Robot sensing system and robot sensing and positioning method

Abstract

A robot sensing system and a robot sensing and positioning method, which are used in borehole operations, and which relate to the technical field of intelligent robots. The robot sensing system comprises: a mining narrow-track transfer robot (1), ultrasonic ranging sensors (2) arranged at a head unit of the mining narrow-track transfer robot (1), laser sensors (3) arranged at a bucket of the mining narrow-track transfer robot (1), and a wireless remote controller (4) used for remotely controlling the mining narrow-track transfer robot. During operation, the mining narrow-track transfer robot (1) can avoid an obstacle, thereby preventing an accident; and the wireless remote controller (4) is additionally provided to acquire operating states and operating parameters of the sensors, such that the mining narrow-track transfer robot (1) is controlled and positioned, and no manual on-site control is required, thereby saving on manpower and improving the work efficiency.

Description

Robot perception system and perception positioning method Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a robot perception system and a perception positioning method. Background Art

[0002] The tunnel boring machine is located in the middle of the tunnel, about 2 meters away from the tunnel wall, which is a narrow working area. Anchor rods and wire mesh transported by rubber-wheeled trackless vehicles cannot be delivered to the tunnel boring machine. They can only be unloaded at a distance of about 100-200 meters from the tunnel head and then transported to the tunnel boring machine head by manual means, which greatly increases the labor intensity of the workers. In addition, the anchor rods and cables at the top of the tunnel working face require high-altitude work. Manually lifting the anchor rods and cables further increases the labor intensity and operational risks of the workers. Therefore, exploring the use of robotic technology to assist manual handling or replace manual handling will effectively improve the working mode of underground workers, reduce the labor intensity of workers, improve the efficiency of material transfer, and thus improve the safety of underground operations.

[0003] Based on the above background, a narrow transfer robot came into being. It can replace manual handling, but general transfer robots are not equipped with sensor systems and can easily encounter obstacles and even cause accidents in narrow working areas. Summary of the Invention

[0004] The present invention provides a robot perception system and a perception positioning method. By arranging a perception system on a narrow crawler transfer robot for mining, the narrow crawler transfer robot for mining can not only avoid obstacles and accidents when working, but also the present invention adds a wireless remote control, which can obtain the working status and working parameters of each sensor, and then control and position the narrow crawler transfer robot for mining without the need for manual on-site control. This not only saves manpower, but also enables the narrow crawler transfer robot for mining to work better and improves work efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The first aspect of the present invention provides a robot perception system, including: a narrow crawler transfer robot for mining, and also including: an ultrasonic ranging sensor arranged at the front of the narrow crawler transfer robot for mining, a laser sensor arranged at the bucket of the narrow crawler transfer robot for mining, and a wireless remote control for remotely controlling the narrow crawler transfer robot for mining.

[0007] Furthermore, the robot perception system also includes: a first magnetostrictive sensor arranged at the hydraulic support leg of the narrow crawler transfer robot for mining, and an inclination sensor arranged at the lifting bucket of the narrow crawler transfer robot for mining.

[0008] Furthermore, the robot perception system also includes: an angle sensor arranged at the mechanical upright arm of the narrow crawler transfer robot for mining, a second magnetostrictive sensor arranged at the angle adjustment hydraulic cylinder of the narrow crawler transfer robot for mining, a nine-axis attitude sensor arranged at the body position of the narrow crawler transfer robot for mining, an encoder arranged at the mechanical forearm of the narrow crawler transfer robot for mining, a third magnetostrictive sensor arranged at the folding arm cylinder of the narrow crawler transfer robot for mining, and a three-force sensor arranged at the mechanical gripper of the narrow crawler transfer robot for mining.

[0009] Furthermore, the robot perception system includes: two ultrasonic ranging sensors, which are respectively located on both sides of the front of the mining narrow crawler transfer robot.

[0010] Furthermore, the robot perception system includes: four laser sensors, which are respectively located at the four corners of the bucket of the mining narrow crawler transfer robot.

[0011] Furthermore, the robot perception system includes: two tilt sensors, which are respectively located on both sides of the lifting bucket of the mining narrow crawler transfer robot.

[0012] A second aspect of the present invention provides a robot perception and positioning method, comprising:

[0013] Ultrasonic ranging sensors are used to monitor in real time the distance between the narrow crawler transfer robot for mining and the obstacles ahead during its movement.

