Mining guniting robot operation method

Abstract

The invention discloses a mining guniting robot operation method, belongs to the field of coal mine tunnel guniting operation, and is used for solving the problems of low guniting efficiency, poor guniting quality, high labor intensity and the like in the existing coal mine tunnel guniting operation. The method comprises the steps that S1, the position of the guniting robot is automatically adjusted; s2, performing scanning composition on the roadway by using a laser radar; s3, full-section guniting operation is carried out; s4, partial face guniting operation is carried out; s5, the mining guniting robot automatically walks forwards; the method is simple in step, novel and reasonable in design, capable of achieving coal mine underground guniting operation, high in guniting operation efficiency, time-saving and labor-saving, good in safety, high in practicability and convenient to popularize and use, and a large number of workers are prevented from gathering underground to conduct roadway guniting operation.

Description

Technical Field

[0001] This invention belongs to the field of coal mine roadway shotcrete operation, and specifically relates to a method for operating a mine shotcrete robot. Background Technology

[0002] With the development of the times, the coal industry will also usher in a great leap forward in intelligent production and construction. Shotcrete support is an important part of coal mining, which can support, fill and isolate roadways, thereby ensuring the safety and stability of the mine.

[0003] However, the level of mechanization and automation in coal mine roadway shotcrete support is currently relatively low, with most mines still relying on manual hand-held spray guns for shotcrete operations. This method suffers from low shotcrete efficiency, poor shotcrete quality, and high labor intensity, which not only affects construction progress but may also threaten the health and safety of workers. Summary of the Invention

[0004] The purpose of this invention is to provide a method for operating a shotcrete robot in mining, so as to solve the problems mentioned in the background art.

[0005] The objective of this invention can be achieved through the following technical solution: a method for operating a mine shotcrete robot, wherein the method is implemented using a mine shotcrete robot, the mine shotcrete robot including a main frame, a mechanical arm installed at the front of the main frame, an explosion-proof control box installed on the main frame, a walking track, a roadway scanning device installed under the main frame, a laser radar installed on the top of the main frame, an automatic cable reel roller set at the rear of the main frame, and a material conveying device.

[0006] The tunnel scanning device includes a hydraulic cylinder fixed below the main frame, a protective cover fixed in front of the cylinder, and a laser radar 2 fixed behind the protective cover.

[0007] The material conveying device includes a nozzle fixed to the end of the robotic arm and a material conveying pipe and a water supply pipe fixed from the tail of the mining shotcrete robot along the side of the main frame.

[0008] This method mainly includes the following steps:

[0009] S1. Automatic adjustment of the position of the mining shotcrete robot: The laser radar on the top of the mining shotcrete robot scans the tunnel environment in real time and automatically adjusts the mining shotcrete robot to the center position of the tunnel based on the scan data.

[0010] S2. Trajectory planning for shotcreting operations in the current tunnel:

[0011] Step 201: The second LiDAR at the bottom of the main frame automatically extends;

[0012] Step 202: The second lidar unit scans the cross-section of the tunnel to track the shotcrete operation trajectory and collects tunnel point cloud data;

[0013] Step 203: The second LiDAR at the bottom of the main frame automatically retracts;

[0014] Step 204, shotcrete selection: If full-section shotcrete is selected on the touch screen of the explosion-proof control box, proceed to step S3; if partial-section shotcrete is selected on the touch screen of the explosion-proof control box, proceed to step S4.

[0015] S3, Full-section shotcrete operation:

[0016] Step 301: Select full-section shotcrete operation via the touch screen on the explosion-proof control box of the main frame;

[0017] Step 302: After the trajectory planning is completed, the robotic arm automatically extends to the starting point of the shotcrete operation, and the nozzle corresponding to the spray head is aligned with the bottom corner of the tunnel.

[0018] Step 303: Start feeding materials. After the water and materials are properly coordinated, start the operation.

[0019] Step 304: The robotic arm starts spraying from the starting point of the spraying operation and stops after reaching the end point of the spraying operation. Then, proceed to step S5.

[0020] S4. Local section shotcrete operation:

[0021] Step 401: Select local section shotcrete operation via the touch screen on the explosion-proof control box of the main frame;

[0022] Step 402: After the trajectory planning is completed, the robotic arm automatically extends to the starting point of the shotcrete operation, and the nozzle corresponding to the spray head is aligned with the starting point of the shotcrete operation.

[0023] Step 403: Start feeding materials and water. After the materials and water are properly mixed, start the operation.

[0024] Step 404: The robotic arm starts the shotcrete operation from the starting point and stops after reaching the end point of the shotcrete operation. Then, proceed to step S5.

