated speed of the slurry pump.

[0129] If the absolute value of the target speed adjustment is less than or equal to the preset adjustment threshold, the speed is adjusted using the minimum adjustment step value to improve the adjustment accuracy and avoid over-adjustment that could cause flow oscillation. The minimum adjustment step value is 0.5%-1% of the rated speed of the slurry pump.

[0130] Based on the above embodiments, after the data processing module performs filtering and noise reduction processing based on the operating parameters and calculates the deviation value between the operating parameters and the corresponding preset threshold, the dredging robot flow adjustment method further includes:

[0131] The system continuously monitors whether the deviation of each operating parameter exceeds the corresponding preset safety threshold. If the deviation of at least one parameter exceeds the preset safety threshold, the speed of the slurry pump is reduced to the preset safe speed.

[0132] The data processing module receives valid data collected by each detection sensor in real time, calculates the deviation value of each parameter synchronously, and judges in real time whether the deviation value of each parameter exceeds the corresponding preset safety threshold. If the deviation value of at least one parameter exceeds the safety threshold, it is judged as an abnormal working condition, such as pipeline blockage causing pressure deviation to exceed the threshold, high concentration of sludge causing concentration deviation to exceed the threshold, motor overload causing current deviation to exceed the threshold, etc.

[0133] When an abnormal operating condition is detected, the slurry pump is first controlled to reduce its speed to a preset safe speed, thereby reducing the pump load and pipeline pressure and alleviating the abnormality. At the same time, an abnormality warning signal is issued. The warning signal is divided into two types: one is an audible and visual warning, which is used by on-site personnel to detect the abnormality in a timely manner, and the other is a wireless communication warning, which sends the abnormal information to the remote control terminal, so that remote personnel can monitor and troubleshoot. At the same time, the abnormal data and the time of occurrence are recorded simultaneously to provide a basis for subsequent fault investigation.

[0134] If the abnormal condition lasts for more than the preset time threshold, it means that the abnormal condition has not been alleviated. At this time, the slurry pump should be stopped immediately and locked in the shutdown state until it is manually unlocked, in order to prevent the abnormality from continuing to expand and causing damage to core equipment such as slurry pumps and conveying pipelines. After the staff has investigated and resolved the abnormal problem, the operation can be restarted and the flow regulation restored.

[0135] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing a flow regulation program, which, when executed by a processor, performs the following operations:

[0136] The operating parameters during the dredging operation are collected in real time by multiple detection sensors. The operating parameters include at least the inlet and outlet slurry flow rate of the slurry pump, the medium pressure in the conveying pipeline, and the medium sludge concentration in the slurry.

[0137] After the data processing module performs filtering and noise reduction based on the operating parameters, it calculates the deviation between the operating parameters and the corresponding preset threshold.

[0138] Based on the deviation value and the preset weighting coefficient, the target speed adjustment amount of the slurry pump is calculated;

[0139] Based on the target speed adjustment amount, the motor speed of the slurry pump is adjusted in real time to maintain the slurry flow rate within the preset flow range.

[0140] Furthermore, when the flow regulation program is executed by the processor, it also performs the following operations:

[0141] Calculate the slurry flow deviation using the following formula. :

[0142] ;

[0143] .

[0144] Furthermore, when the flow regulation program is executed by the processor, it also performs the following operations:

[0145] The medium pressure deviation value is calculated using the following formula. and sludge concentration deviation value :

[0146] ;

[0147] .

[0148] Furthermore, when the flow regulation program is executed by the processor, it also performs the following operations:

[0149] Slurry flow deviation value Medium pressure deviation value and sludge concentration deviation value After normalization and calculation, the weighted sum of each deviation value is obtained;

[0150] The real-time rate of change of the comprehensive deviation value is obtained by weighting and summing, and the target speed adjustment of the slurry pump is obtained based on the real-time rate of change.

[0151] Furthermore, when the flow regulation program is executed by the processor, it also performs the following operations:

[0152] The system continuously monitors whether the deviation of each operating parameter exceeds the corresponding preset safety threshold. If the deviation of at least one parameter exceeds the preset safety threshold, the speed of the slurry pump is reduced to the preset safe speed.

[0153] Furthermore, when the flow regulation program is executed by the processor, it also performs the following operations:

[0154] If the absolute value of the target speed adjustment is greater than the preset adjustment threshold, the speed will be adjusted using the maximum adjustment step value.

[0155] If the absolute value of the target speed adjustment is less than or equal to the preset adjustment threshold, the speed will be adjusted using the minimum adjustment step value.

[0156] The maximum adjustment step value is 5%-8% of the rated speed of the slurry pump, and the minimum adjustment step value is 0.5%-1% of the rated speed of the slurry pump.

[0157] The specific embodiments of the computer-readable storage medium of the present invention are basically the same as the embodiments of the above-described dredging robot flow regulation method, and will not be described in detail here.

[0158] In addition, this application also provides a robot, which includes a robot body and a control module, the control module being used to execute the above-described dredging robot flow regulation method. The robot provided in this application can be a dredging robot or other robots.

