CN113885489A - Self-adaptive mud scraper obstacle avoidance control method and system - Google Patents
Self-adaptive mud scraper obstacle avoidance control method and system Download PDFInfo
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- CN113885489A CN113885489A CN202110802719.7A CN202110802719A CN113885489A CN 113885489 A CN113885489 A CN 113885489A CN 202110802719 A CN202110802719 A CN 202110802719A CN 113885489 A CN113885489 A CN 113885489A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D21/00—Separation of suspended solid particles from liquids by sedimentation
- B01D21/10—Settling tanks with multiple outlets for the separated liquids
- B01D21/12—Settling tanks with multiple outlets for the separated liquids with moving scrapers
- B01D21/14—Settling tanks with multiple outlets for the separated liquids with moving scrapers with rotating scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D21/00—Separation of suspended solid particles from liquids by sedimentation
- B01D21/30—Control equipment
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention provides a self-adaptive mud scraper obstacle avoidance control method and a self-adaptive mud scraper obstacle avoidance control system, wherein the method comprises the steps of obtaining thickness information of mud; transmitting the thickness information of the sludge to a control end to set a starting point and a target point; adjusting the torque value of the mud scraper; when an obstacle appears during the operation of the mud scraper, the variable thickness of the mud is fed back to the stage of adjusting the torque value of the mud scraper, and the torque value is adjusted again to carry out control processing; according to the invention, through constructing stress analysis of the motor under torque, a torque value born by the motor in operation is judged, and disturbance is generated in the process of load change; calculating the sensitivity and the hysteresis value of the torque sensor; the influence of difference values in the detection process of the sensor is reduced; setting an initial point and a target point according to the cleaning range of the sludge, and setting at least one group of obstacle points at the initial point and the target point to increase the alertness of the sludge in the cleaning process; the sludge treatment effect is improved.
Description
Technical Field
The invention relates to a method and a system for controlling obstacle avoidance of a self-adaptive mud scraper, in particular to the field of obstacle avoidance processing.
Background
The obstacle avoidance makes various obstacle avoidance actions for the external obstacle in the moving direction of the object, and continues to interrupt the previous actions.
The existing mud scraper has the problems that the mud scraper cannot automatically adjust and treat an excessively thick sludge layer when the resistance is too large, manual descaling is needed, and the length of a rotating shaft cannot adapt to sedimentation tanks with different depths; the motor is in different stages in work due to different torques applied to the motor under different loads, and the motor is heated and damaged under continuous loads; when obstacles appear in the process of cleaning the sludge, the sludge cannot be completely cleaned if the obstacles are selectively avoided, and the load is continuously increased under the original sludge load if the obstacles are selectively cleaned.
Disclosure of Invention
The purpose of the invention is as follows: an object is to provide a method for controlling obstacle avoidance of a self-adaptive mud scraper, so as to solve the above problems in the prior art; a further object is to propose a system implementing the above method.
The technical scheme is as follows: a self-adaptive mud scraper obstacle avoidance control method comprises the following steps:
step 1, thickness information of sludge is obtained;
step 2, transmitting the thickness information of the sludge to a control end to set a starting point and a target point; adjusting the torque value of the mud scraper;
and 3, when an obstacle appears during the operation of the mud scraper, feeding back the change thickness of the mud to the step two, and adjusting the torque value again for control processing.
In a further embodiment, the step 1 is further:
the sludge thickness is obtained by a sludge thickness detection device, and the sludge thickness detection device detects the sludge thickness of the purified sedimentation tank to judge whether the sludge exceeds a cleaning set range; if the judgment result shows that the signal is not exceeded, the control end receives no signal; if the judgment result exceeds the preset value, the control end receives a signal and sends a conduction instruction.
