CN112323755A - Control method of grab arm type trash cleaning robot - Google Patents
Control method of grab arm type trash cleaning robot Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 63
- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 41
- 239000010865 sewage Substances 0.000 claims abstract description 49
- 230000008569 process Effects 0.000 claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 11
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- 238000004458 analytical method Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000005202 decontamination Methods 0.000 claims description 8
- 230000003588 decontaminative effect Effects 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 claims description 5
- 238000004088 simulation Methods 0.000 claims description 5
- 239000010727 cylinder oil Substances 0.000 claims description 4
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- 210000000245 forearm Anatomy 0.000 description 25
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
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- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
- E02F3/4133—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device grabs carried out as loaders or mounted on a tractor
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Abstract
The invention discloses a control method of a grab arm type trash cleaning robot, aiming at the current situation that a trash cleaning machine in a water conservancy facility has poor trash cleaning effect, the trash cleaning robot is designed to realize trash cleaning of a trash rack and a river channel, a three-degree-of-freedom series structure of the trash cleaning robot is analyzed by a geometric method, and the nonlinear relation between each joint hydraulic cylinder and a tail end position is solved; according to the characteristic that the path is repeated in the sewage disposal process, a position controller is designed, speed feedforward control is added on the basis of position feedback control, and experiments verify that each hydraulic cylinder is high in response speed and high in position precision; the sewage disposal robot mainly comprises a rail moving vehicle, a grabbing arm, a hydraulic servo pump station and an intelligent control system; the grab arm is used as a main executing mechanism for the sewage disposal action, is fixedly arranged on the rail moving vehicle, and is dragged to rotate by the hydraulic cylinder, so that the grab bucket moves in the horizontal and vertical directions, and the ascending and descending actions of the sewage disposal are completed.
Description
Technical Field
The invention relates to a trash removal robot, in particular to a control method of a grab arm type trash removal robot, and belongs to the technical field of method research.
Background
In order to ensure the normal opening and closing of the water retaining gate or the safe operation of the hydroelectric power generation equipment in the hydraulic facilities, sundries in front of the water retaining gate, the water retaining dam and the water inlet of the hydroelectric power generation equipment need to be intercepted and cleaned. Most of the existing sewage disposal equipment are rotary type, scraper bucket type and hydraulic grab bucket type sewage disposal machines, wherein the rotary type and scraper bucket type sewage disposal machines have poor sewage disposal effect and poor cleaning capability. The hydraulic grab bucket type trash remover adopts the hydraulic grab bucket to clean the trash in front of the trash rack, but because the grab bucket is pulled by a steel wire rope, the trash is completely grabbed by pressing down the grab bucket under the dead weight during trash cleaning, and the trash cleaning effect is still unsatisfactory.
In patent CN108301456A, a water bottom cleaning robot and a method for using the same are disclosed, the robot comprising: locate the running gear that the bottom is used for bearing and transporting, the running gear connection sets up in the inside control system of robot, control system is connected with wireless receiving device, the inside filter chamber that is of robot, the soil pick-up mouth of bottom before the robot is located in the connection of filter chamber upper reaches, set up the cassette in the filter chamber, cover and be equipped with transparent dirty sediment manual cleaning window in the filter chamber top corresponding to the cassette top position, it is equipped with from the suction water pump to connect in cassette low reaches, the negative pressure formula delivery port on upper portion behind the robot is located to the exit linkage of from the suction water pump, the afterbody is equipped with connection control system's video monitoring camera lens behind the robot. But has the following defects: poor dirt cleaning effect and weak cleaning capability.
In order to solve the above technical problems, the present invention provides the following technical solutions.
Disclosure of Invention
The invention aims to provide a control method of a grab arm type trash cleaning robot, aiming at the current situation that a trash cleaning machine in a water conservancy facility has a poor trash cleaning effect, the trash cleaning robot is designed to realize trash cleaning of a trash rack and a river channel, a three-degree-of-freedom series structure of the trash cleaning robot is analyzed by a geometric method, and the nonlinear relation between each joint hydraulic cylinder and a tail end position is solved; according to the characteristic that the path is repeated in the sewage disposal process, a position controller is designed, speed feedforward control is added on the basis of position feedback control, and experiments verify that each hydraulic cylinder is high in response speed and high in position precision; the cleaning robot mainly comprises a track moving vehicle, moving wheels, a large arm hydraulic cylinder, a small arm hydraulic cylinder, a large arm connecting rod, a grab bucket hydraulic cylinder, a small arm connecting rod, a grab bucket, comb teeth and a mud bucket vehicle; the grab bucket and the comb teeth are used as main executing mechanisms for cleaning actions and are movably arranged on the small arm connecting rod, the large arm connecting rod, the small arm connecting rod and the grab bucket are hinged between two adjacent joints, and the large arm hydraulic cylinder, the small arm hydraulic cylinder and the grab bucket hydraulic cylinder are used for traction and rotating to realize the movement of the grab bucket in the horizontal and vertical directions, so that the ascending and descending actions of cleaning are completed; according to the characteristic that the path of the cleaning process of the cleaning robot is repeated, the movement of the mechanical arm is controlled by adopting speed feedforward and position feedback, wherein the speed required by the system is predicted by the speed feedforward control, and the system error is reduced by the position feedback control; the method is verified according to an actual cleaning path, the speed feedforward control can better track the planned track, and the position feedback control can effectively reduce the system error, so that the cleaning robot has the effects of stable and reliable operation in the cleaning process and good cleaning effect.
