CN118143952A - Mining carrying robot control method and mining carrying robot - Google Patents

Abstract

The invention provides a mining transfer robot control method and a mining transfer robot, wherein the mining transfer robot control method comprises the following steps: an initial step; and equipment image acquisition: image acquisition is carried out on equipment to be carried and a space where the equipment to be carried is located by utilizing a plurality of image acquisition equipment, and a moving track of the mining carrying robot in the process of approaching the equipment to be carried is determined; a mobile acquisition step; and a posture control step: controlling the gesture of a mechanical arm of the mining carrying robot to avoid the obstacle; after the mining carrying robot moves to the equipment to be carried, the mechanical arm is controlled to clamp the equipment to be carried at the clamping position so as to carry out transfer; and (3) a transportation step: and controlling the mining carrying robot to transport the equipment to be carried to a designated place. The method of the invention ensures that the mining carrying robot has the functions of gesture sensing, visual recognition and automatic carrying, realizes the self-walking control of the mining carrying equipment in complex environments such as a roadway and the like, and realizes the autonomous carrying.

Description

Mining carrying robot control method and mining carrying robot

Technical Field

The invention relates to the technical field of mining carrying equipment, in particular to a mining carrying robot control method and a mining carrying robot.

Background

The tunnel is one of important places under the coal mine, and a series of operations such as anchor rod installation, guniting reinforcement, pipeline laying, material transferring and the like are required to be carried out in the tunnel; at present, materials are limited by complex environments of a roadway by large-scale equipment, cannot be directly transported to a specific construction site, and are extremely dependent on manual operation, so that the materials are hoisted and transported to the working site manually at a quite long distance of the roadway; the number of matched mechanized equipment is small, so that the construction difficulty is increased, and the problems of high labor cost, low carrying efficiency, personnel shortage and the like are solved; there is therefore a need to develop a motorized intelligent tool for mining material handling that addresses the above-described problems.

The existing mining carrying equipment has the following problems: 1. the equipment is large in volume, the mechanical arm is inflexible, and the operation and the transportation are unchanged in a narrow roadway; 2. the equipment adopts a manual and remote control operation mode, wherein risks such as collision and even tipping exist when personnel operate the equipment manually; 3. the equipment lacks safety protection measures such as autonomous safety monitoring and the like; the equipment has single function, high input cost and low equipment utilization rate.

Disclosure of Invention

The invention provides a mining carrying robot control method and a mining carrying robot, which are used for solving the problems that mining carrying equipment in the prior art is inconvenient to travel and control in complex environments such as a roadway and the like and mainly depends on manual control.

In order to solve the above problems, according to an aspect of the present invention, there is provided a mining transfer robot control method including: the initial steps are as follows: controlling the mining carrying robot to automatically move to an initial place through a positioning navigation function; or conveying the mining carrying robot to an initial place through a transport vehicle; and equipment image acquisition: image acquisition is carried out on equipment to be carried and a space where the equipment to be carried is located by utilizing a plurality of image acquisition equipment, so that image point cloud data and equipment space data of the equipment to be carried are obtained; determining a clamping position of the mining carrying robot on equipment to be carried according to the image point cloud data, and determining a moving track of the mining carrying robot in the process of approaching the equipment to be carried according to the equipment space data; and a mobile acquisition step: the method comprises the steps that a mining carrying robot is controlled to approach to equipment to be carried according to a moving track determined by equipment space data, in the approaching process, a plurality of image acquisition equipment is controlled in real time to acquire real-time images of the space in a roadway, environmental space data are obtained, and the moving track of the mining carrying robot is corrected according to the environmental space data; and a posture control step: controlling the gesture of a mechanical arm of the mining carrying robot according to the equipment space data, the image point cloud data and the environment space data so as to avoid the obstacle; after the mining carrying robot moves to the equipment to be carried, the mechanical arm is controlled to clamp the equipment to be carried at the clamping position so as to carry out transfer; and (3) a transportation step: and controlling the mining carrying robot to transport the equipment to be carried to a designated place, and controlling the plurality of image acquisition equipment to acquire real-time images of the external space in real time in the transportation process to obtain external space data, and determining the moving track of the mining carrying robot according to the external space data.

Further, the mining transfer robot control method further comprises the step of monitoring in real time: according to the sensors and the positioners, positioning the position of the mining carrying robot in the roadway in real time, and detecting the gesture of the mechanical arm and the chassis movement gesture of the mining carrying robot in real time; wherein the plurality of sensors includes a laser ranging sensor and an inclination sensor.

Further, the mining transfer robot control method further comprises the replacement step of: and determining the type of a clamping component used for clamping the equipment to be carried on the mechanical arm according to the image point cloud data, and replacing the corresponding clamping component on the mechanical arm.

Further, the plurality of image acquisition devices comprise at least one of two-dimensional acquisition cameras, three-dimensional acquisition cameras and cradle head cameras, and the number of the image acquisition devices is at least two; establishing a three-dimensional space rectangular coordinate system, wherein the image point cloud data at least comprises three-dimensional coordinates of a plurality of points on the external contour of the equipment to be carried in the three-dimensional space rectangular coordinate system; the equipment space data comprises three-dimensional coordinates of equipment to be carried in a three-dimensional space rectangular coordinate system.

Further, the mining transfer robot control method further comprises the following steps: alarming: when a plurality of image acquisition devices detect that an external object is blocked on the moving track of the mining carrying robot or is about to collide with the equipment to be carried or the mining carrying robot, alarm information and/or alarm sound are sent; a mode switching step: when the mining carrying robot needs to be controlled manually, switching the mining carrying robot to a manual control mode; when the mining carrying robot is required to carry automatically, the mining carrying robot is switched to be in an automatic working mode.

