CN120023817A

CN120023817A - A method for cleaning the bottom of a carriage of an electric locomotive for unloading ore, an electronic device and a bottom cleaning robot

Info

Publication number: CN120023817A
Application number: CN202510365806.9A
Authority: CN
Inventors: 卢由; 张道诚; 向思敏
Original assignee: Hunan Jianshan Intelligent Technology Co ltd
Current assignee: Hunan Jianshan Intelligent Technology Co ltd
Priority date: 2025-03-26
Filing date: 2025-03-26
Publication date: 2025-05-23

Abstract

The present application discloses a method for cleaning the bottom of a mine-unloading electric locomotive carriage, an electronic device and a bottom-cleaning robot, the method comprising: obtaining dimension data and inclination angle data of the carriage; establishing a coordinate system with a base of a robotic arm as the origin; planning a cleaning path of the robotic arm based on the coordinate system and the dimension data to obtain a plurality of first coordinate data in a sequence, the plurality of first coordinate data corresponding to a plurality of path nodes of the cleaning path; obtaining a plurality of second coordinate data based on the inclination angle data and the plurality of first coordinate data; obtaining structural parameters of the robotic arm; calculating a plurality of motion control parameters of the robotic arm based on the plurality of second coordinate data and the structural parameters, the plurality of motion control parameters corresponding to a plurality of path nodes; and controlling the robotic arm based on the plurality of motion control parameters so that the robotic arm performs a bottom-cleaning operation on the carriage along the cleaning path.

Description

Bottom cleaning method for carriage of ore discharging electric locomotive, electronic equipment and bottom cleaning robot

Technical Field

The application relates to the technical field of ore discharging electric locomotives, in particular to a method for cleaning the bottom of a carriage of an ore discharging electric locomotive, electronic equipment and a bottom cleaning robot.

Background

In the mine production process, an electric locomotive is generally adopted for ore transportation, and partial slag can be adhered to the bottom of a mine car due to the fact that the ore contains moisture, so that slag at the bottom of a carriage of the electric locomotive needs to be cleaned. However, the cleaning work is required to be performed manually at present, and the efficiency is not high.

Disclosure of Invention

The application aims to provide a bottom cleaning method for a carriage of an ore discharging electric locomotive, electronic equipment and a bottom cleaning robot, which can improve the cleaning efficiency of the bottom of the carriage.

The embodiment of the application provides a bottom cleaning method for a carriage of an ore discharging electric locomotive, which is applied to electronic equipment, wherein the electronic equipment is arranged on a bottom cleaning robot comprising a mechanical arm, and the method comprises the following steps:

acquiring size data and inclination angle data of the carriage;

establishing a coordinate system by taking a base of the mechanical arm as an origin;

Planning a cleaning path of the mechanical arm according to the size data based on the coordinate system to obtain a plurality of first coordinate data with sequence, wherein the plurality of first coordinate data correspond to a plurality of path nodes of the cleaning path;

obtaining a plurality of second coordinate data according to the inclination angle data and the plurality of first coordinate data;

obtaining structural parameters of the mechanical arm;

According to the second coordinate data and the structural parameters, calculating a plurality of motion control parameters of the mechanical arm, wherein the motion control parameters correspond to the path nodes;

and controlling the mechanical arm based on a plurality of motion control parameters, so that the mechanical arm executes a bottom cleaning operation on the carriage along the cleaning path.

According to the embodiment of the application, the cleaning path of the mechanical arm is planned according to the size data by acquiring the size data and the inclination angle data of the carriage, a plurality of first coordinate data with sequence are obtained, the plurality of first coordinate data correspond to a plurality of path nodes of the cleaning path, a plurality of second coordinate data are obtained according to the inclination angle data and the plurality of first coordinate data, the structural parameters of the mechanical arm are acquired, a plurality of motion control parameters of the mechanical arm are obtained through calculation according to the plurality of second coordinate data and the structural parameters, the plurality of motion control parameters correspond to the plurality of path nodes, and the mechanical arm is controlled based on the plurality of motion control parameters, so that the mechanical arm performs the cleaning operation on the carriage along the cleaning path, labor is saved, and detection efficiency is improved.