The technical problem to be solved by the invention is as follows:
(1) how to realize that the comb teeth of the grab bucket can move stably and insert into the trash rack without collision to clean dirt;
(2) how to overcome the problem of system errors caused by the repeated paths in the sewage disposal process of the sewage disposal robot;
(3) how to simulate and calculate the forward-looking movement trend of the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder;
(4) and how to analyze to obtain the motion path plan and how to obtain the reference positions of the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder by referring to the motion path plan.
The purpose of the invention can be realized by the following technical scheme:
a control method of a grab arm type trash cleaning robot comprises the following specific control steps:
the method comprises the following steps: setting the initial position of the sewage disposal robot as P1, the upper end point of the trash rack as P2 and the river surface as P3;
step two: dividing a motion path from P1 to P3 into 5 stages according to a grabbing arm space trajectory planning technology, namely a P1-A acceleration stage, a first straight line constant speed stage of A-B, a track transition stage between B-C straight lines, a C-D second straight line constant speed stage and a D-P3 deceleration stage;
step three: obtaining a motion path plan according to the kinematics analysis, and obtaining reference positions of the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder by referring to the motion path plan;
step five: the reference movement speed can be obtained by calculating the reference position changes of the large arm hydraulic cylinder, the small arm hydraulic cylinder and the grab bucket hydraulic cylinder through difference;
step six: multiplying the reference motion speed by a speed gain value (Kv) to calculate the input of speed feedforward control;
step seven: the speed feedforward control carries out simulation calculation to obtain the forward-looking movement trend of the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder, and controls the servo proportional valve to control the pressure of the hydraulic cylinder oil pressure;
step eight: encoders arranged on the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder are used for acquiring the real-time positions of the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder;
step nine: multiplying the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder by a position gain value (Kp), calculating to obtain an output of position feedback control, comparing the output of the position feedback control with reference positions of the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder, and further revising the positions of the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder in real time.
Preferably, the kinematic analysis in the step one is as follows:
s1: establishing coordinates, wherein AE is a large arm connecting rod, BD is a large arm hydraulic cylinder, EQ is a small arm connecting rod, FG is a small arm hydraulic cylinder, NR is a grab bucket hydraulic cylinder, RS is comb teeth, QRS is a grab bucket, the distance between Q and RS is a fixed value h, in the process of cleaning the sewage by the robot, the distance between the Q position and the sewage barrier is a fixed value h, and meanwhile, the posture of RS is adjusted to be parallel to the sewage barrier;
s2: according to the parameter size of the decontamination robot, the position and the posture of the RS in the motion space are solved;
s3: solving the Q position and the large arm joint angle theta according to the plane geometric relation1Angle theta of the forearm joint2The functional relationship with the Q position (y, z) is as follows:
y＝lAEcosθ1+lEQcos(θ1+θ2)
z＝lAEsinθ1+lEQsin(θ1+θ2)
in the formula IAELength of the connecting rod of the big arm lEQThe length of the small arm connecting rod;
s4: solving the attitude of RS, the angles in the plane are directly added, so the angle theta of the large arm joint1Angle theta of the forearm joint2Angle theta of grab bucket joint3Angle theta of comb teeth4The sum is the azimuth angle of RS
In the formula, theta4Is the angle of the comb teeth with respect to the grab bucket, and theta4Is a constant value;
s5: obtaining the functional relation between the angle of the large arm joint, the angle of the small arm joint, the angle of the grab bucket joint and the angle of the comb teeth, wherein the stroke of the corresponding hydraulic cylinder is measured by each encoder, and the nonlinear relation is needed to be solved between the angle of each rotary joint and the stroke of the corresponding driving hydraulic cylinder;
according to the cosine theorem, the stroke l of the large-arm hydraulic cylinderBDConverting into angle DAB:
in the formula IAD、lABThe distance between two end points of the large-arm hydraulic cylinder and the original point A is lBDForming a triangle;
s6: big arm joint angle theta1Relation with angle ≈ DAB:
θ1＝∠DAB+∠CAB-π/2-∠DAE
in the formula, the angle CAB and the angle DAE are joint angles of two end points of the large-arm hydraulic cylinder;
s7: in the same way, the angle theta of the forearm joint can be obtained2And the stroke l of the small arm hydraulic cylinderFGThe relationship of (1):
θ2＝π-∠GEF-∠GEA-∠FEQ
in the formula IEG、lEFThe distance between two end points of the small arm hydraulic cylinder and the original point E is lFGForming a triangle; the angle GEA and the angle FEQ are joint angles of two end points of the small arm hydraulic cylinder;
forearm joint angle theta3Relationship to the boom cylinder stroke:
θ3＝∠NQE+∠NQR-π
in the formula IQN、lQRThe distance between two end points of the grab bucket hydraulic cylinder and the original point Q is lNRThe angle NQE is the joint angle of one end point of the grab bucket hydraulic cylinder.
