Mine unloading electric locomotive carriage bottom cleaning method, electronic equipment and bottom cleaning robot

Abstract

The invention discloses an ore unloading electric locomotive compartment bottom cleaning method, electronic equipment and a bottom cleaning robot. The method comprises the steps that size data and inclination angle data of a compartment are obtained; establishing a coordinate system by taking a base of the mechanical arm as an original point; based on the coordinate system, a cleaning path of the mechanical arm is planned according to the size data, multiple pieces of first coordinate data with a precedence order are obtained, and the multiple pieces of first coordinate data correspond to multiple path nodes of the cleaning path; obtaining a plurality of pieces of second coordinate data according to the inclination angle data and the plurality of pieces of first coordinate data; structural parameters of the mechanical arm are obtained; according to the multiple pieces of second coordinate data and the structure parameters, multiple motion control parameters of the mechanical arm are obtained through calculation, and the multiple motion control parameters correspond to the multiple path nodes; and the mechanical arm is controlled based on the multiple motion control parameters, so that the mechanical arm conducts bottom cleaning operation on the compartment along the cleaning path.

Description

Technical Field

[0001] The present application relates to the technical field of electric locomotives for unloading ore, and in particular to a method for cleaning the bottom of a carriage of an electric locomotive for unloading ore, an electronic device and a bottom cleaning robot. Background Art

[0002] In the mining process, electric locomotives are commonly used to transport ore. Since the ore contains moisture, some slag will stick to the bottom of the mine car, and the slag at the bottom of the locomotive needs to be cleaned. However, the cleaning work currently needs to be done manually, which is inefficient. Summary of the invention

[0003] The present application aims to propose a method for cleaning the bottom of a mine-unloading electric locomotive compartment, electronic equipment and a bottom-cleaning robot, which can improve the cleaning efficiency of the bottom of the compartment.

[0004] The present application provides a method for cleaning the bottom of a ore-unloading electric locomotive compartment, which is applied to an electronic device, wherein the electronic device is provided on a bottom-cleaning robot including a mechanical arm, and the method comprises:

[0005] Acquiring dimension data and tilt angle data of the carriage;

[0006] Establishing a coordinate system with the base of the robotic arm as the origin;

[0007] 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;

[0008] Obtaining a plurality of second coordinate data according to the tilt angle data and a plurality of the first coordinate data;

[0009] Obtaining structural parameters of the robotic arm;

[0010] 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;

[0011] 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.

[0012] In an embodiment of the present application, by acquiring size data and inclination angle data of the car body, a cleaning path of the robotic arm is planned according to the size data, and a plurality of first coordinate data having a sequence are obtained, and 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; structural parameters of the robotic arm are acquired; a plurality of motion control parameters of the robotic arm are calculated according to the plurality of second coordinate data and the structural parameters, and the plurality of motion control parameters correspond to a plurality of path nodes; the robotic arm is controlled based on the plurality of motion control parameters, so that the robotic arm performs a bottom cleaning operation on the car body along the cleaning path, thereby saving manpower and improving detection efficiency.

[0013] According to some embodiments of the present application, the step of calculating a plurality of motion control parameters of the robotic arm according to the plurality of second coordinate data and the structural parameters includes:

[0014] 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.

[0015] According to some embodiments of the present application, the robotic arm includes 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 robotic arm, the first joint value, the second joint value and the third joint value;

[0016] 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:

[0017] Get the preset target posture value;

[0018] 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;

[0019] 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;

[0020] Obtaining a preset yaw angle of the bottom cleaning shovel;

[0021] Calculating the third joint value corresponding to the end point according to the yaw angle, the first joint value and the second joint value;

[0022] The rotation angle is calculated based on the second coordinate position data of the end point.

[0023] According to some embodiments of the present application, the third coordinate data is calculated by the following formula:

[0024]

[0025] 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, L 4 is the length of the bottom cleaning shovel, x g is the horizontal coordinate of the second coordinate data of the end point, z g is the vertical coordinate of the second coordinate data of the end point, is the target posture value.