According to some embodiments of the application, the calculating a plurality of motion control parameters of the mechanical arm according to a plurality of the second coordinate data and the structural parameters includes:

And sequentially taking a plurality of path nodes as starting points and taking the next path node of the starting points as an end point, and calculating to obtain the motion control parameters corresponding to the end points according to the structural parameters, the second coordinate data of the starting points and the second coordinate data of the end points, thereby obtaining a plurality of motion control parameters.

According to some embodiments of the application, the mechanical arm comprises a first joint, a first connecting rod, a second joint, a second connecting rod, a third joint and a bottom cleaning shovel which are sequentially connected, wherein the structural parameters comprise the length of the first connecting rod, the length of the second connecting rod and the length of the bottom cleaning shovel;

Wherein the calculating, according to the structural parameter, the second coordinate data of the starting point and the second coordinate data of the ending point, the motion control parameter corresponding to the ending point includes:

Acquiring a preset target attitude value;

Obtaining third coordinate data of the third joint according to the second coordinate data of the end point, the target attitude value and the length of the bottom cleaning shovel;

According to the third coordinate data, the length of the first connecting rod and the length of the second connecting rod, calculating to obtain the first joint value and the second joint value corresponding to the end point;

acquiring a preset yaw angle of the bottom cleaning shovel;

according to the yaw angle, the first joint value and the second joint value, calculating to obtain the third joint value corresponding to the end point;

and calculating the rotation angle according to the second coordinate position data of the end point.

According to some embodiments of the application, the third coordinate data is calculated by the following formula:

Wherein, AD| is the abscissa absolute value of the third coordinate data, CD| is the ordinate absolute value of the third coordinate data, L ₄ is the length of the bottom shovel, x _g is the abscissa in the second coordinate data of the end point, z _g is the ordinate in the second coordinate data of the end point, And the target attitude value.

According to some embodiments of the application, the first joint value corresponding to the endpoint is calculated by the following formula:

θ₂=α+β;

α=atan²(|CD|,|AD|);

|AD|′=|AD|-x_A;

|CD|′=|CD|-z_A;

Wherein θ ₂ is the first joint value, |ad| is the abscissa absolute value of the third coordinate data, |cd| is the ordinate absolute value of the third coordinate data, L ₂ is the length of the first link, L ₃ is the length of the second link, x _A is the abscissa of the first joint, and z _A is the ordinate of the first joint.

According to some embodiments of the application, the second joint value corresponding to the endpoint is calculated by the following formula:

wherein θ ₃ is the second joint value.

According to some embodiments of the application, the third joint value corresponding to the endpoint is calculated by the following formula:

θ₄＝yaw-θ₂-θ₃;

Wherein θ ₄ is the third joint value, and yaw is the yaw angle.

According to some embodiments of the application, the controlling the mechanical arm based on the plurality of motion control parameters includes:

acquiring a preset control parameter threshold condition;

and if the motion control parameters meet the control parameter threshold conditions, controlling the mechanical arm based on the motion control parameters.

According to some embodiments of the application, the planning the cleaning path of the mechanical arm according to the size data obtains a plurality of first coordinate data with a sequence, including:

acquiring the width of a bottom cleaning shovel of the mechanical arm;

determining initial point coordinate data of the cleaning path;

according to the size data and the bottom cleaning shovel width of the mechanical arm, calculating to obtain a first path number and a second path number of the cleaning path, wherein the first path number is the sub-path number of the cleaning path in a first direction, and the second path number is the sub-path number of the cleaning path in a second direction;

and obtaining a plurality of first coordinate data according to the initial point coordinate data, the first path number and the second path number.

In a second aspect, an embodiment of the present application discloses a computer readable storage medium having stored therein a processor executable program for implementing the above-described method for cleaning the bottom of an electric mining locomotive car when executed by a processor.

