Control method and control device of garbage cleaning system

Abstract

The invention discloses a control method and device of a garbage cleaning system, and relates to the technical field of garbage cleaning, and the control method of the garbage cleaning system comprises the following steps: obtaining garbage related parameters of the front side of a mobile platform; when the garbage related parameters meet preset cleaning conditions, information parameters of garbage are obtained; and determining a cleaning strategy according to the information parameters, and controlling the cleaning part to perform cleaning operation according to the cleaning strategy. By means of the garbage cleaning system, after the garbage related parameters meet the preset cleaning conditions, the information parameters of the garbage can be obtained in time, the cleaning strategy is determined according to the information parameters of the garbage, and therefore garbage cleaning is completed in time. And the overrun of garbage accumulation is reduced on the whole, the smoothness of the trash rack is guaranteed, the loss of a water head is reduced, and the power generation efficiency is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of waste cleaning technology, and in particular to a control method for a waste cleaning system. Background Technology

[0002] Some hydropower stations, due to their small water level control range, small self-regulating storage capacity, and the influence of the main river flow, often have garbage frequently accumulating at the trash racks upstream. In the long-term operation, this has a significant negative impact on the health of the generating units, flood discharge facilities, and hydraulic structures.

[0003] When cleaning up accumulated garbage, regular manual inspections or cleaning are often required. The accumulation rate of garbage fluctuates greatly, which often causes the garbage to accumulate beyond the limit, block the trash rack, increase water head loss, and reduce power generation efficiency. Summary of the Invention

[0004] The main objective of this invention is to propose a control method for a waste disposal system, which aims to ensure power generation efficiency.

[0005] To achieve the above objectives, the present invention proposes a control method for a waste cleaning system. Based on the waste cleaning system, which includes a mobile platform for movement along the length of the dam, a cleaning unit is movably installed on the mobile platform. The control method for the waste cleaning system includes the following steps:

[0006] Obtain the garbage association parameters on the front side of the mobile platform;

[0007] When the waste-related parameters meet the preset cleaning conditions, the waste information parameters are obtained;

[0008] A cleaning strategy is determined based on the information parameters, and the cleaning unit is controlled to perform cleaning operations according to the cleaning strategy.

[0009] In one embodiment, the waste-related parameters include the total waste volume parameter;

[0010] Before obtaining the garbage information parameters, the following is also included:

[0011] Within the selected detection area, obtain the total volume parameter of the waste within the detection area;

[0012] When the total volume of the waste is greater than the first preset volume, the waste-related parameters are determined to meet the preset cleaning conditions.

[0013] In one embodiment, the waste-related parameters include waste pile volume parameters;

[0014] Before obtaining the garbage information parameters, the following is also included:

[0015] Within the selected detection area, obtain the maximum volume parameter of the waste pile within the detection area;

[0016] When the largest garbage heap volume parameter is greater than the second preset volume, it is determined that the garbage association parameter meets the preset cleaning conditions.

[0017] In one embodiment, the waste-related parameters include water pressure parameters;

[0018] Before obtaining the garbage information parameters, the following is also included:

[0019] After placing the water pressure sensor inside the water system at a fixed height, the water pressure parameters are obtained.

[0020] When the water pressure parameter is greater than the first preset water pressure, it is determined that the garbage-related parameters meet the preset cleaning conditions.

[0021] In one embodiment, the information parameters of the waste include at least one of the following: waste location information, volume information, and material information.

[0022] In one embodiment, the cleaning unit includes a cleaning body movably mounted on the mobile platform. Different gripping parts can be selected on the cleaning body via a switching device. The information parameters of the waste include the location information and volume information of the waste.

[0023] The step of determining a cleaning strategy based on the information parameters and controlling the cleaning unit to perform cleaning operations according to the cleaning strategy includes:

[0024] Based on the volume information of the waste, the switching device is controlled to switch between different gripping parts and the cleaning body;

[0025] Based on the location information, the movement path of the gripping unit is determined;

[0026] The gripping part is controlled to clamp and release, and the gripping part is controlled to move along the movement path to deliver the garbage to the collection area.

[0027] In one embodiment, the gripping part includes a gripper and a bucket; the step of controlling the switching device to switch different gripping parts with the cleaning body based on the volume information of the waste includes:

[0028] When the volume of the waste is less than a third preset volume, the switching device is controlled to switch the gripper to the cleaning body.