[0026] According to some embodiments of the present application, the first joint value corresponding to the endpoint is calculated by the following formula:

[0027] θ 2 =α+β;

[0028] α=atan 2 (|CD|,|AD|);

[0029]

[0030]

[0031] |AD|′=|AD|-x A ;

[0032] |CD|′=|CD|-z A ;

[0033] Among them, θ 2 is the first joint value, |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, L 2 is the length of the first connecting rod, L 3 is the length of the second connecting rod, x A is the horizontal coordinate of the first joint, z A is the vertical coordinate of the first joint.

[0034] According to some embodiments of the present application, the second joint value corresponding to the endpoint is calculated by the following formula:

[0035]

[0036] Among them, θ3 is the second joint value.

[0037] According to some embodiments of the present application, the third joint value corresponding to the endpoint is calculated by the following formula:

[0038] θ 4 =yaw-θ 2 -θ 3 ;

[0039] Among them, θ 4 is the third joint value, and yaw is the yaw angle.

[0040] According to some embodiments of the present application, controlling the robotic arm based on the plurality of motion control parameters includes:

[0041] Obtaining preset control parameter threshold conditions;

[0042] If the plurality of motion control parameters meet the control parameter threshold condition, the robotic arm is controlled based on the plurality of motion control parameters.

[0043] According to some embodiments of the present application, the step of planning a cleaning path of the robot arm according to the size data to obtain a plurality of first coordinate data in a sequential order includes:

[0044] Obtaining the bottom cleaning shovel width of the robotic arm;

[0045] Determining the initial point coordinate data of the cleaning path;

[0046] 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;

[0047] 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.

[0048] In a second aspect, an embodiment of the present application discloses a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to implement the method for clearing the bottom of a mine-unloading electric locomotive compartment as described above.

[0049] In a third aspect, an embodiment of the present application discloses an electronic device, including:

[0050] at least one processor;

[0051] at least one memory for storing at least one program;

[0052] When at least one of the programs is executed by at least one of the processors, the above-mentioned method for clearing the bottom of a carriage of an electric locomotive for unloading ore is implemented.

[0053] In an embodiment of the present application, by acquiring size data and inclination angle data of the car body, a cleaning path of the robotic arm is planned according to the size data, and a plurality of first coordinate data having a sequence are obtained, and 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; structural parameters of the robotic arm are acquired; a plurality of motion control parameters of the robotic arm are calculated according to the plurality of second coordinate data and the structural parameters, and the plurality of motion control parameters correspond to a plurality of path nodes; the robotic arm is controlled based on the plurality of motion control parameters, so that the robotic arm performs a bottom cleaning operation on the car body along the cleaning path, thereby saving manpower and improving detection efficiency.

[0054] In a fourth aspect, an embodiment of the present application discloses a bottom cleaning robot, comprising the electronic device as described above.

[0055] In an embodiment of the present application, by acquiring size data and inclination angle data of the car body, a cleaning path of the robotic arm is planned according to the size data, and a plurality of first coordinate data having a sequence are obtained, and 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; structural parameters of the robotic arm are acquired; a plurality of motion control parameters of the robotic arm are calculated according to the plurality of second coordinate data and the structural parameters, and the plurality of motion control parameters correspond to a plurality of path nodes; the robotic arm is controlled based on the plurality of motion control parameters, so that the robotic arm performs a bottom cleaning operation on the car body along the cleaning path, thereby saving manpower and improving detection efficiency.

[0056] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0058] Figure 1 A flow chart of an embodiment of a method for cleaning the bottom of a ore-unloading electric locomotive compartment provided in this application;

[0059] Figure 2 A schematic diagram of the positions of the mechanical arm and the carriage in the embodiment of the method for clearing the bottom of a carriage of an electric locomotive for unloading ore provided in the present application;

[0060] Figure 3 A schematic diagram of motion control parameters in an embodiment of the method for clearing the bottom of a carriage of an electric locomotive for unloading ore provided in the present application;

[0061] Figure 4 A schematic diagram of target posture values ​​in an embodiment of the method for clearing the bottom of a carriage of an electric locomotive for unloading ore provided in the present application;

[0062] Figure 5 A schematic diagram of the rotation angle in the embodiment of the method for clearing the bottom of a carriage of an electric locomotive for unloading ore provided in the present application;

[0063] Figure 6 A schematic diagram of a bottom cleaning path in an embodiment of a method for cleaning the bottom of a carriage of an electric locomotive for unloading ore provided in the present application;

[0064] Figure 7 A schematic diagram of an embodiment of a bottom cleaning robot provided in this application;

[0065] Figure 8 A schematic diagram of an electronic device embodiment provided in the present application.