[0025] S5. Automatic walking mechanism for mining shotcrete robot:

[0026] Step 501: Set the automatic forward travel distance via the touch screen on the explosion-proof control box of the main unit frame;

[0027] After step 502, step S3 or step S4 is completed, the mining shotcrete robot will automatically move forward;

[0028] Step 503: After the walking is completed, the robotic arm reverses to perform the shotcrete operation, from the shotcrete end point to the shotcrete start point;

[0029] Step 504: When the mining shotcrete robot moves forward, the cable is automatically wound up and unwound through the automatic cable reel located at the rear of the main frame.

[0030] Step 505: Repeat steps S3 and S5 multiple times, or repeat steps S4 and S5 multiple times, until the N-meter shotcrete operation is completed.

[0031] In the above-mentioned method for operating a mining shotcrete robot, a laser radar is installed on the top of the mining shotcrete robot, and the walking tracks are symmetrically arranged on the left and right sides of the mining shotcrete robot.

[0032] In the above-mentioned method for operating a mining shotcrete robot, the explosion-proof control box is fixed on the main frame, and a touch screen is installed on the door panel of the explosion-proof control box.

[0033] In the above-mentioned method for operating a mine shotcrete robot, the automatic cable reel is installed at the end of the main frame, one end of the cable is connected to the electromagnetic starter box on the side of the main frame, and the other end is connected to the incoming power supply.

[0034] The above-mentioned method for operating a shotcrete robot in mining includes a shotcrete robotic arm comprising three telescopic joints, a large arm rotation joint, a small arm rotation joint, a nozzle rotation joint, a displacement sensor installed inside a hydraulic cylinder, an external rotary encoder, and a material conveying device.

[0035] In the above-mentioned method for operating a mine shotcrete robot, the roadway scanning device is installed at the bottom of the mine shotcrete robot, extends during roadway scanning, and retracts after scanning is completed.

[0036] The above-mentioned method for operating a mine shotcrete robot includes a material conveying device comprising a nozzle and a connector fixed at the end of the robotic arm, and a material conveying pipe and a water supply pipe connected to the connector arranged along the side of the main frame. The shotcrete material and water are mixed at the nozzle and sprayed onto the tunnel wall.

[0037] The above-mentioned method for operating a mine shotcrete robot includes a roadway scanning device comprising a hydraulic cylinder fixed to the bottom of the mine shotcrete robot, a lidar, and a lidar protective cover at the end.

[0038] The specific planning process for the full-section shotcrete trajectory planning in the above-mentioned mine shotcrete robot operation method is as follows:

[0039] T1: Denoise and fit the tunnel point cloud data to determine the cross-sectional boundary and center position. Select the sampling points with the maximum Z value Ztop and the minimum Z value Zmin from the point cloud and record them as the highest and lowest points of the roof. Use the highest and lowest points of the roof as the starting and ending points of the shotcrete trajectory. Use RANSAC to fit the vertical planes on the left and right sides to determine the cross-sectional width W and the center line position, which is recorded as (Xcenter, Ycenter).

[0040] T2: Calculate the initial radius R0 according to the formula R0=(W / 2)-δ, where δ is the safety margin assumed by those skilled in the art; calculate the interlayer spacing ΔR according to the formula ΔR=(0.8×effective coverage width of the nozzle); divide the initial radius by the interlayer spacing and round up the resulting value to obtain the number of layers K;

[0041] T3: For each layer k, the rotation angle θ∈[0, 2π], where k=1, 2, 3……K, k represents the spiral loop index of any layer; construct the spiral parametric equations: Where (R0-k×ΔR) is the helix radius R k ;

[0042] T4: Divide the rotation angle θ into m segments to obtain a point sequence, denoted as {θ}. i =i·Δθ|i=0...m}, where For each pair (θi, k), calculate the corresponding control points (Xi, Yi, Zi), where i is a positive integer representing any control point; thus, several control points for the spiral path can be obtained.

[0043] T5: The highest and lowest points of the top plate are used as the starting and ending points of the shotcrete trajectory. The full-section shotcrete trajectory is then fitted according to several control points (Xi, Yi, Zi) of the spiral path. The joint angle is solved by inverse kinematics in the order of the control points. The touch screen displays the current layer number k, the remaining area and the remaining shotcrete amount in real time.

[0044] The specific planning process for the local section shotcrete trajectory planning in the above-mentioned mine shotcrete robot operation method is as follows:

[0045] P1, Target area selection: Extract the local repair area selected on the touch screen, and extract the point cloud data of the selected area. Extract the start point, end point, maximum depth, and boundary point set of the local repair area from it; divide the maximum depth by 20mm and round up the obtained value to get the number of layers J.