[0029] When the volume of the waste is greater than or equal to a third preset volume, the switching device is controlled to switch the installation of the grab bucket and the cleaning body.

[0030] In one embodiment, the information parameters of the waste include material information; after obtaining the information parameters of the waste, the method further includes:

[0031] When the material information of the waste indicates that it is a corpse, the control alarm device will issue an alarm prompt.

[0032] In one embodiment, the cleaning unit includes a cleaning body movably mounted on the mobile platform, the cleaning body including a robotic arm, on which a gripping part is assembled;

[0033] The step of determining a cleaning strategy based on the information parameters and controlling the cleaning unit to perform cleaning operations according to the cleaning strategy includes:

[0034] The initial motion parameters of the robotic arm are determined based on the aforementioned information parameters;

[0035] After determining the compensated motion parameters through motion simulation of the robotic arm, the target motion parameters are determined based on the initial motion parameters and the compensated motion parameters.

[0036] The robotic arm is controlled to move according to the target motion parameters, so as to drive the gripping part to move.

[0037] The present invention also proposes a control device for a waste disposal system, characterized in that it includes: a memory, a processor, and a control program for the waste disposal system stored in the memory and executable on the processor, wherein the control program for the waste disposal system is configured to implement the steps of the control method for the waste disposal system as described in any one of claims 1 to 9.

[0038] In the technical solution of this invention, after the mobile platform moves to a preset area, it acquires the garbage-related parameters within that area to determine whether the parameters meet the cleaning conditions. Once the garbage-related parameters meet the cleaning conditions, it acquires garbage information parameters to select and determine a cleaning strategy, and then cleans the garbage in the area according to the cleaning strategy. With the help of the garbage cleaning system, after the garbage-related parameters meet the preset cleaning conditions, it can promptly acquire garbage information parameters and determine a cleaning strategy based on these parameters, thereby completing the garbage cleaning in a timely manner. Overall, this reduces the excessive accumulation of garbage, ensures the unobstructed flow of the trash rack, reduces head loss, and ensures power generation efficiency. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0040] Figure 1 A schematic diagram of the control method for the waste cleaning system provided by the present invention;

[0041] Figure 2 for Figure 1 A flowchart illustrating the cleanup strategy in the process;

[0042] Figure 3 for Figure 1 A schematic diagram of motion compensation for the robotic arm in the diagram;

[0043] Figure 4 for Figure 1 A schematic diagram of hydrodynamic decomposition in the image;

[0044] Figure 5 for Figure 1 A schematic diagram of the hydrodynamic force analysis of the robotic arm in the diagram.

[0045] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0047] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0048] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0049] Some hydropower stations, due to their small water level control range, small self-regulating storage capacity, and the influence of the main river flow, often have garbage frequently accumulating at the trash racks upstream. In the long-term operation, this has a significant negative impact on the health of the generating units, flood discharge facilities, and hydraulic structures.

[0050] When cleaning up accumulated garbage, regular manual inspections or cleaning are often required. The accumulation rate of garbage fluctuates greatly, often causing garbage to accumulate beyond the limit, clogging the trash rack, increasing head loss, and reducing power generation efficiency.

[0051] This invention proposes a control method for a waste disposal system.

[0052] Please see Figure 1 In one embodiment of the present invention, the control method of the waste cleaning system is based on the waste cleaning system, which includes a mobile platform for moving along the length of the dam body, and a cleaning unit is movably installed on the mobile platform. The control method of the waste cleaning system includes the following steps:

[0053] Obtain the garbage association parameters on the front side of the mobile platform;

[0054] When the waste-related parameters meet the preset cleaning conditions, the waste information parameters are obtained;

[0055] A cleaning strategy is determined based on the information parameters, and the cleaning unit is controlled to perform cleaning operations according to the cleaning strategy.

[0056] In the technical solution of this invention, after the mobile platform moves to a preset area, it acquires the garbage-related parameters within that area to determine whether the parameters meet the cleaning conditions. Once the garbage-related parameters meet the cleaning conditions, it acquires garbage information parameters to select and determine a cleaning strategy, and then cleans the garbage in the area according to the cleaning strategy. With the help of the garbage cleaning system, after the garbage-related parameters meet the preset cleaning conditions, it can promptly acquire garbage information parameters and determine a cleaning strategy based on these parameters, thereby completing the garbage cleaning in a timely manner. Overall, this reduces the excessive accumulation of garbage, ensures the unobstructed flow of the trash rack, reduces head loss, and ensures power generation efficiency.