In a further embodiment, the step 2 is further:
when the thickness of the sludge exceeds a set cleaning range, the control end receives a conduction instruction; at the moment, after the thickness detection device detects that the depth of the scraper mechanism in the mud reaches a preset value, setting a starting point and a target point, and the method comprises the following specific steps:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a queue of obstacles to be avoided in the process of setting a starting point and a target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle, if so, feeding back to the step 21, and resetting the starting point and the target point; if not, continuously cleaning the side;
the lifting driving mechanism stops working under the action of the control system, and then the motor is started and drives the scraping plate mechanism to rotate; the sludge is drawn close to the center of the sedimentation tank and falls into a sludge collecting tank at the center of the sedimentation tank, when the thickness detection device detects that the mud with the first layer height is completely scraped, the lifting driving mechanism starts to work, and after the depth of the mud reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, then the motor detects the thickness of the sludge again, and the sludge is continuously cleaned;
by constructing stress analysis of the motor under torque and taking at least one fan-shaped unit body on the motor, the shear stress of the unit body is as follows:
τr＝T/2πr2t
in the formula, T is the torque transmitted by the motor; r is the distance of the unit body from the axis; t is the thickness of the sludge;
carrying out torque sensing test on a torque value output by a motor, detecting the load loading and unloading processes in a static state through a waveform generator, and greatly disturbing in the load change process because the torque value of the motor is manually increased and decreased in adjustment; and then calculating the sensitivity of the torque sensor as follows:
k＝Δu/ΔT
in the formula, Δ u is a voltage difference value between the output load of the motor and zero load; Δ T is the load value applied to the motor;
according to the method, the hysteresis of the sensor is obtained in the process of loading and unloading the torque sensor as follows:
e＝Δp/ΔT
in the formula,. DELTA.pDifferential load loading and unloading the torque sensor; Δ T is the value of the load applied to the motor.
In a further embodiment, the step 3 is further: when the motor is driven to clean, firstly, the output torque value is adjusted under the corresponding load, then the sludge in the sedimentation tank is cleared, the sludge accumulation in the cleaning process is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
A self-adaptive mud scraper obstacle avoidance control system is used for realizing the method and comprises the following steps:
the sludge thickness detection device is used for acquiring the thickness information of the sludge;
the first adjusting module is used for adjusting the torque of the torque value of the mud scraper;
and the second adjusting module is used for controlling the torque value according to the obstacle avoidance object.
In a further embodiment, the sludge thickness detection device detects the thickness of the purified sludge in the sedimentation tank to judge whether the sludge exceeds a set cleaning range; if the judgment result shows that the signal is not exceeded, the control end receives no signal; if the judgment result exceeds the preset value, the control end receives a signal and sends a conduction instruction.
In a further embodiment, the first adjusting module receives detection information of the sludge thickness detection device, and the control end receives a conduction instruction when the thickness of the sludge exceeds a cleaning set range; at the moment, after the thickness detection device detects that the depth of the scraper mechanism in the mud reaches a preset value, setting a starting point and a target point, and the method comprises the following specific steps:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a queue of obstacles to be avoided in the process of setting a starting point and a target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle, if so, feeding back to the step 21, and resetting the starting point and the target point; and if not, continuously cleaning the side.
In a further embodiment, the first conditioning module comprises a lift drive mechanism, a motor, and a flight mechanism; the lifting driving mechanism is controlled to stop working, and then the motor is started and drives the scraping plate mechanism to rotate; the sludge is drawn close to the center of the sedimentation tank and falls into a sludge collecting tank at the center of the sedimentation tank, when the thickness detection device detects that the mud with the first layer height is completely scraped, the lifting driving mechanism starts to work, and after the depth of the mud reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, then the motor detects the thickness of the sludge again, and the sludge is continuously cleaned; and obtaining the shear stress of the unit body by constructing stress analysis of the motor under the torque;
carrying out torque sensing test on a torque value output by a motor, detecting the load loading and unloading processes in a static state through a waveform generator, and greatly disturbing in the load change process because the torque value of the motor is manually increased and decreased in adjustment; further calculating the sensitivity of torque sensing;
during the loading and unloading of the torque sensor on the basis, a hysteresis of the sensor is derived.