[0046] P2, Gridded Layered Filling: The selected local repair area is divided into several horizontal slices of equal thickness along the vertical direction. Each layer corresponds to a fixed height plane h, where h = Zmax - (j-1) × 20, j = 1, 2, 3... J, and j is the horizontal index of each layer; A plowing-style covering strategy is adopted, and horizontal straight-line back-and-forth sweeping is used. The horizontal line spacing ΔX is calculated according to the formula ΔX = (0.5 × effective coverage width of the nozzle).

[0047] P3, Trajectory Fitting: Extract the horizontal layer number j. If j is odd, the robotic arm controls the nozzle to move horizontally from left to right. If j is even, the robotic arm controls the nozzle to move horizontally from right to left. The start and end points of the first and last paths of each layer are projected onto the XY plane. The trajectory is fitted according to the horizontal line spacing ΔX, the height plane h, and the vertical step ΔZ = 20mm to obtain the local cross-section spraying trajectory.

[0048] P4: Real-time detection of spray thickness via 3D vision sensor. If local thickness is less than the preset value, automatic triggering of the re-spray sub-program.

[0049] The beneficial effects of this invention are:

[0050] 1. The method of this invention can improve construction efficiency and quality. The mining shotcrete robot can operate continuously and at a high speed, without frequent breaks, and its work efficiency far exceeds that of manual labor. By controlling the spraying trajectory and parameters through a preset program, it ensures uniform concrete density and low rebound rate, thereby improving the overall construction quality. It can operate stably in narrow, dangerous, or high-difficulty construction areas, covering areas that are difficult for humans to reach.

[0051] 2. The method of this invention can reduce the risk of occupational diseases and alleviate labor intensity. Workers do not need to be directly exposed to high dust, humid, or chemical environments, thus reducing the risk of occupational diseases. It can replace high-intensity manual hand-held spraying operations, avoid prolonged physical exertion, and improve work comfort.

[0052] 3. The three-dimensional spiral trajectory design enables continuous and thorough spraying of the entire cross-section, avoiding the "dead angle" problem that is prone to occur with manual or linear scanning, thus ensuring uniform spray layer thickness and adhesion strength; achieving the optimal balance between overall coverage, efficiency and material saving, suitable for large-scale continuous spraying tasks;

[0053] 4. By employing fine grid-based repair, plow-style spraying to minimize the empty travel path, and 3D vision sensors for online thickness measurement, a "spray-measure-repair" closed loop is formed in areas with insufficient thickness, ensuring that the thickness of each layer meets the design requirements; achieving rapid and accurate local reinforcement and reducing resource waste;

[0054] In summary, the entire solution of this invention realizes a closed-loop operation process from automatic positioning → point cloud acquisition and decision branching → full-section / partial-section trajectory planning → shotcreting execution → automatic movement, which significantly improves shotcreting quality, efficiency and safety. Attached Figure Description

[0055] The invention will now be further described with reference to the accompanying drawings.

[0056] Figure 1 This is a flowchart of the present invention;

[0057] Figure 2 This is a right view of the mining shotcrete robot used in this invention;

[0058] Figure 3 This is a left view of the mining shotcrete robot used in this invention;

[0059] Figure 4 This is a front view of the mining shotcrete robot used in this invention;

[0060] Figure 5 This is a side view of the robotic arm of the mining shotcrete robot used in this invention.

[0061] The attached diagram lists the components represented by each number as follows:

[0062] 1. Main frame; 2-1. Left travel track; 2-2. Right travel track; 3. Explosion-proof control box; 4. Touch screen; 5. Lane scanning device; 6. Robotic arm; 7. Material conveying device; 8. LiDAR I; 9. Automatic cable reel; 10. Hydraulic cylinder; 11. LiDAR II; 12. Protective cover; 13. Material conveying pipe; 14. Water supply pipe; 15. Nozzle; 16. Nozzle rotation joint; 17. Arm rotation joint; 18. Primary telescopic joint; 19. Secondary telescopic joint; 20. Tertiary telescopic joint; 21. Boom rotation joint. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] like Figures 1 to 5As shown, the present invention discloses a method for operating a mine shotcrete robot. This method is based on a mine shotcrete robot, which includes a main frame 1, a robotic arm 6 installed at the front of the main frame 1, an explosion-proof control box 3 installed on the main frame 1, a left-walking track 2-1, a right-walking track 2-2, a roadway scanning device 5 installed under the main frame 1, a laser radar 8 installed on the top of the main frame 1, an automatic cable reel 9 located at the rear of the main frame 1, and a material conveying device 7. The laser radar 8 is located on the top of the mine shotcrete robot, the left-walking track 2-1 and the right-walking track 2-2 are symmetrically arranged on the left and right sides of the mine shotcrete robot, the explosion-proof control box 3 is fixed on the main frame 1, and a touch screen 4 for setting and displaying parameters of the mine shotcrete robot is fixed on the door panel of the explosion-proof control box 3. The automatic cable reel 9 is installed at the end of the main frame 1, one end of the cable is connected to an electromagnetic starter box on the side of the main frame 1, and the other end is connected to the incoming power supply.