[0057] The mobile platform can be a floating cleaning vessel or a mobile platform that can be movably installed on the dam body; neither is limited here. Specifically, the mobile platform is movably installed on the dam body along its extension direction. Moving along the dam body's extension direction allows the mobile platform to clean up accumulated garbage in different areas.

[0058] The waste-related parameters include the total waste volume, the waste pile volume, and the water pressure. The waste information parameters include the volume, location, and material information of any individual piece of waste.

[0059] The waste-related parameters include the total waste volume parameter;

[0060] Before obtaining the garbage information parameters, the following is also included:

[0061] Within the selected detection area, obtain the total volume parameter of the waste within the detection area;

[0062] When the total volume of the waste is greater than the first preset volume, the waste-related parameters are determined to meet the preset cleaning conditions.

[0063] When the total volume of waste within the detection area is greater than the first preset volume, that is, when the sum of the volumes of all waste within the detection area is greater than the first preset volume, it can be determined that the detection area has reached the cleaning standard, that is, the preset cleaning conditions are met.

[0064] The detection area is a three-dimensional region. Specifically, the size of the detection area depends on the size of the detection range, and the first preset volume depends on the size of the detection area, which is not limited here; specifically, the first preset volume is 2 cubic meters. The detection area can be manually divided, and the detection area can also move with the mobile platform, which is not limited here. The total volume parameter of the garbage includes the volume of garbage in the water and the sum of garbage suspended on the water surface.

[0065] The waste-related parameters include waste pile volume parameters;

[0066] Before obtaining the garbage information parameters, the following is also included:

[0067] Within the selected detection area, obtain the maximum volume parameter of the waste pile within the detection area;

[0068] When the largest garbage heap volume parameter is greater than the second preset volume, it is determined that the garbage association parameter meets the preset cleaning conditions.

[0069] By detecting the volume parameter of the largest garbage pile within the detection area, it can be determined whether the largest garbage pile can cause significant blockage to the trash rack. When the volume parameter of the largest garbage pile is greater than a second preset volume, it can be determined that the largest garbage pile can cause significant blockage to the trash rack, thus satisfying the preset cleaning conditions. The second preset volume depends on various external environmental factors and is not limited here; specifically, the second preset volume is 0.3 cubic meters.

[0070] The waste-related parameters include water pressure parameters;

[0071] Before obtaining the garbage information parameters, the following is also included:

[0072] After placing the water pressure sensor inside the water system at a fixed height, the water pressure parameters are obtained.

[0073] When the water pressure parameter is greater than the first preset water pressure, it is determined that the garbage-related parameters meet the preset cleaning conditions.

[0074] When garbage accumulates, it can cause blockages in the trash rack, raising the water level in front of the rack and thus increasing the water pressure at a fixed height in the water system. When the water pressure exceeds a first preset pressure, it can be determined that the blockage caused by the garbage pile's trash rack has reached a critical point, meaning the garbage meets the preset cleaning conditions.

[0075] The value of the first preset water pressure depends on the installation height of the water pressure sensor and the water level when there is no trash; therefore, no limit is set for the first preset water pressure here. Specifically, when there is no trash, the water pressure obtained by the water pressure sensor is the second preset water pressure, and the difference between the first preset water pressure and the second preset water pressure is 5000 Pa.

[0076] The information parameters of the waste include at least one of the following: location information, volume information, and material information. Depending on the cleaning strategy, the information parameters of the waste may be one or more of these three types, and are not limited here. Specifically, the information parameters of the waste include location information, volume information, and material information. The location information, volume information, and material information are all information parameters for a single piece of waste.

[0077] Please see Figure 2 The cleaning unit includes a cleaning body movably mounted on the mobile platform. Different gripping parts can be selected on the cleaning body via a switching device. The information parameters of the waste include the location information and volume information of the waste.

[0078] The step of determining a cleaning strategy based on the information parameters and controlling the cleaning unit to perform cleaning operations according to the cleaning strategy includes:

[0079] Based on the volume information of the waste, the switching device is controlled to switch between different gripping parts and the cleaning body;

[0080] Based on the location information, the movement path of the gripping unit is determined;

[0081] The gripping part is controlled to clamp and release, and the gripping part is controlled to move along the movement path to deliver the garbage to the collection area.