According to another aspect of the present invention, there is provided a mining transfer robot, which is adapted to the above-described mining transfer robot control method, the mining transfer robot including: a carrying platform; the supporting device is arranged below the carrying platform and is used for supporting the carrying platform and driving the carrying platform to lift; the mechanical arm is movably arranged above the carrying platform and is used for clamping equipment to be carried; the hydraulic system is communicated with the supporting device and the mechanical arm through a hydraulic pipeline and is used for driving the supporting device to lift and driving the mechanical arm to move; the electric control system is respectively and electrically connected with the carrying platform, the supporting device, the mechanical arm and the hydraulic system; the cable system is arranged on the carrying platform, is respectively connected with an external power supply and the electric control system and is used for providing electric energy and/or transmitting data for the electric control system.

Further, the mining transfer robot further comprises at least one of a lighting lamp component, a laser radar component, a laser ranging sensor, an inclination sensor, a plurality of image acquisition devices, a signal base station, an infrared sensor, a voice player, a signal lamp, a gas concentration sensor, a smoke sensor, a temperature and humidity sensor and a smoke sensor which are electrically connected with the electric control system respectively; the electric control system comprises a wireless control terminal, and when the mining transfer robot is in a manual control mode, the wireless control terminal is used for controlling the work of the carrying platform, the supporting device, the mechanical arm and the hydraulic system and displaying the working states of the carrying platform, the supporting device, the mechanical arm and the hydraulic system in real time; when the mining carrying robot is in an automatic control mode, the wireless control terminal is used for displaying working states of the carrying platform, the supporting device, the mechanical arm and the hydraulic system in real time.

Further, the plurality of image acquisition devices comprise at least one of two-dimensional acquisition cameras, three-dimensional acquisition cameras and cradle head cameras, and the number of the image acquisition devices is at least two; the hydraulic system comprises a hydraulic driving assembly, a radiator, an oil tank, a filter and a control valve group which are respectively communicated through a hydraulic pipeline, wherein the hydraulic driving assembly is used for driving hydraulic oil to circularly flow along the hydraulic pipeline, the radiator is used for performing heat exchange with the hydraulic oil, the filter is used for filtering the hydraulic oil, and the control valve group comprises a plurality of electromagnetic valves and is used for controlling the on-off and flow of the hydraulic pipeline; the hydraulic system further comprises a liquid level sensor, a temperature sensor and a pressure sensor which are respectively and electrically connected with the wireless control terminal, wherein the liquid level sensor is arranged in the oil tank and is used for detecting the liquid level height of hydraulic oil in the oil tank; the temperature sensor is arranged in the hydraulic pipeline and/or the oil tank and is used for detecting the temperature of hydraulic oil; the pressure sensor is arranged in the hydraulic pipeline and/or the oil tank and is used for detecting the pressure of hydraulic oil; the control valve group further comprises at least one throttle valve and at least one balance valve, wherein one throttle valve and one balance valve are sequentially arranged on the hydraulic pipeline in series.

Further, the mining transfer robot further comprises an explosion-proof box, at least one part of the electric control system is arranged in the explosion-proof box, and the explosion-proof box is used for protecting the electric control system; the cable system comprises a transmission cable, a driving part, a winding drum assembly and a wire arranging device, wherein the winding drum assembly is arranged on the carrying platform and is in driving connection with the driving part; the transmission cable is wound on the winding drum assembly and matched with the wire arranging device; the wire arranging device is used for arranging transmission cables; when the carrying platform moves, the driving part controls the reel assembly to rotate so as to retract and release the transmission cable; the mechanical arm comprises: the device comprises a rotating disc, a primary arm, a primary telescopic cylinder, a secondary arm, a secondary telescopic cylinder, a tertiary arm, a tertiary telescopic cylinder, a quaternary telescopic cylinder, a support frame, a first swinging cylinder assembly, a mounting seat, a second swinging cylinder assembly and a clamping assembly; the rotating disc is rotatably arranged above the carrying platform, one end of the primary arm is rotatably arranged on the rotating disc, two ends of the primary telescopic cylinder are respectively connected with the primary arm and the rotating disc, one end of the secondary arm is rotatably arranged at the other end of the primary arm, two ends of the secondary telescopic cylinder are respectively connected with the primary arm and the secondary arm, one end of the tertiary arm is rotatably arranged at the other end of the secondary arm, two ends of the tertiary telescopic cylinder are respectively connected with the secondary arm and the tertiary arm, one end of the support frame is rotatably arranged at the other end of the tertiary arm, two ends of the quaternary telescopic cylinder are respectively connected with the tertiary arm and the support frame, one end of the first swinging cylinder component is arranged on the support frame, and the other end of the first swinging cylinder component is connected with the mounting seat to drive the mounting seat to swing; one end of the second swing oil cylinder assembly is arranged on the mounting seat, and the other end of the second swing oil cylinder assembly is detachably connected with the clamping assembly so as to drive the clamping assembly to swing; the clamping component is used for clamping equipment to be carried; the mechanical arm further comprises a plurality of stroke sensors, the stroke sensors are respectively arranged on the primary telescopic oil cylinder, the secondary telescopic oil cylinder, the tertiary telescopic oil cylinder and the quaternary telescopic oil cylinder and are respectively electrically connected with the electric control system, and the stroke sensors are used for detecting telescopic strokes of the oil cylinders.