In a third aspect, an embodiment of the present application discloses an electronic device, including:

At least one processor;

at least one memory for storing at least one program;

The method of cleaning the bottom of a mining electric locomotive car as described above is implemented when at least one of the programs is executed by at least one of the processors.

In a fourth aspect, an embodiment of the present application discloses a bottom cleaning robot, including an electronic device as described above.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The application is further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a flow chart of an embodiment of a method for cleaning the bottom of a carriage of an ore removal electric locomotive provided by the application;

Fig. 2 is a schematic diagram of positions of a mechanical arm and a carriage in an embodiment of a method for cleaning the bottom of a carriage of an ore-unloading electric locomotive provided by the application;

FIG. 3 is a schematic diagram of motion control parameters in an embodiment of a method for cleaning the bottom of a carriage of an electric mining locomotive provided by the application;

Fig. 4 is a schematic diagram of a target attitude value in an embodiment of a method for cleaning the bottom of a carriage of an ore-unloading electric locomotive provided by the application;

FIG. 5 is a schematic diagram of a rotation angle in an embodiment of a method for cleaning the bottom of a carriage of an electric mining locomotive provided by the application;

FIG. 6 is a schematic diagram of a bottom cleaning path in an embodiment of a method for cleaning a bottom of a carriage of an electric mining locomotive provided by the application;

Fig. 7 is a schematic diagram of an embodiment of a bottom-cleaning robot provided by the present application;

Fig. 8 is a schematic diagram of an embodiment of an electronic device provided by the present application.

Reference numerals:

base 100, rotary reducer 110, first connecting rod 120, second connecting rod 130, bottom cleaning shovel 140, amplitude changing cylinder 150, pitching cylinder 160, bottom cleaning cylinder 170, hydraulic station 180, operating platform 190,

Carriage 200,

An electronic device 300, a processor 310, a memory 320.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.

In the description of the present application, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present application and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the description of the present application, plural means two or more. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

The application provides a method for cleaning the bottom of a carriage of an ore discharging electric locomotive, electronic equipment and a bottom cleaning robot according to the embodiment of the application, which are described below with reference to fig. 1 to 8.

The embodiment of the application provides a bottom cleaning method for a carriage of an ore discharging electric locomotive, which is applied to electronic equipment, wherein the electronic equipment is arranged on a bottom cleaning robot comprising a mechanical arm, as shown in fig. 1, and the method comprises the following steps:

step S100, acquiring size data and inclination angle data of the carriage 200;

Step 200, a coordinate system is established by taking a base 100 of the mechanical arm as an origin;

step 300, planning a cleaning path of the mechanical arm according to the size data based on a coordinate system to obtain a plurality of first coordinate data with a sequence, wherein the plurality of first coordinate data correspond to a plurality of path nodes of the cleaning path;

step 400, obtaining a plurality of second coordinate data according to the inclination angle data and the plurality of first coordinate data;

S500, obtaining structural parameters of the mechanical arm;

step 600, calculating a plurality of motion control parameters of the mechanical arm according to the second coordinate data and the structural parameters, wherein the motion control parameters correspond to the path nodes;

Step S700, controlling the mechanical arm based on the plurality of motion control parameters, so that the mechanical arm performs a bottom cleaning operation on the carriage 200 along the cleaning path.

In the embodiment of the application, a cleaning path of a mechanical arm is planned according to the size data by acquiring the size data and the inclination angle data of the carriage 200, a plurality of first coordinate data with sequence are obtained, the plurality of first coordinate data correspond to a plurality of path nodes of the cleaning path, a plurality of second coordinate data are obtained according to the inclination angle data and the plurality of first coordinate data, the structural parameters of the mechanical arm are acquired, a plurality of motion control parameters of the mechanical arm are obtained through calculation according to the plurality of second coordinate data and the structural parameters, the plurality of motion control parameters correspond to the plurality of path nodes, and the mechanical arm is controlled based on the plurality of motion control parameters, so that the mechanical arm performs the bottom cleaning operation on the carriage 200 along the cleaning path, thereby saving labor and improving the detection efficiency.