[0065] The tunnel scanning device 5 is installed at the bottom of the mining shotcrete robot. The tunnel scanning device 5 extends when scanning the tunnel and retracts after scanning. It includes a hydraulic cylinder 10 fixed below the main frame 1, a protective cover 12 fixed in front of the hydraulic cylinder 10, and a laser 11 installed behind the protective cover 12.

[0066] The robotic arm 6 includes three telescopic joints (primary telescopic joint 18, secondary telescopic joint 19, and tertiary telescopic joint 20), a large arm rotary joint 21, a small arm rotary joint 17, a nozzle rotary joint 16, a displacement sensor installed inside the hydraulic cylinder 10, an external rotary encoder, and a material conveying device 7. The tertiary telescopic joint 20 is connected to the mining shotcrete robot via the large arm rotary joint 21. The tertiary telescopic joint 20 is equipped with the secondary telescopic joint 19, the secondary telescopic joint 19 is equipped with the primary telescopic joint 18, and the primary telescopic joint 18 is equipped with the nozzle rotary joint 16. The nozzle rotary joint 16 is equipped with the material conveying device 7.

[0067] The material conveying device 7 includes a nozzle 15 fixed to the end of the robotic arm 6 and a material conveying pipe 13 and a water supply pipe 14 fixed from the tail of the mining shotcrete robot along the side of the main frame 1.

[0068] This method mainly includes the following steps:

[0069] S1. Automatic adjustment of the position of the mining shotcrete robot: The laser radar-8 on the top of the mining shotcrete robot scans the tunnel environment in real time, and automatically adjusts the mining shotcrete robot to the center position of the tunnel based on the scan data.

[0070] S2. The specific steps for trajectory planning of shotcrete operation in the tunnel are as follows:

[0071] Step 201: The second LiDAR unit 11 at the bottom of the main frame 1 automatically extends;

[0072] Step 202: The lidar 211 scans the cross-section of the tunnel to track the shotcrete operation trajectory and collects tunnel point cloud data;

[0073] Step 203: The LiDAR 21 at the bottom of the main unit frame 1 will automatically retract after completing the scanning and data acquisition.

[0074] Step 204, shotcrete selection: If full-section shotcrete is selected on the touch screen 4 on the explosion-proof control box 3, proceed to step S3; if partial-section shotcrete is selected on the touch screen 4 on the explosion-proof control box 3, proceed to step S4.

[0075] S3, Full-section shotcrete operation:

[0076] Step 301: Select full-section shotcrete operation via the touch screen 4 on the explosion-proof control box 3 of the main frame 1;

[0077] Step 302: Perform full-section shotcrete trajectory planning. After the trajectory planning is completed, the robotic arm 6 automatically extends to the starting point of the shotcrete operation, and the nozzle corresponding to the spray head 15 is aligned with the bottom corner of the tunnel. The specific process of full-section shotcrete trajectory planning is as follows:

[0078] T1: Denoise and fit the tunnel point cloud data to determine the cross-sectional boundary and center position. Select the sampling points with the maximum Z value Ztop and the minimum Z value Zmin (the maximum Z value refers to the Z-axis in the point cloud data) from the point cloud and record them as the highest and lowest points of the roof. Use the highest and lowest points of the roof as the starting and ending points of the shotcrete trajectory. Use RANSAC to fit the vertical planes on the left and right sides to determine the cross-sectional width W and the center line position, which is recorded as (Xcenter, Ycenter).