[0082] Based on the volume information of the waste, the corresponding gripping unit is switched using a switching device to ensure effective gripping of the corresponding waste and improve the efficiency of waste gripping. Based on the location information of the waste to be gripped, the gripping position can be determined to ensure accurate gripping. After gripping the waste, it is moved to the collection area, and then the grip is released, thus delivering the waste to the collection area.

[0083] The collection area can be located on a mobile platform or on a transport ship that moves with the mobile platform, as long as it can ensure the collection of garbage, there are no restrictions here.

[0084] The switching device can be any feasible installation and removal device in the prior art, to facilitate the replacement of the gripping part on the cleaning body. The gripping part on the cleaning body can also be replaced manually; no limitation is made here.

[0085] The gripping unit includes grippers and a bucket; controlling the switching device to switch different gripping units with the cleaning body based on the volume information of the waste includes:

[0086] When the volume of the waste is less than a third preset volume, the switching device is controlled to switch the gripper to the cleaning body.

[0087] When the volume of the waste is greater than or equal to a third preset volume, the switching device is controlled to switch the installation of the grab bucket and the cleaning body.

[0088] When the volume of the waste is less than a third preset volume, the gripper is switched to clean the waste by switching its attachment to the cleaning body. When the volume of the waste is greater than the third preset volume, the grab bucket is switched to clean the waste by switching its attachment to the cleaning body. By switching between the gripper and the grab bucket, the cleaning range for different volumes of waste is increased, ensuring effective waste cleaning.

[0089] The third preset volume depends on the maximum volume that the grippers can grasp, and the maximum volume that the grippers can grasp depends on the parameters of the grippers. The third preset volume is not limited here. The third preset volume can be the minimum amount of waste that the grab bucket can grasp, or it can be greater than the minimum amount of waste that the grab bucket shell can grasp; this is not limited here. Specifically, the third preset volume is greater than the minimum amount of waste that the grab bucket shell can grasp. Compared to the grab bucket, the grippers grasp waste more accurately and cause less damage to the aquatic environment.

[0090] The information parameters of the waste include material information; after obtaining the information parameters of the waste, it also includes:

[0091] When the material information of the waste indicates that it is a corpse, the control alarm device will issue an alarm prompt.

[0092] An alarm system can be activated to alert authorities and facilitate appropriate disposal of the waste. Specifically, when the waste consists of carcasses, such as those of animals that have drowned, the carcasses can be buried to prevent the spread of pathogens through decomposition.

[0093] The cleaning unit includes a cleaning body movably mounted on the mobile platform, the cleaning body including a robotic arm, on which a gripping part is assembled;

[0094] Please see Figure 3 The step of determining a cleaning strategy based on the information parameters and controlling the cleaning unit to perform cleaning operations according to the cleaning strategy includes:

[0095] The initial motion parameters of the robotic arm are determined based on the aforementioned information parameters;

[0096] After determining the compensated motion parameters through motion simulation of the robotic arm, the target motion parameters are determined based on the initial motion parameters and the compensated motion parameters.

[0097] The robotic arm is controlled to move according to the target motion parameters, so as to drive the gripping part to move.

[0098] By compensating for the movement of the robotic arm and determining the target motion parameters, the gripping unit is made to move precisely to the gripping position, thereby ensuring the precise gripping of the waste.

[0099] The robotic arm is equipped with a millimeter-wave radar detector; by setting up the millimeter-wave radar detector, it is possible to detect the volume and position information of the garbage floating on the water surface.

[0100] The robotic arm is equipped with ultrasonic radar; by using ultrasonic radar, it is possible to detect the volume and location of debris on the water surface and in the water.

[0101] The robotic arm is equipped with a camera and a detection light. After the robotic arm is submerged in water, the detection light is activated to provide supplemental lighting for the camera, ensuring the camera can effectively capture the location and image information of the debris. By comparing the image information of the debris with existing image information, the material of the debris can be determined, thus enabling the detection of the debris's material information.