In the above step S100, the size data of the vehicle compartment 200 includes the length and width of the bottom of the case, and the inclination angle data of the vehicle compartment 200 includes the angle data of the vehicle compartment 200 with the horizontal plane at the time of the bottom cleaning operation. The size data of the carriage 200 is acquired so as to obtain the range of the bottom cleaning operation of the mechanical arm, thereby performing the path planning of the bottom cleaning operation.

In the step S300, the operation range of the mechanical arm can be determined according to the size data based on the coordinate system, so as to plan the cleaning path of the mechanical arm, and obtain a plurality of first coordinate data with a sequence, where the plurality of first coordinate data are coordinates corresponding to a plurality of path nodes of the cleaning path in the coordinate system.

In the above step S400, since the first coordinate data is a plane coordinate and includes only the abscissa and the ordinate on the plane, however, the bottom of the carriage 200 forms an included angle with the horizontal plane when the bottom is cleared, the first coordinate data needs to be converted, that is, the heights of the nodes of each path are calculated according to the inclination angle data and the plurality of first coordinate data, so as to obtain a plurality of second coordinate data, where the second coordinate data includes the abscissa, the ordinate and the ordinate. Specifically, as shown in fig. 2, the height of the highest point of the bottom of the car 200 is calculated according to the inclination angle of the car 200, and then the height of the path node is calculated according to the following formula:

Where H is the height of the path node, H is the height of the highest point of the bottom of the carriage 200, D is the distance from the path node to the carriage 200 side with zero height, and D is the width of the carriage 200.

In the step S600, the path node is the position where the bottom cleaning shovel 140 of the mechanical arm needs to reach, after determining the coordinates of the path node and the structural parameters of the mechanical arm, the motion control parameters of the mechanical arm can be obtained by calculating according to the second coordinate data and the structural parameters, and the bottom cleaning shovel 140 can reach the corresponding path node under the condition that the mechanical arm executes the motion control parameters.

In the above-described step S700, the robot arm is controlled based on the plurality of motion control parameters such that the robot arm performs the bottoming operation on the vehicle compartment 200 along each path node of the cleaning path.

In some embodiments of the present application, the step S600 is further described as "calculating a plurality of motion control parameters of the mechanical arm according to a plurality of second coordinate data and structural parameters" in the step S600, where the step S600 includes:

step S610, sequentially taking a plurality of path nodes as starting points and the next path node of the starting points as an end point, and calculating to obtain motion control parameters corresponding to the end points according to the structural parameters, the second coordinate data of the starting points and the second coordinate data of the end points, thereby obtaining a plurality of motion control parameters.

In the present embodiment, when the start point coordinates and the end point coordinates of the bottom cleaning blade 140 of the robot arm are specified, the corresponding motion control parameters can be calculated from the structural parameters of the robot arm, and the robot arm can be controlled based on the motion control parameters, so that the bottom cleaning blade 140 can be moved from the start point coordinates to the end point coordinates. In other words, after the second coordinate data of the two nodes serving as the start point and the end point are determined, the motion control parameter corresponding to the end point can be calculated from the structural parameter, the second coordinate data of the start point, and the second coordinate data of the end point. Therefore, a plurality of path nodes are sequentially taken as starting points, and the next path node of the starting points is taken as an end point, so that a plurality of motion control parameters can be calculated.

In some embodiments of the present application, the initial position of the robotic arm's bottom cleaning blade 140 may be set to the first path node.

In some embodiments of the present application, as shown in fig. 2, the mechanical arm includes a first joint, a first link 120, a second joint, a second link 130, a third joint, and a bottom cleaning blade 140 connected in sequence, the structural parameters include a length of the first link 120, a length of the second link 130, and a length of the bottom cleaning blade 140;

In step S610, "calculating the motion control parameter corresponding to the end point according to the structural parameter, the second coordinate data of the start point, and the second coordinate data of the end point", includes:

Step S611, obtaining a preset target attitude value;

step S612, obtaining third coordinate data of a third joint according to the second coordinate data of the end point, the target attitude value and the length of the bottom cleaning shovel 140;

step S613, calculating a first joint value and a second joint value corresponding to the end point according to the third coordinate data, the length of the first connecting rod 120 and the length of the second connecting rod 130;

step S614, acquiring a yaw angle of the preset bottom shovel 140;

step S615, calculating a third joint value corresponding to the end point according to the yaw angle, the first joint value and the second joint value;

Step S616, calculating the rotation angle according to the second coordinate position data of the end point.