[0066] Reference numerals:

[0067] Base 100, slewing reducer 110, first connecting rod 120, second connecting rod 130, bottom cleaning shovel 140, luffing cylinder 150, pitching cylinder 160, bottom cleaning cylinder 170, hydraulic station 180, operating table 190,

[0068] Carriage 200,

[0069] Electronic device 300 , processor 310 , memory 320 . DETAILED DESCRIPTION

[0070] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0071] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0072] In the description of this application, "a plurality" means more than two. If there is a description of "first" or "second", it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0073] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0074] According to the following Figures 1 to 8 A method for cleaning the bottom of a mine-unloading electric locomotive compartment, electronic equipment, and a bottom-cleaning robot provided in an embodiment of the present application are described.

[0075] The embodiment of the present application provides a method for cleaning the bottom of a ore unloading electric locomotive compartment, which is applied to an electronic device, wherein the electronic device is arranged on a cleaning robot including a mechanical arm, such as Figure 1 As shown, the method includes:

[0076] Step S100: Acquire the size data and tilt angle data of the carriage 200;

[0077] Step S200: Establishing a coordinate system with the base 100 of the robot arm as the origin;

[0078] Step S300: 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;

[0079] Step S400: obtaining a plurality of second coordinate data according to the tilt angle data and a plurality of first coordinate data;

[0080] Step S500: obtaining structural parameters of the robot arm;

[0081] Step S600: Calculating a plurality of motion control parameters of the robot arm according to the plurality of second coordinate data and the structural parameters, wherein the plurality of motion control parameters correspond to a plurality of path nodes;

[0082] Step S700: Controlling the robot arm based on a plurality of motion control parameters so that the robot arm performs a bottom cleaning operation on the carriage 200 along a cleaning path.

[0083] In an embodiment of the present application, by acquiring the size data and the inclination angle data of the carriage 200, the cleaning path of the robotic arm is planned according to the size data, and a plurality of first coordinate data having a sequence are obtained, and the plurality of first coordinate data correspond to a plurality of path nodes of the cleaning path; based on the inclination angle data and the plurality of first coordinate data, a plurality of second coordinate data are obtained; the structural parameters of the robotic arm are acquired; based on the plurality of second coordinate data and the structural parameters, a plurality of motion control parameters of the robotic arm are calculated, and the plurality of motion control parameters correspond to a plurality of path nodes; the robotic arm is controlled based on the plurality of motion control parameters, so that the robotic arm performs a bottom cleaning operation on the carriage 200 along the cleaning path, thereby saving manpower and improving detection efficiency.

[0084] In the above step S100, the dimension data of the carriage 200 includes the length and width of the bottom of the box, and the inclination angle data of the carriage 200 includes the angle data between the carriage 200 and the horizontal plane during the bottom cleaning operation. The dimension data of the carriage 200 is obtained so as to obtain the range of the bottom cleaning operation of the robot arm, thereby performing path planning for the bottom cleaning operation.

[0085] In the above step S300, based on the coordinate system, the operating range of the robot arm can be determined according to the dimension data, so as to plan the cleaning path of the robot arm and obtain multiple first coordinate data with a sequence. The multiple first coordinate data are the coordinates corresponding to the multiple path nodes of the cleaning path in the coordinate system.

[0086] In the above step S400, since the first coordinate data is a plane coordinate, it only includes the horizontal coordinate and the vertical coordinate on the plane. However, when the bottom of the carriage 200 is cleared, there is an angle between the bottom and the horizontal plane. Therefore, it is necessary to convert the first coordinate data, that is, according to the inclination angle data and the multiple first coordinate data, calculate the height of each path node to obtain multiple second coordinate data, and the second coordinate data includes the horizontal coordinate, the vertical coordinate and the vertical coordinate. Specifically, Figure 2 As shown, the height of the highest point of the bottom of the carriage 200 is calculated according to the inclination angle of the carriage 200, and then the height of the path node is calculated according to the following formula:

[0087]

[0088] Among them, 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 edge of the carriage 200 with a height of zero, and D is the width of the carriage 200.