Further, the carrying platform comprises a chassis, a driving wheel set, a track and a frame, wherein the frame is arranged above the chassis, and the driving wheel set is rotatably arranged on the chassis and matched with the track to drive the track to circularly rotate; the support device is arranged below the frame, the mechanical arm is movably arranged on the frame, and the hydraulic system and the cable system are respectively arranged on the frame; the supporting device comprises two hydraulic telescopic groups which are arranged below the carrying platform at intervals, wherein one hydraulic telescopic group comprises two hydraulic supporting legs and a telescopic component, the two hydraulic supporting legs are slidably arranged below the carrying platform at intervals, and the hydraulic supporting legs can be lifted to drive the carrying platform to lift and support the carrying platform; the telescopic component is respectively connected with the two hydraulic support legs and is used for driving the two hydraulic support legs to approach or depart; the hydraulic support legs and the telescopic components are respectively communicated with the hydraulic system through hydraulic pipelines.

By applying the technical scheme of the invention, the invention provides a mining transfer robot control method, which comprises the following steps: the initial steps are as follows: controlling the mining carrying robot to automatically move to an initial place through a positioning navigation function; or conveying the mining carrying robot to an initial place through a transport vehicle; and equipment image acquisition: image acquisition is carried out on equipment to be carried and a space where the equipment to be carried is located by utilizing a plurality of image acquisition equipment, so that image point cloud data and equipment space data of the equipment to be carried are obtained; determining a clamping position of the mining carrying robot on equipment to be carried according to the image point cloud data, and determining a moving track of the mining carrying robot in the process of approaching the equipment to be carried according to the equipment space data; and a mobile acquisition step: the method comprises the steps that a mining carrying robot is controlled to approach to equipment to be carried according to a moving track determined by equipment space data, in the approaching process, a plurality of image acquisition equipment is controlled in real time to acquire real-time images of the space in a roadway, environmental space data are obtained, and the moving track of the mining carrying robot is corrected according to the environmental space data; and a posture control step: controlling the gesture of a mechanical arm of the mining carrying robot according to the equipment space data, the image point cloud data and the environment space data so as to avoid the obstacle; after the mining carrying robot moves to the equipment to be carried, the mechanical arm is controlled to clamp the equipment to be carried at the clamping position so as to carry out transfer; and (3) a transportation step: and controlling the mining carrying robot to transport the equipment to be carried to a designated place, and controlling the plurality of image acquisition equipment to acquire real-time images of the external space in real time in the transportation process to obtain external space data, and determining the moving track of the mining carrying robot according to the external space data.

According to the invention, through setting the equipment image acquisition step, the determination of the clamping position of the follow-up clamping component target and the moving track of the mining carrying robot in the process of approaching the equipment to be carried is realized, the data support is provided for the follow-up mining carrying robot to autonomously move and clamp, the acquired image point cloud data can be effectively applied to clamping of various equipment to be carried, and the clamping safety and the working reliability of the clamping component are ensured; by setting the mobile acquisition step and the gesture control step, the automatic obstacle avoidance of the approach process of the mining carrying robot to the equipment to be carried is realized, and then the efficient automatic movement is realized in a tunnel with a complex environment; by arranging the transportation step, reliable transportation and automatic avoidance of equipment to be transported can be realized in a complex environment; the method of the invention ensures that the mining carrying robot has the gesture sensing function, the visual recognition function and the automatic carrying function, realizes the self-walking control of the mining carrying equipment in complex environments such as a roadway and the like without depending on manual control, realizes the self-carrying of the mining carrying robot according to the use setting, effectively reduces the labor cost and the labor intensity of staff, reduces the occurrence of safety accidents and improves the working efficiency.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

fig. 1 shows a schematic flow chart of a mining transfer robot control method according to an embodiment of the present invention;

Fig. 2 shows an external structural schematic view of a mining transfer robot provided by an embodiment of the present invention;

FIG. 3 is a schematic view of a part of the structure of a carrying platform according to an embodiment of the present invention;

FIG. 4 is a schematic view showing a part of the structure of a supporting device according to an embodiment of the present invention;

FIG. 5 shows a schematic view of a portion of a hydraulic system provided by an embodiment of the present invention;

FIG. 6 shows a schematic view of a portion of a cable system provided by an embodiment of the present invention;

fig. 7 is a schematic view of a part of a mechanical arm according to an embodiment of the present invention.

Wherein the above figures include the following reference numerals:

1. Equipment to be carried;

10. A carrying platform; 11. a chassis; 12. a driving wheel group; 13. a track; 14. a frame;

20. a support device; 21. a hydraulic support leg; 22. a telescoping assembly;

30. A mechanical arm; 31. a rotating disc; 32. a primary arm; 33. a first-stage telescopic oil cylinder; 34. a secondary arm; 35. a second-stage telescopic oil cylinder; 36. a tertiary arm; 37. three-stage telescopic oil cylinders; 38. a four-stage telescopic oil cylinder; 39. a support frame; 391. a first swing cylinder assembly; 392. a mounting base; 393. a second swing cylinder assembly; 394. a clamping assembly;

40. A hydraulic system; 41. a hydraulic drive assembly; 42. a heat sink; 43. an oil tank; 44. a filter; 45. a control valve group;

50. an electric control system;

60. A cable system; 61. a driving section; 62. a spool assembly; 63. a wire arranging device; 64. a sprocket assembly;

70. An explosion-proof box.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1, an embodiment of the present invention provides a mining transfer robot control method, including:

the initial steps are as follows: controlling the mining carrying robot to automatically move to an initial place through a positioning navigation function; or conveying the mining carrying robot to an initial place through a transport vehicle;

and equipment image acquisition: image acquisition is carried out on the equipment 1 to be carried and the space where the equipment 1 to be carried is located by using a plurality of image acquisition equipment to obtain image point cloud data and equipment space data of the equipment 1 to be carried; determining a clamping position of the mining carrying robot on the equipment 1 to be carried according to the image point cloud data, and determining a moving track of the mining carrying robot in the process of approaching the equipment 1 to be carried according to the equipment space data;

and a mobile acquisition step: the mining carrying robot is controlled to approach the equipment 1 to be carried according to the moving track determined by the equipment space data, and in the approaching process, a plurality of image acquisition equipment is controlled in real time to acquire real-time images of the space in the roadway to obtain environmental space data, and the moving track of the mining carrying robot is corrected according to the environmental space data;