[0079] T2: Calculate the initial radius R0 according to the formula R0 = (W / 2) - δ, where δ is a safety margin defaulted to by those skilled in the art, for example, it can be set to 50mm by those skilled in the art and can be manually changed; calculate the interlayer spacing ΔR according to the formula ΔR = (0.8 × effective coverage width of the nozzle), where the effective coverage width of the nozzle is determined by the nozzle 15 used by the mining shotcrete robot, and 0.8 is the overlap ratio set by those skilled in the art; divide the initial radius by the interlayer spacing and round up the resulting value to obtain the number of layers K;

[0080] T3: For each layer k, the rotation angle θ∈[0, 2π], where k=1, 2, 3……K, k represents the spiral loop index of any layer; construct the spiral parametric equations: Where (R0-k×ΔR) is the helix radius R k ;

[0081] T4: Divide the rotation angle θ into m segments (e.g., one point every 5°) to obtain a point sequence denoted as {θ}. i =i·Δθ|i=0...m}, where For each pair (θi, k), calculate the corresponding control points (Xi, Yi, Zi), where i is a positive integer representing any control point; thus, several control points for the spiral path can be obtained.

[0082] T5: Using the highest and lowest points of the top slab as the starting and ending points of the shotcrete trajectory, the full-section shotcrete trajectory is fitted based on several control points (Xi, Yi, Zi) of the spiral path (the control points are smoothed during the fitting process to avoid sudden stops and starts of the robot and improve the smoothness of operation and uniformity of the sprayed layer; those skilled in the art often use spline or polynomial interpolation methods for smoothing). The inverse kinematics (IK) is executed in sequence according to the control points to solve the joint angles, ensuring that the trajectory of the end nozzle 15 coincides with the discrete points. An IMU is installed at the end of the robotic arm to measure the roll and pitch deviation in real time. If the deviation is >3°, the shotcrete is immediately paused, the IK is recalculated, and a compensation action is performed. The touch screen 4 displays the current layer number k, the remaining area, and the remaining amount of shotcrete in real time.

[0083] Step 303: Start feeding materials and water. After the materials and water are properly mixed, start the operation.

[0084] Step 304: The robotic arm 6 starts spraying from the starting point of the spraying operation and stops after reaching the end point. Step S5 is then executed. The specific process of the full-section spraying operation is as follows: By controlling the three-dimensional spiral motion of the robotic arm 6 of the mining spraying robot within the cross-section, it starts from the highest point of the top plate (i.e., k=0) and covers the entire cross-section in a spiral manner (full-section spraying trajectory) downwards. With each layer, the radius and height decrease by a fixed amount. When the spiral radius R... k When the spraying is terminated at the lowest point Zmin of the bottom plate and θ = 2π, the mechanical arm 6 is controlled to vertically raise the nozzle 15 to a safe height.

[0085] The design of the three-dimensional spiral trajectory enables continuous and thorough spraying of the entire cross-section, avoiding the "dead angle" problem that is easily caused by manual or linear scanning, thus ensuring uniform spray thickness and adhesion strength; achieving the optimal balance between overall coverage, efficiency and material saving, and is suitable for large-scale continuous spraying tasks.

[0086] S4. Local section shotcrete operation;

[0087] Step 401: Select local section shotcrete operation via the touch screen 4 on the explosion-proof control box 3 of the main frame 1;

[0088] Step 402: Perform local section shotcrete trajectory planning. After the trajectory planning is completed, the robotic arm 6 automatically extends to the starting point of the shotcrete operation, and the nozzle corresponding to the nozzle 15 is aligned with the starting position of the shotcrete operation. The specific process of local section shotcrete trajectory planning is as follows:

[0089] P1, Target Area Selection: Extract the selected local repair area from the touchscreen 4, and extract the point cloud data of the selected area. From this, extract the starting point (the maximum Z-value point Zmax corresponding to the upper left corner of the selected area), the ending point (the minimum Z-value point Zmin corresponding to the lower right corner of the selected area), the maximum depth D (D = Zmax - Zmin), and the boundary point set of the local repair area; according to the formula (D / 20mm), and rounding up the obtained value, obtain the number of layers J; where 20mm is the layer thickness set by those skilled in the art by default. Thinner layers help to form good adhesion between the new spray layer and the previous layer, improving the stability of the overall structure. By dividing the area depth into multiple layers not exceeding 20mm, the spraying process can be better controlled, ensuring that each layer uniformly and continuously covers the target area; this value can be manually changed by those skilled in the art according to actual needs.

[0090] P2, Gridded Layered Filling: The selected local repair area is divided into several horizontal slices of equal thickness along the vertical direction (Z-axis). Each layer corresponds to a fixed height plane h, where h = Zmax - (j-1) × 20, j = 1, 2, 3...J, and j is the horizontal index of each layer; a plow-like covering strategy is adopted, and horizontal straight-line back-and-forth sweeping is used. The horizontal line spacing ΔX is calculated according to the formula ΔX = (0.5 × effective coverage width of the nozzle).