[0089] In the above step S600, the path node is the position that the bottom cleaning shovel 140 of the robot arm needs to reach. After determining the coordinates of the path node and the structural parameters of the robot arm, the motion control parameters of the robot arm can be solved according to the second coordinate data and the structural parameters. When the robot arm executes the motion control parameters, the bottom cleaning shovel 140 can reach the corresponding path node.

[0090] In the above step S700, the robot arm is controlled based on a plurality of motion control parameters so that the robot arm performs a bottom cleaning operation on the carriage 200 along each path node of the cleaning path.

[0091] In some embodiments of the present application, in the above step S600, “calculating multiple motion control parameters of the robot arm according to multiple second coordinate data and structural parameters” is further explained, and step S600 includes:

[0092] Step S610: Taking multiple path nodes as starting points and the next path node of the starting point as the end point, calculate the motion control parameters corresponding to the end point according to the structural parameters, the second coordinate data of the starting point and the second coordinate data of the end point, thereby obtaining multiple motion control parameters.

[0093] In this embodiment, when the starting point coordinates and the end point coordinates of the bottom cleaning shovel 140 of the robot arm are clear, the corresponding motion control parameters can be solved according to 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 shovel 140 can move from the starting point coordinates to the end point coordinates. In other words, after the second coordinate data of the two nodes as the starting point and the end point are determined, the motion control parameters corresponding to the end point can be calculated according to the structural parameters, the second coordinate data of the starting point, and the second coordinate data of the end point. Therefore, by taking multiple path nodes as the starting point and the next path node of the starting point as the end point in sequence, multiple motion control parameters can be calculated.

[0094] In some embodiments of the present application, the initial position of the bottom cleaning shovel 140 of the robot arm can be set to the first path node.

[0095] In some embodiments of the present application, Figure 2 As shown, the robot arm includes a first joint, a first connecting rod 120, a second joint, a second connecting rod 130, a third joint and a bottom cleaning shovel 140 connected in sequence; the structural parameters include the length of the first connecting rod 120, the length of the second connecting rod 130 and the length of the bottom cleaning shovel 140; the motion control parameters include the rotation angle of the robot arm, the first joint value, the second joint value and the third joint value;

[0096] The step S610 of “calculating the motion control parameters corresponding to the end point according to the structural parameters, the second coordinate data of the starting point and the second coordinate data of the end point” includes:

[0097] Step S611: Obtaining a preset target posture value;

[0098] Step S612: Obtaining the 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 140;

[0099] Step S613: Calculate 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 120 and the length of the second connecting rod 130;

[0100] Step S614: obtaining a preset yaw angle of the bottom cleaning shovel 140;

[0101] Step S615: Calculate the third joint value corresponding to the end point according to the yaw angle, the first joint value and the second joint value;

[0102] Step S616: Calculate the rotation angle according to the second coordinate position data of the end point.

[0103] In this embodiment, the target posture value is the preset angle value between the bottom cleaning shovel 140 and the horizontal plane. According to the target posture value, the second coordinate data of the end point and the length of the bottom cleaning shovel 140, the third coordinate data of the third joint can be solved, that is, the position of the third joint is determined. Then, according to the third coordinate data, the length of the first connecting rod 120 and the second connecting rod 130, the first joint value and the second joint value are calculated. The yaw angle of the bottom cleaning shovel 140 of the robot arm is generally kept perpendicular to the bottom cleaning operation plane. When the yaw angle, the first joint value and the second joint value are determined, the third joint value corresponding to the end point is calculated according to the yaw angle, the first joint value and the second joint value.

[0104] In some embodiments of the present application, Figure 3 to Figure 4 As shown, the third coordinate data is calculated by the following formula:

[0105]

[0106] Among them, |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, L 4 is the length of the bottom cleaning shovel 140, x g is the horizontal coordinate of the second coordinate data of the end point, z g is the vertical coordinate of the second coordinate data of the end point, is the preset target posture value, the target posture value is as follows Figure 4 shown.