And a posture control step: controlling the gesture of a mechanical arm 30 of the mining carrying robot according to the equipment space data, the image point cloud data and the environment space data so as to avoid the obstacle; after the mining carrying robot moves to the position of the equipment 1 to be carried, the mechanical arm 30 is controlled to clamp the equipment 1 to be carried at the clamping position for transferring;

and (3) a transportation step: and controlling the mining carrying robot to transport the equipment 1 to be carried to a designated place, and controlling the plurality of image acquisition equipment to acquire real-time images of the external space in real time in the transportation process to obtain external space data, and determining the moving track of the mining carrying robot according to the external space data.

According to the invention, through setting the equipment image acquisition step, the determination of the target clamping position of the follow-up clamping assembly 394 and the moving track of the mining carrying robot in the process of approaching the equipment to be carried 1 is realized, the data support is provided for the follow-up mining carrying robot to autonomously move and clamp, and the acquired image point cloud data can be effectively applied to clamping of various equipment to be carried 1, so that the safety of clamping and the working reliability of the clamping assembly 394 are ensured; by setting the mobile acquisition step and the gesture control step, the automatic obstacle avoidance of the approach process of the mining carrying robot to the equipment 1 to be carried is realized, and then the efficient automatic movement is realized in a tunnel with a complex environment; by arranging the transportation step, reliable transportation and automatic avoidance of the equipment 1 to be transported can be realized in a complex environment; the method of the invention ensures that the mining carrying robot has the gesture sensing function, the visual recognition function and the automatic carrying function, realizes the self-walking control of the mining carrying equipment in complex environments such as a roadway and the like without depending on manual control, realizes the self-carrying of the mining carrying robot according to the use setting, effectively reduces the labor cost and the labor intensity of staff, reduces the occurrence of safety accidents and improves the working efficiency.

Specifically, the mining transfer robot control method further comprises the step of monitoring in real time: according to the sensors and the positioners, the position of the mining carrying robot in the roadway is positioned in real time, and the gesture of the mechanical arm 30 and the movement gesture of the chassis 11 of the mining carrying robot are detected in real time; wherein the plurality of sensors includes a laser ranging sensor and an inclination sensor.

By setting the real-time monitoring step, the real-time detection of the gesture of the mechanical arm 30 and the motion gesture of the chassis 11 of the mining transfer robot is realized, so that the collision of the mechanical arm 30 with external equipment and a roadway is avoided, and the motion stability of the mining transfer robot is ensured.

Specifically, the mining transfer robot control method further includes a replacement step: the type of the gripping assembly 394 on the robot arm 30 for gripping the equipment 1 to be handled is determined from the image point cloud data, and the corresponding gripping assembly 394 is replaced on the robot arm 30. Through setting the replacement step, the flexible adaptation of the type of the clamping assembly 394 and the type of the equipment 1 to be carried is realized;

Optionally, the plurality of image acquisition devices include at least one of a two-dimensional acquisition camera, a three-dimensional acquisition camera and a tripod head camera, and the number of the image acquisition devices is at least two; establishing a three-dimensional space rectangular coordinate system, wherein the image point cloud data at least comprises three-dimensional coordinates of a plurality of points on the external contour of the equipment 1 to be carried in the three-dimensional space rectangular coordinate system; the equipment space data includes three-dimensional coordinates of the equipment 1 to be handled in a three-dimensional space rectangular coordinate system.

By setting the number of the image acquisition devices to at least two, the follow-up data acquisition and mutual verification can be performed through a formed simulated human eye image positioning algorithm, and the accuracy of the data acquisition result is improved; through establishing a three-dimensional space rectangular coordinate system, the external contour of the equipment 1 to be carried is acquired and determined more finely, the centroid position of the equipment 1 to be carried can be calculated through the data, and the clamping position can be determined more scientifically according to the calculated centroid position.

Specifically, the mining transfer robot control method further comprises the following steps: alarming: when the plurality of image acquisition devices detect that an external object is blocked on the moving track of the mining carrying robot or is about to collide with the equipment 1 to be carried or the mining carrying robot, alarm information and/or alarm sound are sent; a mode switching step: when the mining carrying robot needs to be controlled manually, switching the mining carrying robot to a manual control mode; when the mining carrying robot is required to carry automatically, the mining carrying robot is switched to be in an automatic working mode.

The alarm step is set, so that the abnormal condition of the mining transfer robot can be timely alarmed; through setting the mode switching step, flexible switching of automatic work and manual control work of the mining transfer robot is realized.

As shown in fig. 2 to 7, the present invention also provides a mining transfer robot, which is suitable for the above mining transfer robot control method, and includes: a carrying platform 10; the supporting device 20 is arranged below the carrying platform 10 and is used for supporting the carrying platform 10 and driving the carrying platform 10 to lift; a mechanical arm 30 movably arranged above the carrying platform 10 for clamping the equipment 1 to be carried; the hydraulic system 40 is communicated with the supporting device 20 and the mechanical arm 30 through hydraulic pipelines and is used for driving the supporting device 20 to lift and driving the mechanical arm 30 to move; the electric control system 50 is electrically connected with the carrying platform 10, the supporting device 20, the mechanical arm 30 and the hydraulic system 40 respectively; the cable system 60 is disposed on the carrying platform 10 and is respectively connected with an external power supply and the electric control system 50, and is used for providing electric energy and/or transmitting data for the electric control system 50.