In a further embodiment, when the second adjusting module is used for motor driving cleaning, the output torque value is adjusted under the corresponding load, then the sludge in the sedimentation tank is removed, the sludge accumulation in the cleaning process of the first adjusting module is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
Has the advantages that: the invention provides a self-adaptive mud scraper obstacle avoidance control method and system, which are characterized in that a torque value born by the operation of a motor is judged by constructing stress analysis of the motor under torque, and disturbance is generated in the load change process; calculating the sensitivity and the hysteresis value of the torque sensor; the influence of difference values in the detection process of the sensor is reduced; setting an initial point and a target point according to the cleaning range of the sludge, and setting at least one group of obstacle points at the initial point and the target point to increase the alertness of the sludge in the cleaning process; the sludge treatment effect is improved.
Drawings
FIG. 1 is a flow chart of the implementation method of the present invention.
Fig. 2 is a flow chart of setting a starting point and a target point according to the present invention.
Fig. 3 is a schematic diagram of an obstacle avoidance scene according to the present invention.
Detailed Description
The applicant believes that the existing mud scraper cannot automatically adjust and treat the problem of an excessively thick sludge layer when the resistance is too large, the motor is in different stages during working due to different torques applied to the motor under different loads, and the motor is heated and damaged under continuous loads; it is therefore necessary to diagnose the process thickness of the sludge and the torque value of the sludge process.
In order to solve the problems in the prior art, the invention realizes that the motor adjusts different torque values according to the thickness of sludge and controls the motor to deal with the obstacle through the self-adaptive mud scraper obstacle avoidance control method and system
The present invention will be further described in detail with reference to the following examples and accompanying drawings.
In this application, we propose a self-adaptive mud scraper obstacle avoidance control method and a system for implementing the method, wherein the self-adaptive mud scraper obstacle avoidance control method comprises the following steps:
step 1, thickness information of sludge is obtained; the sludge thickness is obtained by a sludge thickness detection device, and the sludge thickness detection device detects the sludge thickness of the purified sedimentation tank to judge whether the sludge exceeds a cleaning set range; if the judgment result shows that the signal is not exceeded, the control end receives no signal; if the judgment result exceeds the preset value, the control end receives a signal and sends a conduction instruction.
Step 2, transmitting the thickness information of the sludge to a control end to set a starting point and a target point; adjusting the torque value of the mud scraper; when the thickness of the sludge exceeds a set cleaning range, the control end receives a conduction instruction; at the moment, after the thickness detection device detects that the depth of the scraper mechanism in the mud reaches a preset value, setting a starting point and a target point, and the method comprises the following specific steps:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a queue of obstacles to be avoided in the process of setting a starting point and a target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle, if so, feeding back to the step 21, and resetting the starting point and the target point; if not, continuously cleaning the side;
the lifting driving mechanism stops working under the action of the control system, and then the motor is started and drives the scraping plate mechanism to rotate; the sludge is drawn close to the center of the sedimentation tank and falls into a sludge collecting tank at the center of the sedimentation tank, when the thickness detection device detects that the mud with the first layer height is completely scraped, the lifting driving mechanism starts to work, and after the depth of the mud reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, then the motor detects the thickness of the sludge again, and the sludge is continuously cleaned;
by constructing stress analysis of the motor under torque and taking at least one fan-shaped unit body on the motor, the shear stress of the unit body is as follows:
τr＝T/2πr2t
in the formula, T is the torque transmitted by the motor; r is the distance of the unit body from the axis; t is the thickness of the sludge;
carrying out torque sensing test on a torque value output by a motor, detecting the load loading and unloading processes in a static state through a waveform generator, and greatly disturbing in the load change process because the torque value of the motor is manually increased and decreased in adjustment; and then calculating the sensitivity of the torque sensor as follows:
k＝Δu/ΔT
in the formula, Δ u is a voltage difference value between the output load of the motor and zero load; Δ T is the load value applied to the motor;
according to the method, the hysteresis of the sensor is obtained in the process of loading and unloading the torque sensor as follows:
e＝Δp/ΔT
in the formula,. DELTA.pDifferential load loading and unloading the torque sensor; Δ T is the value of the load applied to the motor.