[0107] In some embodiments of the present application, Figure 3 As shown in the figure, the first joint value corresponding to the end point is calculated by the following formula:

[0108] θ 2 =α+β;

[0109] α=atan 2 (|CD|,|AD|);

[0110]

[0111] |AD|′=|AD|-x A ;

[0112] |CD|′=|CD|-z A ;

[0113] Among them, θ 2is the first joint value, |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, L 2 is the length of the first connecting rod 120, L 3 is the length of the second connecting rod 130, x A is the horizontal coordinate of the first joint, z A is the vertical coordinate of the first joint.

[0114] In some embodiments of the present application, Figure 3 As shown in the figure, the second joint value corresponding to the end point is calculated by the following formula:

[0115]

[0116] Among them, θ 3 is the second joint value.

[0117] In some embodiments of the present application, the third joint value corresponding to the endpoint is calculated by the following formula:

[0118] θ 4 =yaw-θ 2 -θ 3 ;

[0119] Among them, θ 4 is the third joint value, and yaw is the yaw angle.

[0120] In some embodiments of the present application, Figure 5 As shown, the rotation angle is calculated by the following formula:

[0121]

[0122] Among them, θ 1 is the rotation angle, x1 is the horizontal coordinate in the second coordinate data, and y1 is the vertical coordinate in the second coordinate data.

[0123] In some embodiments of the present application, the “controlling the robotic arm based on multiple motion control parameters” in step S700 is further described, and step S700 includes:

[0124] Step S710: Obtaining a preset control parameter threshold condition;

[0125] Step S720: If the plurality of motion control parameters meet the control parameter threshold condition, the robotic arm is controlled based on the plurality of motion control parameters.

[0126] In this embodiment, since the movement range of the first joint, the second joint and the third joint is limited by the maximum extension of the corresponding cylinder, the first joint value, the second joint value and the third joint value have a control parameter threshold condition. When it is determined that multiple motion control parameters meet the control parameter threshold condition, the robotic arm is controlled based on multiple motion control parameters.

[0127] The control parameter threshold conditions include three maximum limit angles corresponding to the first joint value, the second joint value and the third joint value. Taking the calculation of the maximum limit angle of the second joint as an example, the pitch cylinder 160, the first connecting rod 120 and the second connecting rod 130 form a closed triangle, and the maximum limit angle is calculated by the following formula:

[0128]

[0129] Wherein, μ is the maximum limiting angle of the second joint, a is the length of the first connecting rod 120, b is the length of the second connecting rod 130, and c is the length of the pitch cylinder 160 when the extension amount is maximum.

[0130] In some embodiments of the present application, the step S300 of “planning a cleaning path of the robot arm according to the size data to obtain a plurality of first coordinate data in a sequential order” is further described, and the step S300 includes:

[0131] Step S310: obtaining the width of the bottom cleaning shovel 140 of the robot arm;

[0132] Step S320: determining the initial point coordinate data of the cleaning path;

[0133] Step S330: Calculate the first path number and the second path number of the cleaning path according to the size data and the width of the bottom cleaning shovel 140 of the robot arm, where 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;

[0134] Step S340: obtaining a plurality of first coordinate data according to the initial point coordinate data, the number of first paths and the number of second paths.

[0135] In this embodiment, the width of the bottom cleaning shovel 140 can determine the cleaning area when the bottom cleaning shovel 140 moves. Therefore, 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 in the horizontal direction and the number of sub-paths in the vertical direction of the cleaning path can be calculated according to the length and width of the bottom of the car 200 and the width of the bottom cleaning shovel 140, so that the first coordinate data of each path node can be calculated based on the initial point coordinate data.

[0136] In some embodiments of the present application, Figure 6As shown, the number of first paths is calculated by the following formula:

[0137] c = l / d;

[0138] Wherein, c is the number of first paths, l is the length of the cleaning operation area, and d is the width of the bottom cleaning shovel 140 .

[0139] In some implementations of the present application, the sum of the first path quantity and the second path quantity is calculated by the following formula:

[0140]

[0141] Wherein, c' is the sum of the number of the first paths and the number of the second paths.