In this embodiment, the target attitude value is a preset angle value between the bottom cleaning shovel 140 and the horizontal plane, and the third coordinate data of the third joint can be calculated according to the target attitude value, the second coordinate data of the end point and the length of the bottom cleaning shovel 140, that is, the position of the third joint is determined. And then calculating a first joint value and a second joint value according to the third coordinate data and the lengths of the first connecting rod 120 and the second connecting rod 130. The yaw angle of the robot arm toward which the bottom cleaning blade 140 is oriented is generally maintained perpendicular to the bottom cleaning work plane, and when the yaw angle, the first joint value, and the second joint value are determined, a third joint value corresponding to the end point is calculated from the yaw angle, the first joint value, and the second joint value.

In some embodiments of the present application, as shown in fig. 3 to 4, the third coordinate data is calculated by the following formula:

Wherein, AD| is the abscissa absolute value of the third coordinate data, CD| is the ordinate absolute value of the third coordinate data, L ₄ is the length of the bottom shovel 140, x _g is the abscissa in the second coordinate data of the end point, z _g is the vertical coordinate in the second coordinate data of the end point, The target attitude value is shown in fig. 4 as a preset target attitude value.

In some embodiments of the present application, as shown in fig. 3, the first joint value corresponding to the endpoint is calculated by the following formula:

θ₂=α+β;

α=atan²(|CD|,|AD|);

|AD|′=|AD|-x_A;

|CD|′=|CD|-z_A;

wherein θ ₂ is a first joint value, |ad| is an abscissa absolute value of the third coordinate data, |cd| is an ordinate absolute value of the third coordinate data, L ₂ is a length of the first link 120, L ₃ is a length of the second link 130, x _A is an abscissa of the first joint, and z _A is an ordinate of the first joint.

In some embodiments of the present application, as shown in fig. 3, the second joint value corresponding to the endpoint is calculated by the following formula:

Wherein θ ₃ is the second joint value.

In some embodiments of the application, the third joint value corresponding to the endpoint is calculated by the following formula:

θ₄＝yaw-θ₂-θ₃;

wherein θ ₄ is a third joint value, and yaw is a yaw angle.

In some embodiments of the present application, as shown in fig. 5, the rotation angle is calculated by the following formula:

Wherein θ ₁ is a rotation angle, x1 is an abscissa in the second coordinate data, and y1 is an ordinate in the second coordinate data.

In some embodiments of the present application, the "controlling the mechanical arm based on the plurality of motion control parameters" in step S700 is further described, and step S700 includes:

Step S710, acquiring preset control parameter threshold conditions;

step S720, if the plurality of motion control parameters meet the control parameter threshold conditions, controlling the mechanical arm based on the plurality of motion control parameters.

In the present embodiment, since the movement ranges of the first joint, the second joint, and the third joint are limited by the maximum extension amounts of the corresponding cylinders, the first joint value, the second joint value, and the third joint value have the control parameter threshold condition, and when it is determined that the plurality of motion control parameters meet the control parameter threshold condition, the robot arm is controlled based on the plurality of motion control parameters.

The control parameter threshold condition comprises three maximum limiting angles corresponding to the first joint value, the second joint value and the third joint value respectively. Taking the calculation of the maximum limiting angle of the second joint as an example, the pitch cylinder 160, the first link 120 and the second link 130 form a closed triangle, and the maximum limiting angle is calculated by the following formula:

where μ is the maximum limiting angle of the second joint, a is the length of the first link 120, b is the length of the second link 130, and c is the length when the pitch cylinder 160 is extended by the maximum amount.