Step 3, when an obstacle appears during the operation of the mud scraper, feeding back the change thickness of the mud to the step two, and adjusting the torque value again for control processing; when the motor is driven to clean, firstly, the output torque value is adjusted under the corresponding load, then the sludge in the sedimentation tank is cleared, the sludge accumulation in the cleaning process is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
A self-adaptive mud scraper obstacle avoidance control system is used for realizing the method and comprises the following steps:
the sludge thickness detection device is used for acquiring the thickness information of the sludge; the sludge thickness detection device detects the thickness of the purified sludge in the sedimentation tank and judges whether the sludge exceeds a set cleaning range or not; if the judgment result shows that the signal is not exceeded, the control end receives no signal; if the judgment result exceeds the preset value, the control end receives a signal and sends a conduction instruction.
The first adjusting module is used for adjusting the torque of the torque value of the mud scraper; the first adjusting module receives detection information of the sludge thickness detecting device, and the control end receives a conduction instruction when the thickness of the sludge exceeds a set cleaning range; at the moment, after the thickness detection device detects that the depth of the scraper mechanism in the mud reaches a preset value, setting a starting point and a target point, and the method comprises the following specific steps:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a queue of obstacles to be avoided in the process of setting a starting point and a target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle, if so, feeding back to the step 21, and resetting the starting point and the target point; and if not, continuously cleaning the side.
The first adjusting module comprises a lifting driving mechanism, a motor and a scraping plate mechanism; the lifting driving mechanism is controlled to stop working, and then the motor is started and drives the scraping plate mechanism to rotate; the sludge is drawn close to the center of the sedimentation tank and falls into a sludge collecting tank at the center of the sedimentation tank, when the thickness detection device detects that the mud with the first layer height is completely scraped, the lifting driving mechanism starts to work, and after the depth of the mud reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, then the motor detects the thickness of the sludge again, and the sludge is continuously cleaned; and obtaining the shear stress of the unit body by constructing stress analysis of the motor under the torque;
carrying out torque sensing test on a torque value output by a motor, detecting the load loading and unloading processes in a static state through a waveform generator, and greatly disturbing in the load change process because the torque value of the motor is manually increased and decreased in adjustment; further calculating the sensitivity of torque sensing;
during the loading and unloading of the torque sensor on the basis, a hysteresis of the sensor is derived.
The second adjusting module is used for controlling the torque value according to the obstacle avoidance object; when the second adjusting module is used for motor driving cleaning, the output torque value is adjusted under the corresponding load, then the sludge in the sedimentation tank is removed, the sludge accumulation in the cleaning process of the first adjusting module is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A self-adaptive mud scraper obstacle avoidance control method is characterized by comprising the following steps:
step 1, thickness information of sludge is obtained;
step 2, transmitting the thickness information of the sludge to a control end to set a starting point and a target point; adjusting the torque value of the mud scraper;
and 3, when an obstacle appears during the operation of the mud scraper, feeding back the change thickness of the mud to the step two, and adjusting the torque value again for control processing.
2. The adaptive mud scraper obstacle avoidance control method according to claim 1, wherein the step 1 further comprises:
the sludge thickness is obtained by a sludge thickness detection device, and the sludge thickness detection device detects the sludge thickness of the purified sedimentation tank to judge whether the sludge exceeds a cleaning set range; if the judgment result shows that the signal is not exceeded, the control end receives no signal; if the judgment result exceeds the preset value, the control end receives a signal and sends a conduction instruction.