[0014] The distance between the narrow crawler transfer robot for mining and obstacles or walls on both sides during its movement is monitored in real time by a laser sensor.

[0015] According to the distance between the narrow crawler transfer robot for mining and the obstacle in front and the distance between the narrow crawler transfer robot and the obstacles or walls on both sides, the narrow crawler transfer robot for mining is remotely positioned using a wireless remote controller.

[0016] Furthermore, the robot perception and positioning method further includes:

[0017] When the narrow crawler transfer robot for mining is working, the displacement of the hydraulic support legs is obtained through the magnetostrictive sensor and the inclination change of the lifting bucket is obtained through the inclination sensor to obtain whether the load of the narrow crawler transfer robot for mining is uniform.

[0018] Furthermore, the robot perception and positioning method further includes:

[0019] When the narrow crawler transfer robot for mining is working, the angle of the mechanical upright arm of the narrow crawler transfer robot for mining is obtained through an angle sensor, the tilt angle of the bucket of the narrow crawler transfer robot for mining after loading is obtained through an inclination sensor, the angular displacement and linear displacement of the mechanical forearm of the narrow crawler transfer robot for mining is obtained through an encoder, the displacement of the folding arm oil cylinder of the narrow crawler transfer robot for mining is obtained through a magnetostrictive sensor, and the force condition of the mechanical clamp of the narrow crawler transfer robot for mining is obtained through a three-force sensor, so that the narrow crawler transfer robot for mining can be remotely controlled and positioned using the wireless remote controller.

[0020] The present invention provides a robot perception system and a perception positioning method, comprising: an ultrasonic ranging sensor arranged at the front of a narrow crawler transfer robot for mining, a laser sensor arranged at the bucket of the narrow crawler transfer robot for mining, and a wireless remote controller for remotely controlling the narrow crawler transfer robot for mining. Compared with the prior art, the present invention provides a perception system on the narrow crawler transfer robot for mining, so that the narrow crawler transfer robot for mining can not only avoid obstacles and accidents when working, but also adds a wireless remote controller, which can obtain the working status and working parameters of each sensor, and then control and position the narrow crawler transfer robot for mining, without the need for manual on-site control, which not only saves manpower but also enables the narrow crawler transfer robot for mining to work better and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. The drawings are only used to illustrate the implementation methods and are not to be considered as limiting the present invention.

[0022] FIG1 is a schematic diagram of the structure of a robot perception system according to an embodiment of the present invention;

[0023] FIG2 is a schematic diagram of the structure of another robot perception system according to an embodiment of the present invention;

[0024] FIG3 is a schematic diagram of the structure of another robot perception system according to an embodiment of the present invention;

[0025] FIG4 is a schematic flow chart of a robot sensing and positioning method according to an embodiment of the present invention;

[0026] FIG5 is a schematic flow chart of another robot sensing and positioning method according to an embodiment of the present invention;

[0027] FIG6 is a flow chart of another robot perception and positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the art to which the present invention belongs; the terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The terms "including" and "having" and any variations thereof in the description and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions.

[0030] In the description of the embodiments of the present invention, technical terms such as "first" and "second" are used solely to distinguish between different objects and should not be understood to indicate or imply relative importance or to implicitly specify the quantity, specific order, or primary and secondary relationship of the technical features indicated. In the description of the embodiments of the present invention, "plurality" means more than two, unless otherwise specifically defined.

[0031] In the description of the embodiments of the present invention, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exists simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0032] In the description of the embodiments of the present invention, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0033] In the description of the embodiments of the present invention, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present invention.

[0034] In the description of the embodiments of the present invention, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and can refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances. Example 1

[0035] An embodiment of the present invention provides a robot perception system, as shown in Figure 1, comprising: a narrow crawler transfer robot 1 for mining, and also comprising: an ultrasonic ranging sensor 2 arranged at the front of the narrow crawler transfer robot for mining, a laser sensor 3 arranged at the bucket of the narrow crawler transfer robot for mining, and a wireless remote controller 4 for remotely controlling the narrow crawler transfer robot for mining.

[0036] Among them, the mining narrow crawler transfer robot 1 is a transfer robot working in underground tunnels.