By the arrangement, the working reliability of the mining transfer robot is guaranteed, and the structure of the mining transfer robot tends to be simplified.

Specifically, the mining transfer robot further comprises at least one of an illuminating lamp assembly, a laser radar assembly, a laser ranging sensor, an inclination sensor, a plurality of image acquisition devices, a signal base station, an infrared sensor, a voice player, a signal lamp, a gas concentration sensor, a smoke sensor, a temperature and humidity sensor and a smoke sensor which are respectively and electrically connected with the electric control system 50 and used for illumination; the electric control system 50 comprises a wireless control terminal, and when the mining transfer robot is in a manual control mode, the wireless control terminal is used for controlling the work of the carrying platform 10, the supporting device 20, the mechanical arm 30 and the hydraulic system 40 and displaying the work states of the carrying platform 10, the supporting device 20, the mechanical arm 30 and the hydraulic system 40 in real time; when the mining carrying robot is in an automatic control mode, the wireless control terminal is used for displaying working states of the carrying platform 10, the supporting device 20, the mechanical arm 30 and the hydraulic system 40 in real time.

The automatic material handling device has the advantages that the automatic material handling device is arranged, the mining transfer robot has a remote operation function, a communication function, a remote monitoring function, an automatic voice alarm function, a visual identification function and an automatic transfer function, the mining transfer robot can autonomously carry out material handling according to the use setting, the labor intensity of workers is effectively reduced, the occurrence of safety accidents is reduced, and the working efficiency is improved.

Specifically, the plurality of image acquisition devices comprise at least one of two-dimensional acquisition cameras, three-dimensional acquisition cameras and cradle head cameras, and the number of the image acquisition devices is at least two; as shown in fig. 2 and 5, the hydraulic system 40 includes a hydraulic driving assembly 41, a radiator 42, an oil tank 43, a filter 44 and a control valve group 45 which are respectively communicated through hydraulic pipelines, the hydraulic driving assembly 41 is used for driving hydraulic oil to circulate along the hydraulic pipelines, the radiator 42 is used for performing heat exchange with the hydraulic oil, the filter 44 is used for filtering the hydraulic oil, and the control valve group 45 includes a plurality of electromagnetic valves for controlling the on-off and flow rate of the hydraulic pipelines; the hydraulic system 40 further comprises a liquid level sensor, a temperature sensor and a pressure sensor which are respectively and electrically connected with the wireless control terminal, wherein the liquid level sensor is arranged in the oil tank 43 and is used for detecting the liquid level height of hydraulic oil in the oil tank 43; a temperature sensor is provided in the hydraulic line and/or the oil tank 43 for detecting the temperature of the hydraulic oil; pressure sensors are provided in the hydraulic line and/or the tank 43 for detecting the pressure of the hydraulic oil; the control valve block 45 further comprises at least one throttle valve and at least one balancing valve, wherein one throttle valve and one balancing valve are arranged in series on the hydraulic line in sequence.

By the arrangement, the working reliability of the hydraulic system 40 is guaranteed, and the structure of the hydraulic system 40 tends to be simplified; through setting up a plurality of image acquisition equipment and including at least one in two-dimensional collection camera, three-dimensional collection camera, the cloud platform appearance, and quantity is two at least, both effectively reduced the cost, make follow-up can carry out data acquisition and mutual verification through fashioned simulation human eye image positioning algorithm again, improved the accuracy of data acquisition result.

As shown in fig. 2 and 6, the mining transfer robot further includes an explosion proof box 70, at least a portion of the electric control system 50 is disposed within the explosion proof box 70, and the explosion proof box 70 is used to protect the electric control system 50; the cable system 60 includes a transmission cable, a driving part 61, a reel assembly 62, and a wire arranging device 63, wherein the reel assembly 62 is arranged on the carrying platform 10 and is in driving connection with the driving part 61; the transmission cable is wound on the reel assembly 62 and cooperates with the wire feeder 63; the wire arranging device 63 is used for arranging transmission cables; when the carrying platform 10 moves, the driving part 61 controls the reel assembly 62 to rotate so as to carry out winding and unwinding of the transmission cable; as shown in fig. 7, the robot arm 30 includes: the device comprises a rotating disc 31, a primary arm 32, a primary telescopic cylinder 33, a secondary arm 34, a secondary telescopic cylinder 35, a tertiary arm 36, a tertiary telescopic cylinder 37, a quaternary telescopic cylinder 38, a support frame 39, a first swinging cylinder assembly 391, a mounting seat 392, a second swinging cylinder assembly 393 and a clamping assembly 394; the rotating disc 31 is rotatably arranged above the carrying platform 10, one end of the primary arm 32 is rotatably arranged on the rotating disc 31, two ends of the primary telescopic cylinder 33 are respectively connected with the primary arm 32 and the rotating disc 31, one end of the secondary arm 34 is rotatably arranged on the other end of the primary arm 32, two ends of the secondary telescopic cylinder 35 are respectively connected with the primary arm 32 and the secondary arm 34, one end of the tertiary arm 36 is rotatably arranged on the other end of the secondary arm 34, two ends of the tertiary telescopic cylinder 37 are respectively connected with the secondary arm 34 and the tertiary arm 36, one end of the support frame 39 is rotatably arranged on the other end of the tertiary arm 36, two ends of the quaternary telescopic cylinder 38 are respectively connected with the tertiary arm 36 and the support frame 39, one end of the first swinging cylinder component 391 is arranged on the support frame 39, and the other end of the first swinging cylinder component 391 is connected with the mounting seat 392 to drive the mounting seat 392 to swing; one end of the second swing cylinder assembly 393 is arranged on the mounting seat 392, and the other end of the second swing cylinder assembly 393 is detachably connected with the clamping assembly 394 so as to drive the clamping assembly 394 to swing; the clamping component 394 is used for clamping the equipment 1 to be carried; the mechanical arm 30 further includes a plurality of stroke sensors, which are respectively disposed on the first-stage telescopic cylinder 33, the second-stage telescopic cylinder 35, the third-stage telescopic cylinder 37, and the fourth-stage telescopic cylinder 38, and are respectively electrically connected with the electronic control system 50, and the stroke sensors are used for detecting telescopic strokes of the cylinders.