[0091] P3, Trajectory Fitting: Extract the horizontal layer number j. If j is odd, the robotic arm 6 controls the nozzle 15 to move horizontally from left to right; if j is even, the robotic arm 6 controls the nozzle 15 to move horizontally from right to left. The start and end points of the first and last paths of each layer (the start and end points of a single layer path correspond to the area boundary respectively) are projected onto the XY plane. The trajectory is fitted according to the horizontal line spacing ΔX, the height plane h, and the vertical step ΔZ = 20mm to obtain the local cross-section spraying trajectory. It should be noted that the layer thickness and line spacing can be adjusted in real time by technicians on the touch screen 4.

[0092] Alternating directions of travel avoids returning to the same boundary and starting over after each layer is completed, greatly saving time on the empty travel route. Compared with traditional layer-by-layer unidirectional scanning, the total path length and operation time to complete the coverage of the entire area are reduced.

[0093] P4: Real-time detection of spray thickness via 3D vision sensor. If the local thickness is less than the preset value (e.g., 50mm), the re-spray sub-program is automatically triggered.

[0094] Step 403: Start feeding materials and water. After the materials and water are properly mixed, start the operation.

[0095] Step 404: Control the robotic arm 6 to start spraying from the starting point of the spraying operation according to the local cross-section spraying trajectory. After reaching the end point of the spraying operation, the robotic arm 6 stops and executes step S5.

[0096] By employing fine grid-based repair, plow-style spraying to minimize the empty travel path, and online thickness measurement using 3D vision sensors, a "spray-measure-repair" closed loop is formed in areas with insufficient thickness, ensuring that the thickness of each layer meets the design requirements; achieving rapid and accurate local reinforcement and reducing resource waste.

[0097] S5. Automatic walking mechanism for mining shotcrete robot:

[0098] Step 501: Set the automatic forward travel distance via the touch screen 4 on the explosion-proof control box 3 of the main frame 1;

[0099] After step 502, step S3 or step S4 is completed, the mining shotcrete robot will automatically move forward;

[0100] Step 503: After the walking is completed, the robotic arm 6 reverses to perform the shotcrete operation, from the shotcrete end point to the shotcrete start point;

[0101] Step 504: When the mining shotcrete robot moves forward, the cable is automatically wound up and unwound through the automatic cable reel 9 located at the rear of the main frame 1.

[0102] Step 505: Repeat steps S3 and S5 multiple times, or repeat steps S4 and S5 multiple times, until the shotcrete operation of N meters is completed.

[0103] It should be noted that steps S1 to S5 form a complete closed-loop scheme of "automatic positioning → point cloud decision → trajectory planning → shotcreting execution → automatic movement". Both full-section and partial-section trajectory planning help to achieve beneficial effects such as uniform spraying, high efficiency and safety, significantly improving the overall performance and economic benefits of tunnel shotcreting automation.

[0104] In this embodiment, it should be noted that the automatic adjustment of the position of the mining shotcrete robot means that the mining shotcrete robot controls the left and right tracks (left walking track 2-1 and right walking track 2-2) to move to the center of the roadway to prepare for shotcrete operation based on the real-time scanning of the distance and angle between the robot and the two roadways by the lidar 2-1 installed on the top.

[0105] In step S2, scanning the tunnel and planning the trajectory means that when the robot is in the center of the tunnel, the LiDAR 21 on the bottom of the robot automatically extends and scans the tunnel cross section through the LiDAR 211, and plans the optimal spraying operation trajectory of the robotic arm 6 based on the scanned tunnel parameters.

[0106] In steps S3 and S4, the shotcrete operation range is controlled by inputting the shotcrete operation parameters and setting the shotcrete operation interval. After the trajectory planning is completed, the robotic arm 6 automatically adjusts to the shotcrete starting position. At this time, the shotcrete material and water required for the shotcrete operation are supplied through the material conveying pipe 13 and the water supply pipe 14. After the water and material are mixed and proportioned, the shotcrete operation is started by remote control, and the robotic arm 6 performs shotcrete operation along the planned trajectory.

[0107] In step S5, after the robotic arm 6 completes a full shotcrete operation along the planned trajectory, the mine shotcrete robot automatically corrects its course and moves forward along the center line of the leading roadway based on the position information collected by the lidar 21 on the top. When the travel distance reaches the set distance, it stops moving, and the robotic arm 6 automatically reverses direction to perform shotcrete operations along the shotcrete trajectory. The mine shotcrete robot repeatedly executes steps S3, S4, and S5 to perform shotcrete operations.