[0142] The present application embodiment provides a bottom cleaning robot, such as Figure 7 As shown, including:

[0143] Base 100;

[0144] A rotary reducer 110, wherein the rotary reducer 110 is fixed on the base 100;

[0145] A first connecting rod 120, a first end of the first connecting rod 120 is hinged to the rotary reducer 110;

[0146] A second connecting rod 130, wherein a first end of the second connecting rod 130 is hinged to a second end of the first connecting rod 120;

[0147] A bottom cleaning shovel 140, wherein a first end of the bottom cleaning shovel 140 is hinged to a second end of the second connecting rod 130;

[0148] A luffing cylinder 150, wherein a first end of the luffing cylinder 150 is hinged to the rotary reducer 110, and a second end of the luffing cylinder 150 is hinged to the second end of the first connecting rod 120, and the luffing cylinder 150 is used to drive the first connecting rod 120 to perform a luffing action;

[0149] A pitch cylinder 160, wherein a first end of the pitch cylinder 160 is hinged to a first end of the first connecting rod 120, and a second end of the pitch cylinder 160 is hinged to a first end of the second connecting rod 130, and the pitch cylinder 160 is used to drive the second connecting rod 130 to perform a pitching action;

[0150] A bottom cleaning cylinder 170, wherein a first end of the bottom cleaning cylinder 170 is hinged to the second connecting rod 130, and a second end of the bottom cleaning cylinder 170 is hinged to a first end of a bottom cleaning shovel 140, and the bottom cleaning cylinder 170 is used to drive the bottom cleaning shovel 140 to perform a bottom cleaning action;

[0151] A hydraulic station 180, the hydraulic station 180 is used to provide hydraulic power;

[0152] The operating table 190 is used to control the bottom cleaning action.

[0153] In this embodiment, the slewing angle is adjusted by controlling the slewing reducer 110; the first joint value is adjusted by controlling the extension and contraction amount of the second end of the luffing cylinder 150; the second joint value is adjusted by controlling the extension and contraction amount of the second end of the pitching cylinder 160; and the third joint value is adjusted by controlling the extension and contraction amount of the bottom cleaning cylinder 170. Through the coordinated work of the luffing cylinder 150, the pitching cylinder 160 and the bottom cleaning cylinder 170, the bottom cleaning shovel 140 is controlled to move along the path nodes of the bottom cleaning path to complete the bottom cleaning operation.

[0154] In some embodiments of the present application, the rotation angle is adjusted by controlling the rotation time and angular velocity of the rotary reducer 110. For example, the rotation angle is adjusted within a set rotation time, and the angular velocity of the rotary reducer 110 is calculated by the following formula:

[0155]

[0156] Among them, V 1 is the angular velocity, θ 1 ,θ 1 ′ are the rotation angles corresponding to the two path nodes, and t is the rotation time.

[0157] In some embodiments of the present application, by adjusting the extension and contraction of the luffing cylinder 150, the pitching cylinder 160 and the bottom clearing cylinder 170, the child adjusts the first joint value, the second joint value and the third joint value. Taking the second joint value as an example:

[0158] According to the second joint values ​​corresponding to the starting point and the end point, the lengths corresponding to the pitch cylinder 160 are respectively solved based on the cosine theorem, thereby obtaining the variation of the extension and retraction of the pitch cylinder 160, and based on the variation and the preset extension and retraction time, the movement speed of the pitch cylinder 160 is calculated. According to the extension and retraction time and the movement speed, the pitch cylinder 160 is controlled, thereby adjusting the joint value of the second joint to the second joint value corresponding to the end point.

[0159] The length of the pitch cylinder 160 is calculated by the following formula:

[0160]

[0161] Among them, l n is the length of the pitch cylinder 160, a is the length of the first connecting rod 120, b is the length of the second connecting rod 130, θ n is the second joint value corresponding to the path node, ε n is the angle of the second joint in the initial pose.

[0162] The movement speed of the pitch cylinder 160 is calculated by the following formula:

[0163]

[0164] Among them, V n is the movement speed, l n ′ Indicates the length of the pitch cylinder 160 corresponding to the end point, l n It represents the length of the pitch cylinder 160 corresponding to the starting point, and t is the preset extension and retraction time.

[0165] The obtained movement speed is brought into the flow and speed curve to obtain the corresponding flow of the valve, thereby controlling the movement of the robot arm. Under the constraints of the joint limitations, inertia characteristics and the achievable space range of the robot arm, the trapezoidal speed method is used in the entire flow and speed curve. At the beginning of the movement, it accelerates from a stationary state, and when it reaches the maximum speed (i.e., maximum flow), it maintains a uniform speed stage. When approaching the target point, it enters a deceleration stage to reach the minimum speed (i.e., minimum movement flow).