Preferably, the cleaning robot in the step S2 includes a rail moving vehicle, moving wheels, a large arm hydraulic cylinder, a small arm hydraulic cylinder, a large arm connecting rod, a grab bucket hydraulic cylinder, a small arm connecting rod, a grab bucket, comb teeth and a mud bucket vehicle; the rail vehicle is placed on the water blocking dam, rail vehicle internally mounted has the removal wheel, rail vehicle internally mounted has big arm connecting rod, big arm connecting rod one end swing joint has the forearm connecting rod, forearm connecting rod one end is connected with the grab bucket, grab bucket internally mounted has the broach, rail vehicle internally mounted has big arm pneumatic cylinder, rail vehicle and big arm connecting rod are being connected to big arm pneumatic cylinder, big arm connecting rod surface mounting has the forearm pneumatic cylinder, big arm connecting rod and forearm connecting rod are being connected to the forearm pneumatic cylinder, forearm connecting rod surface mounting has the grab bucket pneumatic cylinder, forearm connecting rod and grab bucket are being connected to the grab bucket pneumatic cylinder, the mud bucket vehicle has been placed to rail vehicle downside.
Preferably, the large arm hydraulic cylinder, the small arm hydraulic cylinder and the grab bucket hydraulic cylinder are internally provided with encoders and servo proportional control valves.
Preferably, the large arm hydraulic cylinder, the small arm hydraulic cylinder and the grab bucket hydraulic cylinder are controlled by a hydraulic servo proportional valve, and the flow direction of the hydraulic pressure of the large arm hydraulic cylinder, the small arm hydraulic cylinder and the grab bucket are controlled by opening and closing the hydraulic servo proportional valve, so that the expansion length and the direction of the hydraulic pressure of the large arm hydraulic cylinder, the small arm hydraulic cylinder and the grab bucket are controlled.
Preferably, the trash cleaning robot is a planar three-degree-of-freedom series robot, a large arm connecting rod and a small arm connecting rod of the robot are mainly used for moving positions, and the grab bucket is used for adjusting postures.
Preferably, the specific decontamination steps of the decontamination robot are as follows:
the method comprises the following steps: starting the sewage disposal robot, conveying the sewage disposal robot to a sewage disposal position through a moving wheel in the rail moving vehicle, wherein the motion plane of the mechanical arm is vertical to the plane of the sewage barrier;
step two: the large arm connecting rod is driven to rotate relative to the rail moving vehicle, the small arm hydraulic cylinder is mounted on the large arm connecting rod and is driven to rotate relative to the large arm connecting rod, the grab bucket hydraulic cylinder is mounted on the small arm connecting rod and is driven to rotate relative to the small arm connecting rod, and therefore the grab bucket runs downwards along the trash rack;
step three: after the grab bucket runs to the bottom, the grab bucket is closed to grab dirt, and the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder are driven to enable the grab bucket to run upwards along the trash rack and return to the initial position;
step four: the grab bucket is driven, so that the dirt in the grab bucket falls into the mud bucket truck.