[0102] The dynamic equations of a robotic arm are mainly established based on vector mechanics and analytical mechanics. The Newton-Euler equation method is a representative example of vector mechanics, while the Lagrange equation method is a representative example of analytical mechanics. Because vector mechanics requires vector operations such as velocity, acceleration, and force, resulting in a large number of equations and low computational efficiency, this paper chooses to use the Lagrange equation method to describe the dynamics of the robotic arm. The Lagrange equation method establishes the equations by differentiating the system's kinetic and potential energies with respect to system variables and time, avoiding the appearance of internal force terms in the equations. Let the total kinetic energy of the six-degree-of-freedom underwater robotic arm system be K, and the total potential energy be P, then the Lagrange equation L is:

[0103]

[0104] In equation (1-01), θ is a generalized variable that can represent the system's energy function, and θi is the first derivative of the generalized variable with respect to time. Since the only change in the joints of the robotic arm system is the angular transformation, θi in the equation is clearly the joint rotation angle, and θi is the angular velocity of the joint. Based on the principle of virtual work, the generalized torque τ of a certain joint i in the system can be obtained:

[0105]

[0106] The kinetic energy K of the robotic arm system needs to be calculated based on the angular velocities of each link, which includes the connecting rods and the drive mechanism of the next joint. For ease of description of the energy equation, let the position vector of a point P on the link i coordinate system be... i r p Then the homogeneous coordinates of the point with respect to the base coordinate system are:

[0107]

[0108] The velocity vector of point P relative to the base coordinate system can be obtained by differentiating equation (1-03) with respect to time t. 0 v p :

[0109]

[0110] Where Tr represents the trace of the matrix. Since the velocity vectors of all points on link i are the same, the kinetic energy of link i in the base coordinate system can be obtained according to (1-04). Let the mass of any point P on the link be dm, then the kinetic energy of point P is dK. i for:

[0111]

[0112] By integrating the link according to equation (1-05), the kinetic energy K of link i can be obtained. i for:

[0113]

[0114] In the formula ∫ i r P i r P T dm is the moment of inertia of the link, expressed in matrix form as follows:

[0115]

[0116] Based on the moment of inertia of the connecting rod:

[0117]

[0118] Vector product of the link:

[0119]

[0120] And first-order mass moment:

[0121]

[0122] Simplifying matrix (1-09) yields:

[0123]

[0124] In the formula x i y i and z i It is the coordinate of the center of mass of link i in its own coordinate system. According to equations (1-06) and (1-08), we can obtain...

[0125] Total kinetic energy of the system:

[0126]

[0127] The potential energy P of the robotic arm system is mainly gravitational potential energy. Similarly, let the mass of a point P on link i be dm, then the potential energy dP of that point relative to the base coordinate system is... i for:

[0128]

[0129] Where g = [g x ,g y ,g z ,0] T Let P be the gravitational acceleration vector. Integrating equation (1-10) yields the potential energy P of the entire link i. i for:

[0130]

[0131] in Let be the vector coordinates of the center of mass of link i in the link coordinate system. Integrating equation (1-11) yields the total potential energy P of the system as:

[0132]

[0133] Substituting the kinetic and potential energy of the six-degree-of-freedom underwater manipulator system into equation (1-02) yields the Lagrangian function of the manipulator:

[0134]

[0135] To simplify the calculation process, when p>i, θ is not included p Item, that is Then in equation (1-02) The item is:

[0136]

[0137] according to Differentiating equation (2-39) with respect to time t yields:

[0138]

[0139] The same method can be used to obtain the value in equation (1-02). for:

[0140]

[0141] To avoid ambiguity, i in equation (1-02) is replaced with p, and then... and Substituting into equation (1-02), we can obtain the generalized torque of link p as:

[0142]

[0143] in:

[0144]

[0145] According to the torque formula, D in equation (1-17) is... pp D is the effective inertia of joint p. pk C represents the coupling inertia between joint p and joint k. pjk Let G be the Coriolis force exerted on joint p by the rotation of joints j and k, and when j = k, let G be the centripetal force exerted on joint p by the rotation of joint j; p Let θ be the gravity acting on joint p itself. To facilitate real-time control calculations, this paper simplifies the robotic arm's dynamic equations using the differential motion relationship between the joint coordinate systems and the differential transformation method. The rotation angle θ between any two joints in the robotic arm system is... p and θ i The differential motion relationship between them is:

[0146]

[0147] In the formula Based on the differential motion relation (1-18) and the robot arm rotation matrix (2-7), the differential translation vector of joint q relative to joint p can be calculated. p d i and differential rotation vector p δ i for:

[0148]

[0149] Substituting equation (1-18) into equation (1-17) yields the simplified inertia term D. ij Coriolis force term C ijk and gravity term G i :

[0150]

[0151] in:

[0152]

[0153] Therefore, the dynamic equations of the underwater robotic arm can be obtained as follows:

[0154]