In some embodiments of the present application, the "planning a cleaning path of a robotic arm according to size data to obtain a plurality of first coordinate data with a sequence" in step S300 is further described, where step S300 includes:

step S310, acquiring the width of the bottom cleaning shovel 140 of the mechanical arm;

step S320, determining initial point coordinate data of the cleaning path;

Step S330, according to the size data and the width of the bottom cleaning shovel 140 of the mechanical arm, calculating to obtain the first path number and the second path number of the cleaning path, wherein the first path number is the sub-path number of the cleaning path in the first direction, and the second path number is the sub-path number of the cleaning path in the second direction;

Step S340, obtaining a plurality of first coordinate data according to the initial point coordinate data, the first path number and the second path number.

In this embodiment, the width of the bottom cleaning blade 140 can determine the cleaning area when the bottom cleaning blade 140 moves, so after determining the initial point coordinate data of the cleaning path, that is, determining the first path node of the bottom cleaning path, the number of sub-paths of the cleaning path in the transverse direction and the number of sub-paths in the longitudinal direction can be calculated according to the length and the width of the bottom of the cabin 200 and the width of the bottom cleaning blade 140, and the first coordinate data of each path node can be calculated based on the initial point coordinate data.

In some embodiments of the present application, as shown in fig. 6, the first path number is calculated by the following formula:

c=l/d;

where c is the first number of paths, l is the length of the cleaning area, and d is the width of the bottom cleaning blade 140.

In some embodiments of the present application, the sum of the first and second path numbers is calculated by the following formula:

wherein c' is the sum of the first path number and the second path number.

The embodiment of the application provides a bottom cleaning robot, as shown in fig. 7, comprising:

a base 100;

a swing speed reducer 110, the swing speed reducer 110 being fixed to the base 100;

a first link 120, a first end of the first link 120 being hinged to the swing speed reducer 110;

a second link 130, a first end of the second link 130 being hinged to a second end of the first link 120;

the bottom cleaning shovel 140, wherein a first end of the bottom cleaning shovel 140 is hinged with a second end of the second connecting rod 130;

the first end of the luffing cylinder 150 is hinged with the rotary speed reducer 110, the second end of the luffing cylinder 150 is hinged with the second end of the first connecting rod 120, and the luffing cylinder 150 is used for driving the first connecting rod 120 to execute luffing motion;

the first end of the pitching oil cylinder 160 is hinged with the first end of the first connecting rod 120, the second end of the pitching oil cylinder 160 is hinged with the first end of the second connecting rod 130, and the pitching oil cylinder 160 is used for driving the second connecting rod 130 to execute pitching action;

the bottom cleaning oil cylinder 170, wherein a first end of the bottom cleaning oil cylinder 170 is hinged with the second connecting rod 130, a second end of the bottom cleaning oil cylinder 170 is hinged with a first end of the bottom cleaning shovel 140, and the bottom cleaning oil cylinder 170 is used for driving the bottom cleaning shovel 140 to execute bottom cleaning action;

a hydraulic station 180, the hydraulic station 180 being for providing hydraulic power;

and an operation table 190, wherein the operation table 190 is used for controlling the bottom cleaning operation.

In this embodiment, the rotation angle is adjusted by controlling the rotation speed reducer 110, the first joint value is adjusted by controlling the amount of expansion of the second end of the luffing cylinder 150, the second joint value is adjusted by controlling the amount of expansion of the second end of the pitching cylinder 160, and the third joint value is adjusted by controlling the amount of expansion of the bottom cleaning cylinder 170. The bottom cleaning operation is completed by controlling the path node movement of the bottom cleaning shovel 140 along the bottom cleaning path through the cooperation of the amplitude cylinder 150, the pitching cylinder 160 and the bottom cleaning cylinder 170.