Preferably, in order to thoroughly clean up the garbage and dirt adhered to and wound on the grid bars, the rear claw teeth of the grab bucket of the trash remover are required to be inserted into the grid bars of the trash rack for a certain depth, and meanwhile, the claw teeth cannot be scraped with the trash rack and move along the set track from top to bottom of the grid bars. According to the actual sewage disposal path of the sewage disposal robot, a track planning model is constructed, in the process of sewage disposal, the sewage disposal robot moves downwards from the starting position P1 to the upper end point P2 of the sewage barrier, then moves downwards along the sewage barrier, the claw teeth of the grab bucket at the tail end of the sewage disposal robot are always overlapped with the sewage barrier, and finally reaches the river surface P3 to grab the sewage. The motion path is composed of two straight line segments of P1-P2 and P2-P3, so that points on the straight line segments need to be interpolated in an operation space, and the motion trail of the cleaning robot is planned. According to the motion requirement of the cleaning robot, the motion track is smooth, continuous and has no pause in the cleaning process, so that the motion path from P1 to P3 is divided into 5 stages according to the figure. A P1-A acceleration stage, an A-B first straight line uniform speed stage, a B-C straight line inter-segment track transition stage, a C-D second straight line uniform speed stage and a D-P3 deceleration stage. In order to smooth start and stop of acceleration and deceleration, a track planning method of sine acceleration and deceleration is adopted in an acceleration section and a deceleration section. For continuous and non-pause motion track, a 5-degree polynomial is adopted to carry out transition of two linear tracks, wherein the transition starting point is B, the speed is v1, the transition ending point is C, and the speed is v 2.
Here, the data of the positions and azimuth angles of the P1, P2, and P3 points are obtained by practical teaching. The constant speed V1 and V2 and the maximum acceleration a are given and set on the touch screen, the control system plans the tail end motion trail, the motion trail of each hydraulic cylinder is obtained through inverse kinematics calculation, the motion trail and the speed of the grab bucket are planned respectively, so that the position and the speed curve of each joint are continuous without sudden change, and the transition between path points is smooth.
Compared with the prior art, the invention has the beneficial effects that:
1. obtaining a motion path plan according to the kinematics analysis, and obtaining reference positions of the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder by referring to the motion path plan; the reference movement speed can be obtained by calculating the reference position changes of the large arm hydraulic cylinder, the small arm hydraulic cylinder and the grab bucket hydraulic cylinder through difference; taking the reference motion speed as the input of speed feedforward control, and calculating the output of the speed feedforward control by multiplying the reference motion speed by a speed gain value (Kv); the speed feedforward control is used for carrying out simulation calculation to obtain the forward-looking movement trend of the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder, so that the system can respond quickly; the encoders arranged on the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder compare the measured actual position with the reference position, and an error value is calculated; calculating an output of the position feedback control by multiplying the error value as an input of the position feedback by a position gain value (Kp); systematic errors can be eliminated.
2. The cleaning robot mainly comprises a track moving vehicle, moving wheels, a large arm hydraulic cylinder, a small arm hydraulic cylinder, a large arm connecting rod, a grab bucket hydraulic cylinder, a small arm connecting rod, a grab bucket, comb teeth and a mud bucket vehicle; the grab bucket and the comb teeth are used as main executing mechanisms for cleaning actions and are movably mounted on the small arm connecting rod, the large arm connecting rod, the small arm connecting rod and the grab bucket are hinged between two adjacent joints, and the large arm hydraulic cylinder, the small arm hydraulic cylinder and the grab bucket hydraulic cylinder are used for traction to rotate so as to realize the movement of the grab bucket in the horizontal and vertical directions, so that the ascending and descending actions of cleaning are completed, the stable movement of the comb teeth of the grab bucket is realized, and no collision is caused to clean dirt inserted into the trash rack.
3. The motion structure of the trash cleaning robot is divided into a track moving vehicle and a grab arm, the grab arm consists of a large arm hydraulic cylinder, a small arm hydraulic cylinder, a large arm connecting rod, a grab bucket hydraulic cylinder, a small arm connecting rod, a grab bucket and comb teeth, the track moving vehicle is driven by a servo motor and used for conveying the grab arm to a trash cleaning position, the grab arm is driven by the large arm hydraulic cylinder, the small arm hydraulic cylinder and the grab bucket hydraulic cylinder, the large arm hydraulic cylinder is arranged on the track moving vehicle, and the large arm connecting rod is driven to rotate relative to the track moving vehicle; the small arm hydraulic cylinder is arranged on the surface of the large arm connecting rod and drives the small arm connecting rod to rotate relative to the large arm connecting rod; the grab bucket hydraulic cylinder is arranged on the surface of the small arm connecting rod and drives the grab bucket to rotate relative to the small arm connecting rod; hydraulic servo proportional valves are adopted to respectively control the hydraulic cylinders of the three kinematic joints, and the flow direction of the hydraulic cylinders are controlled by opening and closing the hydraulic servo proportional valves, namely the telescopic length and the direction of the hydraulic cylinders are controlled; meanwhile, encoders are arranged inside the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder, and the actual strokes of the large-arm hydraulic cylinder, the small-arm hydraulic cylinder and the grab bucket hydraulic cylinder are measured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a cleaning robot according to the present invention;
FIG. 2 is a test chart of the reference position and the actual position of the large-arm hydraulic cylinder;
FIG. 3 is a test chart of the reference position and the actual position of the small arm hydraulic cylinder;
FIG. 4 is a test chart of the reference position and the actual position of the hydraulic cylinder of the grab bucket;
FIG. 5 is a schematic view of the structure of the cleaning robot in the present invention;
FIG. 6 is a block diagram of the velocity feedforward control of the present invention;
fig. 7 is a motion track of the cleaning robot in the invention.