By providing the specific structure of the cable system 60, reliable retraction of the cable is achieved with a simple structure; by arranging the specific structure of the mechanical arm 30, the specific enough flexibility degree of freedom of the mechanical arm 30 is ensured; by arranging a plurality of stroke sensors, the real-time measurement of the telescopic stroke of the oil cylinder is realized, and the real-time detection of the gesture of the mechanical arm 30 is further realized.

It should be noted that: in one embodiment of the present invention, as shown in fig. 6, the cable system 60 further includes a sprocket assembly 64, the sprocket assembly 64 being adapted to cooperate with the chain to drive the chain around the reel assembly 62 for retraction of the chain disposed along the roadway.

As shown in fig. 2 and 3, the carrying platform 10 includes a chassis 11, a driving wheel set 12, a track 13 and a frame 14, the frame 14 is disposed above the chassis 11, and the driving wheel set 12 is rotatably disposed on the chassis 11 and cooperates with the track 13 to drive the track 13 to rotate circularly; the supporting device 20 is arranged below the frame 14, the mechanical arm 30 is movably arranged on the frame 14, and the hydraulic system 40 and the cable system 60 are respectively arranged on the frame 14; as shown in fig. 4, the supporting device 20 comprises two hydraulic telescopic groups which are arranged below the carrying platform 10 at intervals, one hydraulic telescopic group comprises two hydraulic supporting legs 21 and a telescopic assembly 22, the two hydraulic supporting legs 21 are slidably arranged below the carrying platform 10 at intervals, and the hydraulic supporting legs 21 can be lifted to drive the carrying platform 10 to lift and support the carrying platform 10; the telescopic components 22 are respectively connected with the two hydraulic support legs 21 and are used for driving the two hydraulic support legs 21 to approach or separate; the hydraulic support legs 21 and the telescopic assemblies 22 are respectively communicated with the hydraulic system 40 through hydraulic pipelines.

The specific structure of the carrying platform 10 ensures the trafficability of the carrying platform 10, and the driving wheel sets 12 are matched with the caterpillar tracks 13 to realize the stepless speed regulation function and the in-situ turning function of the carrying platform; through the concrete structure of the supporting device 20, the working reliability of the supporting device 20 is guaranteed, the supporting and carrying platform 10 ascends away from the ground, the structure of the supporting device 20 tends to be simplified, and subsequent maintenance and replacement are facilitated.

In one specific embodiment of the invention, the mining carrying robot comprises a mining explosion-proof LED illuminating lamp, a laser radar component, a laser ranging sensor, an inclination sensor, a plurality of image acquisition devices, a signal base station, an infrared sensor, a voice player, a signal lamp, a gas concentration sensor, a smoke sensor, a temperature and humidity sensor and a smoke sensor; the signal base station can be a plurality of, and the interval sets up in the inside in tunnel to guarantee signal transmission's smoothness.

The specific working process and principle of the invention will now be described in detail as follows:

after the mining carrying robot is started, starting up self-checking is firstly carried out, and a self-checking item comprises the original states of each sensor and the electric control system 50; after the self-checking is successful, the intelligent control terminal in the electric control system 50 sends a control instruction to the mining carrying robot and switches to an automatic working mode; if the wireless control terminal controls, entering a manual control mode; in the automatic control mode, the intelligent control terminal in the electric control system 50 performs data acquisition on various sensors and performs working environment monitoring; data acquisition is carried out on the inclination sensor, and the posture of the vehicle body is monitored; the laser radar component and the high-definition camera scan the position, surrounding obstacle and the environment of the mining transfer robot in the roadway, perform data analysis processing on the intelligent control terminal, and transmit the calculation result to the wireless control terminal; if the mining transfer robot fails in the walking process, the operation is stopped, a voice player gives an alarm in a voice mode, and fault information is played to remind workers.

In summary, the invention provides a mining transfer robot control method and a mining transfer robot, which realize the determination of the clamping position of the object of a follow-up clamping assembly 394 and the moving track of the mining transfer robot in the process of approaching to the equipment to be transferred 1 by setting the equipment image acquisition step, so as to provide data support for the follow-up mining transfer robot to autonomously move and clamp, and the acquired image point cloud data can be effectively applied to the clamping of various equipment to be transferred 1, thereby ensuring the safety of the clamping and the working reliability of the clamping assembly 394; by setting the mobile acquisition step and the gesture control step, the automatic obstacle avoidance of the approach process of the mining carrying robot to the equipment 1 to be carried is realized, and then the efficient automatic movement is realized in a tunnel with a complex environment; by arranging the transportation step, reliable transportation and automatic avoidance of the equipment 1 to be transported can be realized in a complex environment; the method of the invention ensures that the mining carrying robot has the gesture sensing function, the visual recognition function and the automatic carrying function, realizes the self-walking control of the mining carrying equipment in complex environments such as a roadway and the like without depending on manual control, realizes the self-carrying of the mining carrying robot according to the use setting, effectively reduces the labor cost and the labor intensity of staff, reduces the occurrence of safety accidents and improves the working efficiency.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A mining transfer robot control method, comprising:

The initial steps are as follows: controlling the mining carrying robot to automatically move to an initial place through a positioning navigation function; or transporting the mining transfer robot to the initial place by a transport vehicle;

And equipment image acquisition: image acquisition is carried out on equipment (1) to be carried and a space where the equipment (1) to be carried is located by utilizing a plurality of image acquisition equipment, so that image point cloud data and equipment space data of the equipment (1) to be carried are obtained; determining a clamping position of the mining carrying robot on the equipment (1) to be carried according to the image point cloud data, and determining a moving track of the mining carrying robot to the approaching process of the equipment (1) to be carried according to the equipment space data;

And a mobile acquisition step: the mining transfer robot is controlled to approach the equipment (1) to be transferred according to the movement track determined by the equipment space data, and in the approaching process, a plurality of image acquisition equipment are controlled in real time to acquire real-time images of the space in the roadway to obtain environment space data, and the movement track of the mining transfer robot is corrected according to the environment space data;

And a posture control step: controlling the gesture of a mechanical arm (30) of the mining carrying robot according to the equipment space data, the image point cloud data and the environment space data so as to avoid an obstacle; after the mining carrying robot moves to the equipment (1) to be carried, controlling the mechanical arm (30) to clamp the equipment (1) to be carried at the clamping position for transferring;

And (3) a transportation step: and controlling the mining transfer robot to transport the equipment (1) to be transferred to a designated place, and controlling a plurality of image acquisition equipment to acquire real-time images of an external space in real time in the transportation process to obtain external space data, and determining the movement track of the mining transfer robot according to the external space data.

2. The mining transfer robot control method according to claim 1, characterized in that the mining transfer robot control method further comprises a real-time monitoring step of: according to the sensors and locators, the positions of the mining carrying robots in the roadway are located in real time, and the postures of the mechanical arms (30) and the movement postures of the chassis (11) of the mining carrying robots are detected in real time; wherein the plurality of sensors include a laser ranging sensor and an inclination sensor.

3. The mining transfer robot control method according to claim 1, characterized in that the mining transfer robot control method further comprises a replacement step of: and determining the type of a clamping component (394) used for clamping the equipment (1) to be carried on the mechanical arm (30) according to the image point cloud data, and replacing the corresponding clamping component (394) on the mechanical arm (30).

4. The mining transfer robot control method according to claim 1, wherein the plurality of image pickup apparatuses includes at least one of a two-dimensional pickup camera, a three-dimensional pickup camera, and a pan-tilt camera, and the number is at least two; establishing a three-dimensional space rectangular coordinate system, wherein the image point cloud data at least comprise three-dimensional coordinates of a plurality of points on the external contour of the equipment (1) to be carried in the three-dimensional space rectangular coordinate system; the equipment space data comprise three-dimensional coordinates of the equipment (1) to be carried in the three-dimensional space rectangular coordinate system.

5. The mining transfer robot control method according to claim 1, characterized in that the mining transfer robot control method further comprises:

Alarming: when a plurality of image acquisition devices detect that an external object is blocked on the moving track of the mining transfer robot or is about to collide with the equipment (1) to be transferred or the mining transfer robot, alarm information and/or alarm sound are sent;

A mode switching step: when the mining carrying robot needs to be manually controlled, switching the mining carrying robot to a manual control mode; when the automatic carrying of the mining carrying robot is required, the mining carrying robot is switched to an automatic working mode.

6. A mining transfer robot, characterized in that the mining transfer robot is adapted to the mining transfer robot control method according to any one of claims 1 to 5, the mining transfer robot comprising:

A carrying platform (10);

The supporting device (20) is arranged below the carrying platform (10) and is used for supporting the carrying platform (10) and driving the carrying platform (10) to lift;

the mechanical arm (30) is movably arranged above the carrying platform (10) and is used for clamping the equipment (1) to be carried;

The hydraulic system (40) is communicated with the supporting device (20) and the mechanical arm (30) through a hydraulic pipeline and is used for driving the supporting device (20) to lift and driving the mechanical arm (30) to move;

The electric control system (50) is respectively and electrically connected with the carrying platform (10), the supporting device (20), the mechanical arm (30) and the hydraulic system (40);

And the cable system (60) is arranged on the carrying platform (10) and is respectively connected with an external power supply and the electric control system (50) for providing electric energy and/or transmitting data for the electric control system (50).

7. The mining transfer robot of claim 6, wherein the robot is configured to perform the steps of,

The mining transfer robot further comprises at least one of a lighting lamp assembly, a laser radar assembly, a laser ranging sensor, an inclination sensor, a plurality of image acquisition devices, a signal base station, an infrared sensor, a voice player, a signal lamp, a gas concentration sensor, a smoke sensor, a temperature and humidity sensor and a smoke sensor which are respectively and electrically connected with the electric control system (50);

The electric control system (50) comprises a wireless control terminal, and when the mining transfer robot is in a manual control mode, the wireless control terminal is used for controlling the carrying platform (10), the supporting device (20), the mechanical arm (30) and the hydraulic system (40) to work and displaying the working states of the carrying platform (10), the supporting device (20), the mechanical arm (30) and the hydraulic system (40) in real time; when the mining transfer robot is in an automatic control mode, the wireless control terminal is used for displaying working states of the carrying platform (10), the supporting device (20), the mechanical arm (30) and the hydraulic system (40) in real time.