[0108] The mining shotcrete robot of the present invention has a small size and good maneuverability, making it easy to move in the narrow space underground; the robotic arm 6 is flexible in movement, can be retracted when moving to a different location, occupies little space, can perform full-section and partial-section shotcrete operations, and has high shotcrete operation efficiency and good shotcrete operation effect.

[0109] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. A method for operating a mine shotcrete robot, implemented based on a mine shotcrete robot, characterized in that, The method includes the following steps: S1, Automatically adjust the position of the mine shotcrete robot: The laser radar on the top of the mine shotcrete robot scans the tunnel environment in real time, and automatically adjusts the mine shotcrete robot to the center of the tunnel according to the scan data; S2, trajectory planning for shotcreting operations in the tunnel, specifically: Step 201: The bottom lidar II (11) of the main frame (1) automatically extends; Step 202: The laser radar (11) scans the cross-section of the tunnel to track the shotcrete operation trajectory and collects tunnel point cloud data. Step 203: The bottom lidar (11) of the main frame (1) is automatically retracted; Step 204, shotcrete selection: If full-section shotcrete is selected on the touch screen (4) of the explosion-proof control box (3), proceed to step S3; if partial-section shotcrete is selected on the touch screen (4) of the explosion-proof control box (3), proceed to step S4. S3, perform full-section shotcreting operation, and execute step S5 after the operation is completed; S4, perform local section shotcrete operation, and execute step S5 after the operation is completed; S5, a mining shotcrete robot that moves automatically.

2. The method for operating a mine shotcrete robot according to claim 1, characterized in that, The mining shotcrete robot includes a main frame (1), a mechanical arm (6) installed at the front of the main frame, an explosion-proof control box (3) installed on the main frame (1), a left walking track (2-1), a right walking track (2-2), a roadway scanning device (5) installed under the main frame (1), a laser radar (8) installed on the top of the main frame (1), an automatic cable reel (9) set at the rear of the main frame (1), and a material conveying device (7). The tunnel scanning device (5) is installed at the bottom of the mine shotcrete robot. It extends during tunnel scanning and retracts after scanning is completed. The tunnel scanning device (5) includes a hydraulic cylinder (10) fixed below the main frame (1), a protective cover (12) fixed on the hydraulic cylinder (10), and a laser radar II (11) installed between the hydraulic cylinder (10) and the protective cover (12); The material conveying device (7) includes a nozzle (15) fixed at the end of the robotic arm (6) and a material conveying pipe (13) and a water supply pipe (14) fixed from the tail of the mining shotcrete robot along the side of the main frame (1).

3. The method for operating a mine shotcrete robot according to claim 2, characterized in that, The specific execution process of full-section shotcreting operation is as follows: Step 301: Select full-section shotcrete operation via the touch screen (4) on the explosion-proof control box (3) of the main frame (1); Step 302: Perform full-section shotcrete trajectory planning. After the planning is completed, the robotic arm (6) automatically extends to the starting point of the shotcrete operation, and the nozzle corresponding to the nozzle (15) is aligned with the bottom corner of the tunnel. Step 303: Start feeding materials and water. After the materials and water are properly mixed, start the operation. Step 304: The robotic arm (6) starts spraying from the starting point of the spraying operation and stops after reaching the end point of the spraying operation. Step S5 is then executed.

4. The method for operating a mine shotcrete robot according to claim 3, characterized in that, The execution process for partial section shotcreting is as follows: Step 401: Select local section shotcrete operation via the touch screen (4) on the explosion-proof control box (3) of the main frame (1); Step 402: Perform local section shotcrete trajectory planning. After the planning is completed, the robotic arm (6) automatically extends to the shotcrete operation start point, and the nozzle corresponding to the nozzle (15) is aligned with the shotcrete start point position. Step 403: Start feeding materials and water. After the materials and water are properly mixed, start the operation. Step 404: The robotic arm (6) starts the shotcrete operation from the starting point of the shotcrete operation and stops after reaching the end point of the shotcrete operation. Then, step S5 is executed.

5. The method for operating a mine shotcrete robot according to claim 4, characterized in that, The specific execution process of the automatic walking of the mine shotcrete robot is as follows: Step 501: Set the automatic forward walking distance via the touch screen (4) on the explosion-proof control box (3) of the main frame (1); After step 502, step S3, or step S4 is completed, the robot will automatically move forward. Step 503: After the walking is completed, the robotic arm (6) reverses to perform the shotcrete operation from the shotcrete end point to the shotcrete start point; Step 504: When the mining shotcrete robot moves forward, the cable is automatically wound up and unwound through the automatic cable reel (9) located at the rear of the main frame (1); Step 505: Repeat steps S3 and S5 or repeat steps S4 and S5 until the shotcrete operation of N meters is completed.