In the figure: 1. a rail moving vehicle; 2. a moving wheel; 3. a large arm hydraulic cylinder; 4. a small arm hydraulic cylinder; 5. a large arm connecting rod; 6. a grab bucket hydraulic cylinder; 7. a small arm connecting rod; 8. a grab bucket; 9. comb teeth; 10. a hopper car.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, a method for controlling a grab arm type trash cleaning robot includes the following steps:
the method comprises the following steps: setting the initial position of the sewage disposal robot as P1, the upper end point of the trash rack as P2 and the river surface as P3;
step two: dividing a motion path from P1 to P3 into 5 stages according to a grabbing arm space trajectory planning technology, namely a P1-A acceleration stage, a first straight line constant speed stage of A-B, a track transition stage between B-C straight lines, a C-D second straight line constant speed stage and a D-P3 deceleration stage;
step three: obtaining a motion path plan according to the kinematics analysis, and obtaining reference positions of the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 by referring to the motion path plan;
step five: the reference movement speed can be obtained by calculating the reference position changes of the large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 through difference;
step six: multiplying the reference motion speed by a speed gain value Kv to calculate the input of speed feedforward control;
step seven: the speed feedforward control carries out simulation calculation to obtain the forward-looking movement trend of the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6, and controls the servo proportional valve to control the pressure of the hydraulic cylinder oil pressure;
step eight: encoders installed on the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 perform real-time position acquisition of the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6;
step nine: multiplying the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 by the position gain value Kp, calculating to obtain the output of position feedback control, comparing the output of the position feedback control with the reference positions of the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6, and further revising the positions of the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 in real time.
Wherein, the kinematic analysis in the step one comprises the following specific analysis method:
s1: establishing coordinates, wherein AE is a large arm connecting rod, BD is a large arm hydraulic cylinder, EQ is a small arm connecting rod, FG is a small arm hydraulic cylinder, NR is a grab bucket hydraulic cylinder, RS is comb teeth, QRS is a grab bucket, the distance between Q and RS is a fixed value h, in the process of cleaning the sewage by the robot, the distance between the Q position and the sewage barrier is a fixed value h, and meanwhile, the posture of RS is adjusted to be parallel to the sewage barrier;
s2: according to the parameter size of the decontamination robot, the position and the posture of the RS in the motion space are solved;
s3: solving the Q position and the large arm joint angle theta according to the plane geometric relation1Angle theta of the forearm joint2The functional relationship with the Q position y, z is as follows:
y＝lAEcosθ1+lEQcos(θ1+θ2)
z＝lAEsinθ1+lEQsin(θ1+θ2)
in the formula IAELength of the connecting rod of the big arm lEQThe length of the small arm connecting rod;
s4: solving the attitude of RS, the angles in the plane are directly added, so the angle theta of the large arm joint1Angle theta of the forearm joint2Angle theta of grab bucket joint3Angle theta of comb teeth4The sum is the azimuth angle of RS
In the formula, theta4Is the angle of the comb teeth with respect to the grab bucket, and theta4Is a constant value;
s5: obtaining the functional relation between the angle of the large arm joint, the angle of the small arm joint, the angle of the grab bucket joint and the angle of the comb teeth, wherein the stroke of the corresponding hydraulic cylinder is measured by each encoder, and the nonlinear relation is needed to be solved between the angle of each rotary joint and the stroke of the corresponding driving hydraulic cylinder;
according to the cosine theorem, the stroke l of the large-arm hydraulic cylinderBDConverting into angle DAB:
in the formula IAD、lABThe distance between two end points of the large-arm hydraulic cylinder and the original point A is lBDForming a triangle;
s6: big arm joint angle theta1Relation with angle ≈ DAB:
θ1＝∠DAB+∠CAB-π/2-∠DAE
in the formula, the angle CAB and the angle DAE are joint angles of two end points of the large-arm hydraulic cylinder;
s7: in the same way, the angle theta of the forearm joint can be obtained2And the stroke l of the small arm hydraulic cylinderFGThe relationship of (1):
θ2＝π-∠GEF-∠GEA-∠FEQ
in the formula IEG、lEFThe distance between two end points of the small arm hydraulic cylinder and the original point E is lFGForming a triangle; the angle GEA and the angle FEQ are joint angles of two end points of the small arm hydraulic cylinder;
forearm joint angle theta3Relationship to the boom cylinder stroke:
θ3＝∠NQE+∠NQR-π
in the formula IQN、lQRThe distance between two end points of the grab bucket hydraulic cylinder and the original point Q, andlNRthe angle NQE is the joint angle of one end point of the grab bucket hydraulic cylinder.