3. The adaptive mud scraper obstacle avoidance control method according to claim 1, wherein the step 2 further comprises:
when the thickness of the sludge exceeds a set cleaning range, the control end receives a conduction instruction; at the moment, after the thickness detection device detects that the depth of the scraper mechanism in the mud reaches a preset value, setting a starting point and a target point, and the method comprises the following specific steps:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a queue of obstacles to be avoided in the process of setting a starting point and a target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle, if so, feeding back to the step 21, and resetting the starting point and the target point; if not, continuously cleaning the side;
the lifting driving mechanism stops working under the action of the control system, and then the motor is started and drives the scraping plate mechanism to rotate; the sludge is drawn close to the center of the sedimentation tank and falls into a sludge collecting tank at the center of the sedimentation tank, when the thickness detection device detects that the mud with the first layer height is completely scraped, the lifting driving mechanism starts to work, and after the depth of the mud reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, then the motor detects the thickness of the sludge again, and the sludge is continuously cleaned;
by constructing stress analysis of the motor under torque and taking at least one fan-shaped unit body on the motor, the shear stress of the unit body is as follows:
τr＝T/2πr2t
in the formula, T is the torque transmitted by the motor; r is the distance of the unit body from the axis; t is the thickness of the sludge;
carrying out torque sensing test on a torque value output by a motor, detecting the load loading and unloading processes in a static state through a waveform generator, and greatly disturbing in the load change process because the torque value of the motor is manually increased and decreased in adjustment; and then calculating the sensitivity of the torque sensor as follows:
k＝Δu/ΔT
in the formula, Δ u is a voltage difference value between the output load of the motor and zero load; Δ T is the load value applied to the motor;
according to the method, the hysteresis of the sensor is obtained in the process of loading and unloading the torque sensor as follows:
e＝Δp/ΔT
in the formula,. DELTA.pDifferential load loading and unloading the torque sensor; Δ T is the value of the load applied to the motor.
4. The adaptive mud scraper obstacle avoidance control method according to claim 1, wherein the step 3 further comprises: when the motor is driven to clean, firstly, the output torque value is adjusted under the corresponding load, then the sludge in the sedimentation tank is cleared, the sludge accumulation in the cleaning process is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
5. An adaptive mud scraper obstacle avoidance control system for implementing the method of any one of claims 1 to 3, comprising:
the sludge thickness detection device is used for acquiring the thickness information of the sludge;
the first adjusting module is used for adjusting the torque of the torque value of the mud scraper;
and the second adjusting module is used for controlling the torque value according to the obstacle avoidance object.
6. The adaptive mud scraper obstacle avoidance control system according to claim 5, wherein the sludge thickness detection device detects the thickness of the sludge in the purified sedimentation tank to judge whether the sludge exceeds a cleaning set range; if the judgment result shows that the signal is not exceeded, the control end receives no signal; if the judgment result exceeds the preset value, the control end receives a signal and sends a conduction instruction.
7. The adaptive mud scraper obstacle avoidance control system according to claim 5, wherein the first adjusting module receives detection information of a mud thickness detection device, and when the thickness of the mud exceeds a set cleaning range, the control end receives a conduction instruction; at the moment, after the thickness detection device detects that the depth of the scraper mechanism in the mud reaches a preset value, setting a starting point and a target point, and the method comprises the following specific steps:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a queue of obstacles to be avoided in the process of setting a starting point and a target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle, if so, feeding back to the step 21, and resetting the starting point and the target point; and if not, continuously cleaning the side.
8. The adaptive mud scraper obstacle avoidance control system of claim 5, wherein the first adjusting module comprises a lifting driving mechanism, a motor and a scraper mechanism; the lifting driving mechanism is controlled to stop working, and then the motor is started and drives the scraping plate mechanism to rotate; the sludge is drawn close to the center of the sedimentation tank and falls into a sludge collecting tank at the center of the sedimentation tank, when the thickness detection device detects that the mud with the first layer height is completely scraped, the lifting driving mechanism starts to work, and after the depth of the mud reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, then the motor detects the thickness of the sludge again, and the sludge is continuously cleaned; and obtaining the shear stress of the unit body by constructing stress analysis of the motor under the torque;
carrying out torque sensing test on a torque value output by a motor, detecting the load loading and unloading processes in a static state through a waveform generator, and greatly disturbing in the load change process because the torque value of the motor is manually increased and decreased in adjustment; further calculating the sensitivity of torque sensing;
during the loading and unloading of the torque sensor on the basis, a hysteresis of the sensor is derived.
9. The adaptive mud scraper obstacle avoidance control system of claim 5, wherein when the second adjusting module is driven by the motor to clean, the output torque value is adjusted under corresponding load, then sludge in the sedimentation tank is removed, sludge accumulation in the cleaning process of the first adjusting module is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114733236A (en) * | 2022-04-26 | 2022-07-12 | 北控水务(中国)投资有限公司 | Floating sludge cleaning system and method for AOA secondary sedimentation tank and AOA secondary sedimentation tank |
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| CN113885489B (en) | 2023-09-22 |
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