In some embodiments of the present application, the adjustment of the rotation angle is accomplished by controlling the rotation time and the angular velocity of the rotation speed reducer 110, for example, the rotation angle adjustment is accomplished within a set rotation time, and then the angular velocity of the rotation speed reducer 110 is calculated by the following formula:

wherein V ₁ is angular velocity, θ ₁,θ₁' is a rotation angle corresponding to two path nodes, and t is rotation time.

In some embodiments of the present application, the first, second, and third joint values are adjusted by adjusting the amount of telescoping of the luffing cylinder 150, the pitch cylinder 160, and the sole cleaner cylinder 170, manservant. Taking the second joint value as an example:

according to the second joint values corresponding to the starting point and the end point, the length corresponding to the pitching oil cylinder 160 is solved based on the cosine theorem, so that the variable quantity of the stretching of the pitching oil cylinder 160 is obtained, and the movement speed of the pitching oil cylinder 160 is calculated based on the variable quantity and the preset stretching time. The pitch cylinder 160 is controlled according to the expansion time and the movement speed, so that the joint value of the second joint is adjusted to the second joint value corresponding to the end point.

The length corresponding to pitch ram 160 is calculated by the following formula:

Where l _n is the length of the pitch cylinder 160, a is the length of the first link 120, b is the length of the second link 130, θ _n is the second joint value corresponding to the path node, and ε _n is the angle of the second joint in the initial pose.

The movement speed of the pitch cylinder 160 is calculated by the following formula:

Wherein V _n is the movement speed, l _n ^′ is the length of the pitch cylinder 160 corresponding to the end point, l _n is the length of the pitch cylinder 160 corresponding to the start point, and t is the preset expansion time.

And the obtained movement speed is brought into a flow and speed curve to obtain the corresponding flow of the valve, so that the movement of the mechanical arm is controlled, under the limiting conditions of meeting the joint limit, the inertia characteristic, the reachable space range and the like of the mechanical arm, a trapezoidal speed method is used in the whole flow and speed curve, the movement is accelerated from a static state to a maximum speed (namely, the maximum flow), a constant speed stage is kept when the movement starts, and the movement enters a deceleration stage to reach a minimum speed (namely, the minimum movement flow) when the movement approaches to a target point.

In addition, an embodiment of the present application provides an electronic device 300, as shown in fig. 8, including:

at least one processor 310;

at least one memory 320 for storing at least one program;

the above-described method of cleaning the bottom of an electric mining vehicle compartment is implemented when at least one program is executed by at least one processor 310.

In addition, the embodiment of the application provides a computer readable storage medium, wherein a program executable by a processor is stored, and the program executable by the processor is used for realizing the bottom cleaning method of the ore discharging electric locomotive carriage.

Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of data such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired data and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any data delivery media.

The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.

Claims

1. A method for cleaning the bottom of a ore-unloading electric locomotive compartment, characterized in that it is applied to an electronic device, the electronic device is arranged on a bottom-cleaning robot including a mechanical arm, and the method comprises:

Acquiring dimension data and tilt angle data of the carriage;

Establishing a coordinate system with the base of the robotic arm as the origin;

Based on the coordinate system, a cleaning path of the robot arm is planned according to the size data to obtain a plurality of first coordinate data in a sequence, wherein the plurality of first coordinate data correspond to a plurality of path nodes of the cleaning path;

Obtaining a plurality of second coordinate data according to the tilt angle data and a plurality of the first coordinate data;

Obtaining structural parameters of the robotic arm;

According to the plurality of the second coordinate data and the structural parameters, a plurality of motion control parameters of the robot arm are calculated, and the plurality of the motion control parameters correspond to the plurality of the path nodes;

The robot arm is controlled based on the plurality of motion control parameters so that the robot arm performs a bottom cleaning operation on the carriage along the cleaning path.

2. The method for clearing the bottom of a carriage of an electric locomotive for unloading ore according to claim 1, characterized in that the plurality of motion control parameters of the mechanical arm are calculated based on the plurality of the second coordinate data and the structural parameters, including:

Taking the multiple path nodes as starting points and the next path node of the starting point as the end point in sequence, the motion control parameters corresponding to the end point are calculated according to the structural parameters, the second coordinate data of the starting point and the second coordinate data of the end point, thereby obtaining the multiple motion control parameters.