The S2 trash cleaning robot comprises a rail moving vehicle 1, moving wheels 2, a large arm hydraulic cylinder 3, a small arm hydraulic cylinder 4, a large arm connecting rod 5, a grab bucket hydraulic cylinder 6, a small arm connecting rod 7, a grab bucket 8, comb teeth 9 and a hopper vehicle 10; rail moving vehicle 1 has been placed on the dam, 1 internally mounted of rail moving vehicle has removal wheel 2, 1 internally mounted of rail moving vehicle has big arm connecting rod 5, 5 one end swing joint of big arm connecting rod has forearm connecting rod 7, 7 one end of forearm connecting rod is connected with grab bucket 8, 8 internally mounted of grab bucket has broach 9, 1 internally mounted of rail moving vehicle has big arm pneumatic cylinder 3, rail moving vehicle 1 and big arm connecting rod 5 are being connected to big arm pneumatic cylinder 3, 5 surface mounting of big arm connecting rod has forearm pneumatic cylinder 4, forearm pneumatic cylinder 4 is connecting big arm connecting rod 5 and forearm connecting rod 7, forearm connecting rod 7 surface mounting has grab bucket pneumatic cylinder 6, grab bucket pneumatic cylinder 6 is connecting forearm connecting rod 7 and grab bucket 8, mud bucket vehicle 10 has been placed to 1 downside of rail moving vehicle.
The large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 are internally provided with encoders and servo proportional control valves.
The large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 are controlled by a hydraulic servo proportional valve, the hydraulic flow and the flow direction of the large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket 8 are controlled by opening and closing the hydraulic servo proportional valve, and the hydraulic stretching length and the hydraulic stretching direction of the large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket 8 are further controlled.
The robot is a planar three-degree-of-freedom series robot, a large arm connecting rod 5 and a small arm connecting rod 7 of the robot are mainly used for moving positions, and a grab bucket 8 is used for adjusting postures.
Wherein, the specific decontamination step of the decontamination robot is as follows:
the method comprises the following steps: starting the sewage disposal robot, conveying the sewage disposal robot to a sewage disposal position through a moving wheel 2 in the rail moving vehicle 1, wherein the motion plane of the mechanical arm is vertical to the plane of the sewage barrier;
step two: the large arm connecting rod 5 is driven to rotate relative to the rail moving vehicle 1, the small arm hydraulic cylinder 4 is installed on the large arm connecting rod 5, the small arm connecting rod 7 is driven to rotate relative to the large arm connecting rod 5, the grab bucket hydraulic cylinder 6 is installed on the small arm connecting rod 7, and the grab bucket 8 is driven to rotate relative to the small arm connecting rod 7, so that the grab bucket 8 moves downwards along the trash rack;
step three: after the grab bucket 8 runs to the bottom, the grab bucket is closed to grab dirt, and the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 are driven to enable the grab bucket 8 to run upwards along the trash rack and return to the initial position;
step four: the grab 8 is driven so that the dirt inside the grab 8 falls into the hopper car 10.
The above formulas are all quantitative calculation, the formula is a formula obtained by acquiring a large amount of data and performing software simulation to obtain the latest real situation, and the preset parameters in the formula are set by the technical personnel in the field according to the actual situation.
The working principle of the invention is as follows: setting the initial position of the sewage disposal robot as P1, the upper end point of the trash rack as P2 and the river surface as P3; dividing a motion path from P1 to P3 into 5 stages according to a grabbing arm space trajectory planning technology, namely a P1-A acceleration stage, a first straight line constant speed stage of A-B, a track transition stage between B-C straight lines, a C-D second straight line constant speed stage and a D-P3 deceleration stage; obtaining a motion path plan according to the kinematics analysis, and obtaining reference positions of the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 by referring to the motion path plan; the reference movement speed can be obtained by calculating the reference position changes of the large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 through difference; multiplying the reference motion speed by a speed gain value Kv to calculate the input of speed feedforward control; the speed feedforward control carries out simulation calculation to obtain the forward-looking movement trend of the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6, and controls the servo proportional valve to control the pressure of the hydraulic cylinder oil pressure; encoders installed on the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 perform real-time position acquisition of the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6; multiplying the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 by the position gain value Kp, calculating to obtain the output of position feedback control, comparing the output of the position feedback control with the reference positions of the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6, and further revising the positions of the large-arm hydraulic cylinder 3, the small-arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 in real time.