[0155] When an object moves in water, the fluid forces acting on a small structure are:

[0156] F = F d +F m +F l +F l (1-22)

[0157] In the formula F d For water resistance, F m For the added mass force, F l For lift, F f The force is buoyancy. The relative motion between the connecting rod and the water can be decomposed into tangential and normal directions along the surface. The velocities in these two different directions generate water resistance F in the tangential and normal directions, respectively. d When the connecting rod accelerates in the water, the water also accelerates along with the robotic arm, thus generating a counterforce on the connecting rod, i.e., an additional mass force F. m When water flows through a structure, the different flow velocities at different locations create pressure differences. The force generated by these pressure differences, perpendicular to the direction of fluid movement, is called lift, F. l The magnitude of lift is related to the airfoil angle of attack of the structure; generally, the effect of lift on airfoilless structures is not considered. Buoyancy and gravity are in opposite directions; by combining this with the gravity term from the previous section, the equivalent gravity g in the underwater dynamic equations can be obtained. i Since the robotic arm designed in this paper has no airfoil structure, the most significant force exerted on the connecting rod by the fluid is the water resistance F. d and additional mass force F m .

[0158] To calculate the effects of fluid on a robotic arm, the calculation of water resistance and additional mass forces on small-scale structures in water typically relies on the Morison equations, introduced by Morrison et al. in the 1950s, whose vector form is:

[0159]

[0160] In the formula dF d dF represents the water resistance per unit length of the structure. m The additional mass force per unit length; ρ is the fluid density; C d C is the fluid resistance coefficient; mLet v be the fluid's inertial force coefficient; v be the flow velocity, then v0 is the fluid's acceleration; D is the equivalent diameter of the structure; A is the projected area of ​​the object in the flow velocity direction; A0 is the thickness of the unit sheet after the object is divided. Since the fluid's drag coefficient C0... d and inertial force coefficient C m Since there is no precise formula for calculation, this paper adopts a general empirical value for the underwater environment, namely C. d =1,C m =2.

[0161] Reference Figure 4 In addition to the impact of water flow, underwater robotic arms also experience relative fluid motion due to their own movement during operation. Therefore, the motion of an underwater robotic arm can be equivalent to two stages: the impact of water flow when the arm is stationary, and the agitation impact generated by the arm's instantaneous movement in still water.

[0162] In the diagram, v represents the water flow velocity; F1 is the hydrodynamic force generated by the movement of the robotic arm in still water; F2 is the hydrodynamic force generated by the water flow on the robotic arm when it is stationary. To facilitate the superposition of fluid velocities in the two states and subsequent calculations, it is assumed that the flow velocity is constant and that the fluid velocity vector orthogonal to the direction of the robotic arm joint axis needs to be solved.

[0163] Let the unit vector along the joint axis be:

[0164]

[0165] Where e x =sinφcosΦ,e y =sinφsinΦ,e z =cosφ, then the orthogonal velocity vector v of the fluid and the joint axis is:

[0166]

[0167] Where v is the fluid velocity, V n V is the orthogonal velocity vector between the fluid and the connecting rod. np The component of the orthogonal velocity vector along the p-axis in the inertial coordinate system can be obtained by calculation. n The velocity components along the x-axis, y-axis, and z-axis are:

[0168]

[0169] Reference Figure 5 In this paper, the robotic arm linkage is approximately a rhomboid prism. The water resistance in the tangential direction on its surface is much smaller than the water resistance in the normal direction, and the torque generated by the tangential resistance is also very small. Therefore, this paper only calculates the water resistance in the normal direction.

[0170] In the diagram, dx represents a unit-length slice after the link is divided; D is the equivalent diameter of the link when it rotates around the z-axis; θ is the angular velocity of the underwater robotic arm during operation; v r v is the tangential velocity component of the fluid acting on the thin sheet. n Let V be the normal component of the fluid velocity acting on the thin sheet. Then, the fluid velocity vector V per unit length of the thin sheet in the link coordinate system can be obtained as:

[0171]

[0172] Since the hydrodynamic effect of the tangential velocity is not considered and according to (1-25), V can be simplified to V = V n Substituting the simplified V into (1-23) with +θ.x, we can obtain the water resistance dF per unit length of the thin sheet. d and additional mass force dF m for:

[0173]

[0174] When the flow velocity is constant, the water resistance torque and the additional mass torque it experiences are:

[0175]