3. The method for cleaning the bottom of a mine unloading electric locomotive carriage according to claim 2 is characterized in that the mechanical arm comprises a first joint, a first connecting rod, a second joint, a second connecting rod, a third joint and a bottom cleaning shovel connected in sequence; the structural parameters include the length of the first connecting rod, the length of the second connecting rod and the length of the bottom cleaning shovel; the motion control parameters include the rotation angle of the mechanical arm, the first joint value, the second joint value and the third joint value;

The step of calculating the motion control parameter corresponding to the end point according to the structural parameter, the second coordinate data of the starting point, and the second coordinate data of the end point includes:

Get the preset target posture value;

Obtaining third coordinate data of the third joint according to the second coordinate data of the end point, the target posture value and the length of the bottom cleaning shovel;

Calculating the first joint value and the second joint value corresponding to the end point according to the third coordinate data, the length of the first connecting rod, and the length of the second connecting rod;

Obtaining a preset yaw angle of the bottom cleaning shovel;

Calculating the third joint value corresponding to the end point according to the yaw angle, the first joint value and the second joint value;

The rotation angle is calculated based on the second coordinate position data of the end point.

4. The method for clearing the bottom of a ore-unloading electric locomotive compartment according to claim 3, characterized in that the third coordinate data is calculated by the following formula:

Wherein, |AD| is the absolute value of the abscissa of the third coordinate data, |CD| is the absolute value of the ordinate of the third coordinate data, _L4 is the length of the bottom cleaning shovel, _xg is the abscissa of the second coordinate data of the end point, _zg is the ordinate of the second coordinate data of the end point, is the target posture value.

5. The method for clearing the bottom of a ore-unloading electric locomotive compartment according to claim 3, characterized in that the first joint value corresponding to the end point is calculated by the following formula:

θ ₂ = α + β;

α＝atan ² (|CD|,|AD|);

|AD|′＝|AD|-x _A ;

|CD|′＝|CD|-z _A ;

Among them, _θ2 is the first joint value, |AD| is the absolute value of the horizontal coordinate of the third coordinate data, |CD| is the absolute value of the vertical coordinate of the third coordinate data, _L2 is the length of the first connecting rod, _L3 is the length of the second connecting rod, _xA is the horizontal coordinate of the first joint, _{and zA} is the vertical coordinate of the first joint.

6. The method for clearing the bottom of a ore-unloading electric locomotive carriage according to claim 5, characterized in that the second joint value corresponding to the end point is calculated by the following formula:

Among them, θ ₃ is the second joint value.

7. The method for clearing the bottom of a ore-unloading electric locomotive carriage according to claim 6, wherein the third joint value corresponding to the end point is calculated by the following formula:

θ ₄ =yaw - θ ₂ - θ ₃ ;

Among them, _θ4 is the third joint value, and yaw is the yaw angle.

8. The method for cleaning the bottom of a ore-unloading electric locomotive carriage according to claim 1, characterized in that the cleaning path of the mechanical arm is planned according to the size data to obtain a plurality of first coordinate data in a sequential order, including:

Obtaining the bottom cleaning shovel width of the robotic arm;

Determining the initial point coordinate data of the cleaning path;

According to the size data and the bottom cleaning shovel width of the robot arm, a first path number and a second path number of the cleaning path are calculated, wherein the first path number is the number of sub-paths of the cleaning path in the first direction, and the second path number is the number of sub-paths of the cleaning path in the second direction;

A plurality of first coordinate data are obtained according to the initial point coordinate data, the number of the first paths and the number of the second paths.

9. An electronic device, comprising:

at least one processor;

at least one memory for storing at least one program;

When at least one of the programs is executed by at least one of the processors, the method for clearing the bottom of a carriage of an electric locomotive for unloading ore as described in any one of claims 1 to 7 is implemented.

10. A bottom cleaning robot, comprising the electronic device according to claim 9.