The trash cleaning robot mainly comprises a track rail moving vehicle 1, moving wheels 2, a large arm hydraulic cylinder 3, a small arm hydraulic cylinder 4, a large arm connecting rod 5, a grab bucket hydraulic cylinder 6, a small arm connecting rod 7, a grab bucket 8, comb teeth 9 and a mud bucket vehicle 10; wherein the grab bucket 8, broach 9 are as the main actuating mechanism of action of decontaminating, movable mounting is on forearm connecting rod 7, big arm connecting rod 5, forearm connecting rod 7, articulated between two adjacent joints of grab bucket 8, draw through big arm pneumatic cylinder 3, forearm pneumatic cylinder 4 and grab bucket pneumatic cylinder 6 and be rotary motion, realize grab bucket 8 at the level, the motion of vertical direction, thereby accomplish the rising of decontaminating, the descending action, and then realize that 8 broaches of grab bucket 9 can the stationary motion, insert in the trash rack of non-collision and carry out the filth clearance.
During test, according to an actual cleaning path, inputting the reference position of each hydraulic cylinder through kinematic calculation, and testing the hydraulic cylinders; according to the work flow, the grab bucket 8 is divided into two motion states of ascending and descending according to the trash cleaning robot, and the large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 respectively perform extension and retraction actions, so that the speed feedforward control effect of the large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket hydraulic cylinder 6 is tested respectively; the set position feedback and velocity feedforward gain values are shown in table 1.
TABLE 1 gain values for three cylinders
| KP-u | KP-d | KV-u | KV-d | |
| Large-arm hydraulic cylinder | 0.0098 | 0.0122 | 0.0039 | 0.0044 |
| Small arm hydraulic cylinder | 0.0098 | 0.0098 | 0.0029 | 0.0044 |
| Grab bucket hydraulic cylinder | 0.0024 | 0.0019 | 0.0008 | 0.0012 |
KP-u represents the position feedback gain of each hydraulic cylinder when the grab bucket 8 moves upwards, KP-d represents the position feedback gain of each hydraulic cylinder when the grab bucket 8 moves downwards, KV-u represents the speed feedforward gain of each hydraulic cylinder when the grab bucket 8 moves upwards, and KV-d represents the speed feedforward gain of each hydraulic cylinder when the grab bucket 8 moves downwards.
Results of the experiment
When the position input is the reference position planned in the cleaning process, the speed feedforward control of the large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket 8 hydraulic cylinder of the cleaning robot is tested, and the results are respectively shown in fig. 2, 3 and 4.
It can be seen from the figure that the actual position curves of the large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket 8 hydraulic cylinder are basically coincident with the reference position curve, the actual movement tracks of the large arm hydraulic cylinder 3, the small arm hydraulic cylinder 4 and the grab bucket 8 hydraulic cylinder can track the planned movement track, the initial state is not delayed, the position in the movement process is not provided with large errors, and the speed feedforward control effect is good. In the process of cleaning the sewage by the cleaning robot, the comb teeth can be inserted into the trash rack and move stably without collision, and the cleaning effect is good.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. A control method of a grab arm type trash cleaning robot is characterized by comprising the following specific control steps:
the method comprises the following steps: setting the initial position of the sewage disposal robot as P1, the upper end point of the trash rack as P2 and the river surface as P3;
step two: dividing a motion path from P1 to P3 into 5 stages according to a grabbing arm space trajectory planning technology, namely a P1-A acceleration stage, a first straight line constant speed stage of A-B, a track transition stage between B-C straight lines, a C-D second straight line constant speed stage and a D-P3 deceleration stage;
step three: obtaining a motion path plan according to the kinematics analysis, and obtaining reference positions of the large-arm hydraulic cylinder (3), the small-arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6) by referring to the motion path plan;
step five: the reference movement speed can be obtained by calculating the reference position changes of the large-arm hydraulic cylinder (3), the small-arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6) through difference;
step six: multiplying the reference motion speed by a speed gain value (Kv) to calculate the input of speed feedforward control;
step seven: the speed feedforward control is used for carrying out simulation calculation to obtain the forward-looking movement trend of the large-arm hydraulic cylinder (3), the small-arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6), and the servo proportional valve is controlled to control the pressure of the hydraulic cylinder oil pressure;
step eight: encoders arranged on the large-arm hydraulic cylinder (3), the small-arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6) are used for acquiring the real-time positions of the large-arm hydraulic cylinder (3), the small-arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6);
step nine: multiplying the positions acquired by the large-arm hydraulic cylinder (3), the small-arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6) in real time by a position gain value (Kp), calculating to obtain the output of position feedback control, comparing the output of the position feedback control with the reference positions of the large-arm hydraulic cylinder (3), the small-arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6), and further revising the positions of the large-arm hydraulic cylinder (3), the small-arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6) in real time.