[0176] Since the middle part of the connecting rod is a hollow structure, the force exerted by the fluid on it is much smaller than the force acting on the rest of the connecting rod. Therefore, the hydrodynamic force generated by the hollow part of the structure is neglected in this paper. Integrating (1-27) and (1-28) in the direction of the connecting rod yields the hydrodynamic resistance F acting on the entire joint. d and water resistance torque T d for:

[0177]

[0178] The additional mass force and additional mass torque acting on the entire joint are:

[0179]

[0180] Since joint 5 is the wrist rotation joint at the end of the robotic arm and the end effector driven by joint 6 is small in size and mass, this paper does not derive its specific water resistance and additional mass force formulas and the torque formulas it generates. Instead, it is regarded as a whole and participates in the calculation of water resistance torque and additional mass torque of the preceding joint of the robotic arm system as part of link 4.

[0181] When joint 1, i.e., the waist rotary joint, drives the subsequent connecting rods to rotate, the fluid will generate water resistance on the subsequent connecting rods 2, 3, and 4. When connecting rod 2 rotates around z0, the fluid velocity of the differential element on connecting rod 2 is:

[0182]

[0183] When connecting rod 3 rotates about z0, the fluid velocity of the differential element on connecting rod 3 is:

[0184]

[0185] When connecting rod 4 rotates about z0, the fluid velocity of the differential element on connecting rod 4 is:

[0186]

[0187] In the above three equations, vi-1 represents the normal velocity of the fluid about the z0 axis in a certain element of the connecting rod i; Vni is the fluid velocity orthogonal to the x-axis of the connecting rod i; xi is the distance of the differential element from its rotation axis in the coordinate system of the connecting rod i; according to Table 2-1, ai represents the distance between the joint axes, that is, the length of the connecting rod i. Substituting equation (1-31) into (1-29) yields the water resistance torque caused by the water resistance on the connecting rod 2 on the joint 1. Similarly, substituting equations (1-32) and (1-33) into (1-29) yields the water resistance torque caused by the water resistance on the connecting rods 3 and 4 on the joint 1. Integrating these equations, the water resistance torque experienced by the joint 1 can be obtained as follows:

[0188]

[0189] Similarly, substituting (1-32), (1-33), and (1-34) into (1-30) yields the additional mass torque exerted on joint 1 by the additional mass forces on links 2, 3, and 4. Integrating these results, we can obtain the additional mass torque acting on joint 1:

[0190]

[0191] Similarly, when joint 2, i.e., the waist swing joint, drives the subsequent connecting rod to rotate, the normal velocity of the fluid in the differential unit of connecting rods 2, 3, and 4 can be obtained as follows:

[0192]

[0193] Substituting (1-36) into equation (1-30), we obtain the water resistance torque received by joint 2 as follows:

[0194]

[0195] Substituting (1-36) into (1-30), we obtain the additional mass torque received by joint 2 as follows:

[0196]

[0197] When joint 3, i.e., the swing joint of the upper arm, drives the subsequent connecting rod to rotate, the normal velocity of the fluid in the differential element of connecting rods 3 and 4 can be obtained as follows:

[0198]

[0199] Substituting (1-39) into equation (1-29), we obtain the water resistance torque received by joint 3 as follows:

[0200]

[0201] Substituting (1-39) into (1-30), we obtain the additional mass torque received by joint 3 as follows:

[0202]

[0203] When joint 4, i.e., the forearm swing joint, drives the subsequent connecting rod to rotate, the normal velocity of the fluid in the differential element on connecting rod 4 can be obtained as follows:

[0204]

[0205] Substituting equation (1-42) into equation (1-29), we obtain the water resistance torque received by joint 4 as follows:

[0206]

[0207] Substituting equation (1-42) into equation (1-30), we obtain the additional mass torque received by joint 4 as follows:

[0208]

[0209] Specifically, the initial motion parameters of the robotic arm are derived from the dynamic equation (1-21). Compensation parameters for each joint can be obtained through the water resistance torque and the additional mass torque of each joint. The magnitude of each joint's compensation parameter is equal to the sum of the water resistance torque and the additional mass torque of each joint, but in opposite directions. By incorporating the compensation parameters of each joint into the initial motion parameters of the robotic arm, the target motion parameters are obtained, reducing the interference caused by the water resistance torque and the additional mass torque on the robotic arm, and ensuring that the robotic arm accurately moves to the preset position.