[0166] In addition, the present application embodiment provides an electronic device 300, such as Figure 8 As shown, including:

[0167] at least one processor 310;

[0168] At least one memory 320, used to store at least one program;

[0169] When at least one program is executed by at least one processor 310, the above-mentioned method for clearing the bottom of a carriage of an electric locomotive for unloading ore is implemented.

[0170] In an embodiment of the present application, by acquiring the size data and the inclination angle data of the carriage 200, the cleaning path of the robotic arm is planned according to the size data, and a plurality of first coordinate data having a sequence are obtained, and the plurality of first coordinate data correspond to a plurality of path nodes of the cleaning path; based on the inclination angle data and the plurality of first coordinate data, a plurality of second coordinate data are obtained; the structural parameters of the robotic arm are acquired; based on the plurality of second coordinate data and the structural parameters, a plurality of motion control parameters of the robotic arm are calculated, and the plurality of motion control parameters correspond to a plurality of path nodes; the robotic arm is controlled based on the plurality of motion control parameters, so that the robotic arm performs a bottom cleaning operation on the carriage 200 along the cleaning path, thereby saving manpower and improving detection efficiency.

[0171] In addition, an embodiment of the present application provides a computer-readable storage medium, which stores a program executable by a processor. When the program executable by the processor is executed by the processor, it is used to implement the method for clearing the bottom of the carriage of an electric locomotive for unloading ore as described above.

[0172] In an embodiment of the present application, by acquiring the size data and the inclination angle data of the carriage 200, the cleaning path of the robotic arm is planned according to the size data, and a plurality of first coordinate data having a sequence are obtained, and the plurality of first coordinate data correspond to a plurality of path nodes of the cleaning path; based on the inclination angle data and the plurality of first coordinate data, a plurality of second coordinate data are obtained; the structural parameters of the robotic arm are acquired; based on the plurality of second coordinate data and the structural parameters, a plurality of motion control parameters of the robotic arm are calculated, and the plurality of motion control parameters correspond to a plurality of path nodes; the robotic arm is controlled based on the plurality of motion control parameters, so that the robotic arm performs a bottom cleaning operation on the carriage 200 along the cleaning path, thereby saving manpower and improving detection efficiency.

[0173] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing data (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired data and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that 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 may include any data delivery media.

[0174] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A method for cleaning the bottom of a ore-unloading electric locomotive compartment, characterized in that: 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 cleaning the bottom of a ore-unloading electric locomotive compartment according to claim 1, characterized in that: The step of calculating a plurality of motion control parameters of the robot arm according to the plurality of the second coordinate data and the structural parameters comprises: 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 ore-unloading electric locomotive compartment according to claim 2, 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 comprise 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 comprise 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 cleaning the bottom of a ore-unloading electric locomotive compartment according to claim 3 is 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, x g is the horizontal coordinate of the second coordinate data of the end point, z g is the vertical coordinate of the second coordinate data of the end point, is the target posture value.

5. The method for cleaning 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: θ2=α+β; α=fine 2 (|CD|,|AD|)? |AD|′=|AD|-x A ; |CD|′=|CD|-z A ; Wherein, θ2 is the first joint value, |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, L2 is the length of the first connecting rod, L3 is the length of the second connecting rod, x A is the horizontal coordinate of the first joint, z A is the vertical coordinate of the first joint.

6. The method for cleaning the bottom of a ore-unloading electric locomotive compartment according to claim 5, characterized in that: The second joint value corresponding to the end point is calculated by the following formula: Wherein, θ3 is the second joint value.

7. The method for cleaning the bottom of a ore-unloading electric locomotive compartment according to claim 6, characterized in that: The third joint value corresponding to the end point is calculated by the following formula: θ4=yaw-θ2-θ3; 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 compartment according to claim 1, characterized in that: The step of planning the cleaning path of the robot arm according to the size data to obtain a plurality of first coordinate data in a sequence includes: 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, characterized in that: include: 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, characterized in that: Comprising the electronic device as claimed in claim 9.

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