8. The mining transfer robot of claim 7, wherein the robot is configured to perform the steps of,

The image acquisition equipment comprises at least one of a two-dimensional acquisition camera, a three-dimensional acquisition camera and a tripod head camera, and the number of the image acquisition equipment is at least two;

The hydraulic system (40) comprises a hydraulic driving assembly (41), a radiator (42), an oil tank (43), a filter (44) and a control valve group (45) which are respectively communicated through the hydraulic pipeline, wherein the hydraulic driving assembly (41) is used for driving hydraulic oil to circularly flow along the hydraulic pipeline, the radiator (42) is used for performing heat exchange with the hydraulic oil, the filter (44) is used for filtering the hydraulic oil, and the control valve group (45) comprises a plurality of electromagnetic valves and is used for controlling the on-off and flow of the hydraulic pipeline;

The hydraulic system (40) further comprises a liquid level sensor, a temperature sensor and a pressure sensor which are respectively and electrically connected with the wireless control terminal, wherein the liquid level sensor is arranged in the oil tank (43) and is used for detecting the liquid level height of the hydraulic oil in the oil tank (43); the temperature sensor is arranged in the hydraulic pipeline and/or the oil tank (43) and is used for detecting the temperature of the hydraulic oil; the pressure sensor is arranged in the hydraulic pipeline and/or the oil tank (43) and is used for detecting the pressure of the hydraulic oil;

The control valve group (45) further comprises at least one throttle valve and at least one balance valve, wherein one throttle valve and one balance valve are sequentially arranged in series on the hydraulic pipeline.

9. The mining transfer robot of claim 6, wherein the robot is configured to perform the steps of,

The mining transfer robot further comprises an explosion-proof box (70), at least one part of the electric control system (50) is arranged in the explosion-proof box (70), and the explosion-proof box (70) is used for protecting the electric control system (50);

The cable system (60) comprises a transmission cable, a driving part (61), a reel assembly (62) and a wire arranging device (63), wherein the reel assembly (62) is arranged on the carrying platform (10) and is in driving connection with the driving part (61); the transmission cable is wound on the reel assembly (62) and matched with the wire arranging device (63); -said wire-arranging device (63) for arranging said transmission cables; when the carrying platform (10) moves, the driving part (61) controls the reel assembly (62) to rotate so as to retract and release the transmission cable;

The robot arm (30) includes: the device comprises a rotating disc (31), a primary arm (32), a primary telescopic cylinder (33), a secondary arm (34), a secondary telescopic cylinder (35), a tertiary arm (36), a tertiary telescopic cylinder (37), a quaternary telescopic cylinder (38), a support frame (39), a first swinging cylinder assembly (391), a mounting seat (392), a second swinging cylinder assembly (393) and a clamping assembly (394); the rotary disc (31) is rotatably arranged above the carrying platform (10), one end of the primary arm (32) is rotatably arranged on the rotary disc (31), two ends of the primary telescopic cylinder (33) are respectively connected with the primary arm (32) and the rotary disc (31), one end of the secondary arm (34) is rotatably arranged on the other end of the primary arm (32), two ends of the secondary telescopic cylinder (35) are respectively connected with the primary arm (32) and the secondary arm (34), one end of the tertiary arm (36) is rotatably arranged on the other end of the secondary arm (34), two ends of the tertiary telescopic cylinder (37) are respectively connected with the secondary arm (34) and the tertiary arm (36), one end of the support frame (39) is rotatably arranged on the other end of the tertiary arm (36), two ends of the four-stage telescopic cylinder (38) are respectively connected with the tertiary arm (36) and the support frame (39), and the first swing cylinder (39) is arranged on the other end of the support frame (392; one end of the second swing oil cylinder assembly (393) is arranged on the mounting seat (392), and the other end of the second swing oil cylinder assembly is detachably connected with the clamping assembly (394) so as to drive the clamping assembly (394) to swing; the clamping component (394) is used for clamping the equipment (1) to be carried;

The mechanical arm (30) further comprises a plurality of stroke sensors, the stroke sensors are respectively arranged on the primary telescopic oil cylinder (33), the secondary telescopic oil cylinder (35), the tertiary telescopic oil cylinder (37) and the quaternary telescopic oil cylinder (38) and are respectively electrically connected with the electric control system (50), and the stroke sensors are used for detecting telescopic strokes of the oil cylinders.

10. The mining transfer robot of claim 6, wherein the robot is configured to perform the steps of,

The carrying platform (10) comprises a chassis (11), a driving wheel set (12), a track (13) and a frame (14), wherein the frame (14) is arranged above the chassis (11), and the driving wheel set (12) is rotatably arranged on the chassis (11) and matched with the track (13) to drive the track (13) to circularly rotate; the supporting device (20) is arranged below the frame (14), the mechanical arm (30) is movably arranged on the frame (14), and the hydraulic system (40) and the cable system (60) are respectively arranged on the frame (14);

The supporting device (20) comprises two groups of hydraulic telescopic groups which are arranged below the carrying platform (10) at intervals, one group of hydraulic telescopic groups comprises two hydraulic supporting legs (21) and a telescopic assembly (22), the two hydraulic supporting legs (21) are slidably arranged below the carrying platform (10) at intervals, and the hydraulic supporting legs (21) can be lifted to drive the carrying platform (10) to lift and support the carrying platform (10); the telescopic components (22) are respectively connected with the two hydraulic support legs (21) and are used for driving the two hydraulic support legs (21) to approach or separate; the hydraulic support legs (21) and the telescopic components (22) are respectively communicated with the hydraulic system (40) through the hydraulic pipelines.