2. The control method of the grabbing arm type trash cleaning robot as claimed in claim 1, wherein: the grab arm space trajectory planning technology is used for constructing a trajectory planning model according to an actual sewage disposal path of the sewage disposal robot, wherein in the sewage disposal process, the sewage disposal robot moves downwards from a starting position P1 to reach an upper end point P2 of a trash rack, then moves downwards along the trash rack, a grab bucket (8) at the tail end of the sewage disposal robot is always overlapped with the trash rack and finally reaches a river surface P3 to grab sewage; and (3) performing transition of two linear tracks by using a polynomial of degree 5, wherein the polynomial comprises a transition starting point B position, a speed V1, a transition ending point C position and a speed V2.
3. The control method of the grabbing arm type trash cleaning robot as claimed in claim 1, wherein: the cleaning robot in the S2 comprises a rail moving vehicle (1), moving wheels (2), a large arm hydraulic cylinder (3), a small arm hydraulic cylinder (4), a large arm connecting rod (5), a grab bucket hydraulic cylinder (6), a small arm connecting rod (7), a grab bucket (8), comb teeth (9) and a mud bucket vehicle (10); the water blocking dam is provided with the rail moving vehicle (1), the rail moving vehicle (1) is internally provided with moving wheels (2), the rail moving vehicle (1) is internally provided with a large arm connecting rod (5), one end of the large arm connecting rod (5) is movably connected with a small arm connecting rod (7), one end of the small arm connecting rod (7) is connected with a grab bucket (8), comb teeth (9) are arranged in the grab bucket (8), a large arm hydraulic cylinder (3) is arranged in the rail moving vehicle (1), the large arm hydraulic cylinder (3) is connected with the rail moving vehicle (1) and the large arm connecting rod (5), the large arm connecting rod (5) is provided with a small arm hydraulic cylinder (4), the small arm hydraulic cylinder (4) is connected with the large arm connecting rod (5) and the small arm connecting rod (7), the small arm connecting rod (7) is provided with a grab bucket hydraulic cylinder (6), the grab bucket hydraulic cylinder (6) is connected with the small arm connecting rod (7) and the grab bucket (8), a hopper car (10) is placed on the lower side of the rail moving car (1).
4. The control method of the grabbing arm type trash cleaning robot as claimed in claim 3, wherein the control method comprises the following steps: and stroke encoders are arranged in the large-arm hydraulic cylinder (3), the small-arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6).
5. The control method of the grabbing arm type trash cleaning robot as claimed in claim 3, wherein the control method comprises the following steps: the large arm hydraulic cylinder (3), the small arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6) are controlled by a hydraulic servo proportional valve, the hydraulic flow and the flow direction of the large arm hydraulic cylinder (3), the small arm hydraulic cylinder (4) and the grab bucket (8) are controlled by opening and closing the hydraulic servo proportional valve, and the hydraulic telescopic length and direction of the large arm hydraulic cylinder (3), the small arm hydraulic cylinder (4) and the grab bucket (8) are further controlled.
6. The control method of the grabbing arm type trash cleaning robot as claimed in claim 3, wherein the control method comprises the following steps: the specific decontamination steps of the decontamination robot are as follows:
the method comprises the following steps: starting the sewage disposal robot, conveying the sewage disposal robot to a sewage disposal position through a moving wheel (2) in the rail moving vehicle (1), wherein a mechanical arm moving plane is vertical to a plane of the sewage barrier;
step two: the large arm connecting rod (5) is driven to rotate relative to the rail moving vehicle (1), the small arm hydraulic cylinder (4) is installed on the large arm connecting rod (5), the small arm connecting rod (7) is driven to rotate relative to the large arm connecting rod (5), the grab bucket hydraulic cylinder (6) is installed on the small arm connecting rod (7), and the grab bucket (8) is driven to rotate relative to the small arm connecting rod (7) so that the grab bucket (8) moves downwards along the trash rack;
step three: after the grab bucket (8) runs to the bottom, the grab bucket is closed to grab dirt, and the large-arm hydraulic cylinder (3), the small-arm hydraulic cylinder (4) and the grab bucket hydraulic cylinder (6) are driven to enable the grab bucket (8) to run upwards along the trash rack and return to the initial position;
step four: the grab bucket (8) is driven, so that the dirt in the grab bucket (8) falls into the hopper car (10).
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Application publication date: 20210205 Assignee: Anhui Lu'an Hengyuan Machinery Co.,Ltd. Wuhu Branch Assignor: ANHUI LU'AN HENGYUAN MACHINERY CO.,LTD. Contract record no.: X2024980012564 Denomination of invention: A control method for grab arm cleaning robot Granted publication date: 20221108 License type: Common License Record date: 20240827 |
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