[0159] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0160] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0161] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0162] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for adjusting the flow rate of a dredging robot, characterized in that, The flow rate adjustment method for the dredging robot is applied to a dredging robot, which includes a slurry pump, multiple detection sensors, and a data processing module. The method includes the following steps: S1. The operating parameters during the dredging operation are collected in real time by multiple detection sensors. The operating parameters include at least the inlet and outlet slurry flow rate of the slurry pump, the medium pressure in the conveying pipeline, and the medium sludge concentration in the slurry. S2. After the data processing module performs filtering and noise reduction processing based on the operating parameters, it calculates the deviation value between the operating parameters and the corresponding preset threshold. S3. Based on the deviation value and the preset weighting coefficient, the target speed adjustment amount of the slurry pump is calculated; S4. Adjust the motor speed of the slurry pump in real time according to the target speed adjustment amount to keep the slurry flow rate within the preset flow range.

2. The method for adjusting the flow rate of a dredging robot according to claim 1, characterized in that, The detection sensors include a flow sensor, a pressure sensor, and a concentration sensor; wherein: the flow sensor is installed at the inlet and outlet of the slurry pump to simultaneously collect the inlet flow rate and the outlet flow rate; The pressure sensor is installed in the middle section of the pipeline to collect the real-time pressure of the medium inside the pipeline. The concentration sensor is installed at the inlet of the slurry pump to collect the concentration of slurry and sludge entering the pump.

3. The method for adjusting the flow rate of a dredging robot according to claim 2, characterized in that, The step of calculating the deviation between the operating parameters and the corresponding preset threshold after the data processing module performs filtering and noise reduction based on the operating parameters includes: Calculate the slurry flow deviation using the following formula. : ； ； in: The actual flow rate of the slurry is collected in real time by the flow sensor. These are the inlet flow rate and the outlet flow rate, respectively. Preset a threshold for slurry flow rate; This is the flow deviation correction factor, with a value range of 0.3 to 0.

7.

4. The dredging robot flow rate adjustment method according to claim 3, characterized in that, The step of calculating the deviation between the operating parameters and the corresponding preset threshold after the data processing module performs filtering and noise reduction based on the operating parameters further includes: The medium pressure deviation value is calculated using the following formula. and sludge concentration deviation value : ； ； in: The pressure sensor collects the actual pressure of the medium inside the pipeline in real time. The actual sludge concentration in the slurry is collected in real time by the concentration sensor. Preset a threshold for slurry flow rate. A preset threshold is set for sludge concentration; This is the pressure deviation correction factor, with a value ranging from 0.8 to 1.

2. This is the concentration deviation correction factor, with a value ranging from 0.5 to 0.9; This represents the actual pressure of the medium during the current sampling period. This is the actual pressure of the medium in the previous sampling cycle. This represents the actual concentration of silt during the current sampling period. This represents the actual concentration of silt from the previous collection period. For data collection cycle; This is a correction factor for the rate of change of pressure, with a value ranging from 0.4 to 0.

8. This is a pipe length correction factor, with a value ranging from 1.0 to 1.

5. This is a viscosity correction factor for the medium, with a value ranging from 0.9 to 1.

3. This is the correction factor for the rate of change of concentration, with a value ranging from 0.3 to 0.

7. This is a correction factor for sludge viscosity, with a value ranging from 0.8 to 1.

4. This is the temperature correction factor, with a value ranging from 0.95 to 1.

05.

5. The method for adjusting the flow rate of a dredging robot according to claim 1, characterized in that, The step of calculating the target speed adjustment of the slurry pump based on the deviation value and the preset weighting coefficient is as follows: Slurry flow deviation value Medium pressure deviation value and sludge concentration deviation value After normalization and calculation, the weighted sum of each deviation value is obtained; The real-time rate of change of the comprehensive deviation value is obtained by weighting and summing, and the target speed adjustment of the slurry pump is obtained based on the real-time rate of change.

6. The method for adjusting the flow rate of a dredging robot according to claim 4, characterized in that, After the data processing module performs filtering and noise reduction based on the operating parameters and calculates the deviation between the operating parameters and the corresponding preset threshold, the dredging robot flow adjustment method further includes: The system continuously monitors whether the deviation of each operating parameter exceeds the corresponding preset safety threshold. If the deviation of at least one parameter exceeds the preset safety threshold, the speed of the slurry pump is reduced to the preset safe speed.

7. The method for adjusting the flow rate of a dredging robot according to claim 1, characterized in that, The step of adjusting the motor speed of the slurry pump in real time according to the target speed adjustment amount to maintain the slurry flow rate within the preset flow range specifically includes: If the absolute value of the target speed adjustment is greater than the preset adjustment threshold, the speed will be adjusted using the maximum adjustment step value. If the absolute value of the target speed adjustment is less than or equal to the preset adjustment threshold, the speed will be adjusted using the minimum adjustment step value. The maximum adjustment step value is 5%-8% of the rated speed of the slurry pump, and the minimum adjustment step value is 0.5%-1% of the rated speed of the slurry pump.

8. A robot, characterized in that, The robot includes a robot body and a control module, the control module being used to execute the dredging robot flow adjustment method according to any one of claims 1 to 7.

9. A flow regulation device for a dredging robot, characterized in that, The dredging robot flow regulation device includes: a memory, a processor, and a flow regulation program stored in the memory and executable on the processor. When the flow regulation program is executed by the processor, it implements the steps of the dredging robot flow regulation method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a flow regulation program, which, when executed by a processor, implements the steps of the dredging robot flow regulation method as described in any one of claims 1 to 7.

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