[0210] This invention also proposes a control device for a waste disposal system. This control device is used in a waste disposal system control method, the specific steps of which are described in the above embodiments. Since this waste disposal system control device employs all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be elaborated further here. The waste disposal system control device includes a memory, a processor, and a waste disposal system control program stored in the memory and executable on the processor. The waste disposal system control program is configured with the steps of the waste disposal system control method.

[0211] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A control method for a waste disposal system, based on the waste disposal system, the waste disposal system including a mobile platform for moving along the length of a dam, wherein a cleaning unit is movably installed on the mobile platform, characterized in that, The control method for the waste disposal system includes the following steps: Obtain the garbage association parameters on the front side of the mobile platform; When the waste-related parameters meet the preset cleaning conditions, the waste information parameters are obtained; A cleaning strategy is determined based on the information parameters, and the cleaning unit is controlled to perform cleaning operations according to the cleaning strategy.

2. The control method for the garbage disposal system as described in claim 1, characterized in that, The waste-related parameters include the total waste volume parameter; Before obtaining the garbage information parameters, the following is also included: Within the selected detection area, obtain the total volume parameter of the waste within the detection area; When the total volume of the waste is greater than the first preset volume, the waste-related parameters are determined to meet the preset cleaning conditions.

3. The control method for the waste disposal system as described in claim 1, characterized in that, The waste-related parameters include waste pile volume parameters; Before obtaining the garbage information parameters, the following is also included: Within the selected detection area, obtain the maximum volume parameter of the waste pile within the detection area; When the largest garbage heap volume parameter is greater than the second preset volume, it is determined that the garbage association parameter meets the preset cleaning conditions.

4. The control method for the waste disposal system as described in claim 1, characterized in that, The waste-related parameters include water pressure parameters; Before obtaining the garbage information parameters, the following is also included: After placing the water pressure sensor inside the water system at a fixed height, the water pressure parameters are obtained. When the water pressure parameter is greater than the first preset water pressure, it is determined that the garbage-related parameters meet the preset cleaning conditions.

5. The control method for the garbage disposal system as described in claim 1, characterized in that, The information parameters of the waste include at least one of the following: location information, volume information, and material information.

6. The control method for the garbage disposal system as described in claim 1, characterized in that, The cleaning unit includes a cleaning body movably mounted on the mobile platform. Different gripping parts can be selected on the cleaning body via a switching device. The information parameters of the waste include the location information and volume information of the waste. The step of determining a cleaning strategy based on the information parameters and controlling the cleaning unit to perform cleaning operations according to the cleaning strategy includes: Based on the volume information of the waste, the switching device is controlled to switch between different gripping parts and the cleaning body; Based on the location information, the movement path of the gripping unit is determined; The gripping part is controlled to clamp and release, and the gripping part is controlled to move along the movement path to deliver the garbage to the collection area.

7. The control method for the garbage disposal system as described in claim 6, characterized in that, The gripping unit includes grippers and a bucket; controlling the switching device to switch different gripping units with the cleaning body based on the volume information of the waste includes: When the volume of the waste is less than a third preset volume, the switching device is controlled to switch the gripper to the cleaning body. When the volume of the waste is greater than or equal to a third preset volume, the switching device is controlled to switch the installation of the grab bucket and the cleaning body.

8. The control method for the garbage disposal system as described in claim 1, characterized in that, The information parameters of the waste include material information; after obtaining the information parameters of the waste, it also includes: When the material information of the waste indicates that it is a corpse, the control alarm device will issue an alarm prompt.

9. The control method for the garbage disposal system as described in claim 1, characterized in that, The cleaning unit includes a cleaning body movably mounted on the mobile platform, the cleaning body including a robotic arm, on which a gripping part is assembled; The step of determining a cleaning strategy based on the information parameters and controlling the cleaning unit to perform cleaning operations according to the cleaning strategy includes: The initial motion parameters of the robotic arm are determined based on the aforementioned information parameters; After determining the compensated motion parameters through motion simulation of the robotic arm, the target motion parameters are determined based on the initial motion parameters and the compensated motion parameters. The robotic arm is controlled to move according to the target motion parameters, so as to drive the gripping part to move.

10. A control device for a waste disposal system, characterized in that, include: The system includes a memory, a processor, and a control program for a garbage disposal system stored in the memory and executable on the processor, the control program being configured to implement the steps of the control method for the garbage disposal system as described in any one of claims 1 to 9.

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