6. The method for operating a mine shotcrete robot according to claim 2, characterized in that, The laser radar (8) is set on the top of the mining shotcrete robot, and the left walking track (2-1) and the right walking track (2-2) are symmetrically set on the left and right sides of the mining shotcrete robot, respectively.

7. The method for operating a mine shotcrete robot according to claim 6, characterized in that, The explosion-proof control box (3) is fixed on the main frame (1), and a touch screen (4) is installed on the door panel of the explosion-proof control box (3).

8. The method for operating a mine shotcrete robot according to claim 7, characterized in that, The automatic cable reel (9) is installed at the end of the main frame (1), with one end of the cable connected to the electromagnetic starter box on the side of the main frame (1) and the other end connected to the incoming power supply. The shotcrete robotic arm (6) includes a primary telescopic joint (18), a secondary telescopic joint (19), a tertiary telescopic joint (20), a large arm rotation joint (21), a small arm rotation joint (17), a nozzle rotation joint (16), a displacement sensor installed inside the hydraulic cylinder (10), an external rotary encoder, and a material conveying device (7).

9. The method for operating a mine shotcrete robot according to claim 4, characterized in that, The specific planning process for full-section shotcrete trajectory planning is as follows: T1: Denoise and fit the tunnel point cloud data to determine the cross-sectional boundary and center position. Select the sampling points with the maximum Z value Ztop and the minimum Z value Zmin from the point cloud and record them as the highest and lowest points of the roof. Use the highest and lowest points of the roof as the starting and ending points of the shotcrete trajectory. Use RANSAC to fit the vertical planes on the left and right sides to determine the cross-sectional width W and the center line position, which is recorded as (Xcenter, Ycenter). T2: Calculate the initial radius R0 according to the formula R0=(W / 2)-δ, where δ is the safety margin assumed by those skilled in the art; calculate the interlayer spacing ΔR according to the formula ΔR=(0.8×effective coverage width of the nozzle); divide the initial radius by the interlayer spacing and round up the resulting value to obtain the number of layers K; T3: For each layer k, the rotation angle θ∈[0, 2π], where k=1, 2, 3……K, k represents the spiral loop index of any layer; construct the spiral parametric equations: Where (R0-k×ΔR) is the helix radius R k ; T4: Divide the rotation angle θ into m segments to obtain a point sequence, denoted as {θ}. i =i·Δθ|i=0...m}, where For each pair (θi, k), calculate the corresponding control points (Xi, Yi, Zi), where i is a positive integer representing any control point; thus, several control points for the spiral path can be obtained. T5: The highest and lowest points of the top plate are used as the starting and ending points of the shotcrete trajectory. The full-section shotcrete trajectory is then fitted according to several control points (Xi, Yi, Zi) of the spiral path. The joint angle is solved by inverse kinematics in the order of the control points. The touch screen displays the current layer number k, the remaining area and the remaining shotcrete amount in real time.

10. The method for operating a mine shotcrete robot according to claim 9, characterized in that, The specific planning process for local section shotcrete trajectory planning is as follows: P1, Target area selection: Extract the local repair area selected on the touch screen, and extract the point cloud data of the selected area. Extract the start point, end point, maximum depth, and boundary point set of the local repair area from it; divide the maximum depth by 20mm and round up the obtained value to get the number of layers J. P2, Gridded Layered Filling: The selected local repair area is divided into several horizontal slices of the same thickness along the vertical direction. Each layer corresponds to a fixed height plane h, where h = Zmax - (j-1) × 20, and j is the horizontal index of each layer; A plowing-style covering strategy is adopted, and horizontal straight-line back-and-forth sweeping is used. The horizontal line spacing ΔX is calculated according to the formula ΔX = (0.5 × effective coverage width of the nozzle). P3, Trajectory Fitting: Extract the horizontal layer number j. If j is odd, the robotic arm controls the nozzle to move horizontally from left to right. If j is even, the robotic arm controls the nozzle to move horizontally from right to left. The start and end points of the first and last paths of each layer are projected onto the XY plane. The trajectory is fitted according to the horizontal line spacing ΔX, the height plane h, and the vertical step ΔZ = 20mm to obtain the local cross-section spraying trajectory. P4: Real-time detection of spray thickness via 3D vision sensor. If local thickness is less than the preset value, automatic triggering of the re-spray sub-program.

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