[0037] Ultrasonic ranging sensors 2 use ultrasonic waves (sound waves with frequencies above the human audible range, typically above 20 kHz) to measure the distance to objects. These sensors are widely used in various fields, such as industrial automation, automotive safety systems, robotics, and even common household appliances. This embodiment does not limit the number of ultrasonic ranging sensors 2. To better avoid obstacles ahead, this embodiment installs ultrasonic ranging sensors 2 on both sides of the front of the narrow-track mining transfer robot, as shown in Figure 1.

[0038] Laser sensor 3 is a device that uses laser beams for measurement and detection. This sensor has a wide range of applications, ranging from simple distance measurement to complex three-dimensional scanning and shape recognition. This embodiment does not limit the number of laser sensors 3. To better avoid obstacles on both sides, this embodiment installs laser sensors 3 at all four corners of the mining narrow crawler transfer robot's bucket, as shown in Figure 1.

[0039] A wireless remote control is an electronic device used to remotely control the operation of another device or system. It allows users to operate devices from a distance using wireless signals without physical contact. Wireless remote controls are common in many everyday applications and industrial fields, such as televisions, air conditioners, toy cars, drones, and certain complex industrial systems. The following are some of the key components and principles of wireless remote controls:

[0040] Transmitter: This is the handheld portion of the remote control, containing buttons, joysticks, or other control interfaces that allow users to input their desired commands. When a button is pressed, the transmitter generates corresponding electrical signals, which are converted into radio waves and sent out.

[0041] Wireless signals: Most wireless remote controls communicate via radio frequency (RF) signals, but some use infrared (IR) signals. RF signals can penetrate objects, allowing communication even when there are physical obstacles between the remote and the device; IR signals, on the other hand, require line of sight because they cannot penetrate objects.

[0042] Receiver: The device being controlled has a receiver that captures the wireless signal from the remote control. Once the receiver captures the signal, it decodes it and converts it into electrical signals, which are then used to activate mechanical or electronic devices that perform the corresponding actions.

[0043] Actuators: These are mechanical or electronic components that perform the actual action, such as motors, pumps, or internal circuits. For example, when you use the remote to turn on your TV, the signal received triggers a circuit, causing the TV to receive power and turn on.

[0044] Power Source: Most wireless remotes are powered by internal batteries, which need to be replaced or recharged periodically.

[0045] It should be noted here that the detailed description of each component structure of this embodiment can refer to other embodiments and will not be repeated here.

[0046] An embodiment of the present invention provides a robot perception system, including: an ultrasonic ranging sensor arranged at the front of the narrow crawler transfer robot for mining, a laser sensor arranged at the bucket of the narrow crawler transfer robot for mining, and a wireless remote controller for remotely controlling the narrow crawler transfer robot for mining. Compared with the existing technology, the embodiment of the present invention sets a perception system on the narrow crawler transfer robot for mining, so that the narrow crawler transfer robot for mining can not only avoid obstacles and avoid accidents when working, but also the present invention adds a wireless remote controller, which can obtain the working status and working parameters of each sensor, and then control and position the narrow crawler transfer robot for mining, without the need for manual on-site control, which not only saves manpower, but also enables the narrow crawler transfer robot for mining to work better and improves work efficiency. Example 2

[0047] An embodiment of the present invention provides a robot perception system, as shown in Figure 2, comprising: a narrow crawler transfer robot 1 for mining, and also comprising: an ultrasonic ranging sensor 2 arranged at the front of the narrow crawler transfer robot for mining, a laser sensor 3 arranged at the bucket of the narrow crawler transfer robot for mining, and a wireless remote controller 4 for remotely controlling the narrow crawler transfer robot for mining.

[0048] Furthermore, it also includes: a first magnetostrictive sensor 5 provided at the hydraulic support leg of the narrow crawler transfer robot for mining, and an inclination sensor 6 provided at the lifting bucket of the narrow crawler transfer robot for mining.

[0049] The first magnetostrictive sensor 5 is a device that utilizes the magnetostrictive effect to accurately measure linear or angular position. Magnetostriction refers to the phenomenon in which certain materials (particularly ferromagnetic materials such as nickel or certain alloys) undergo a change in shape or size when exposed to a magnetic field. This physical phenomenon is utilized in sensor technology to enable high-precision, contactless position and / or velocity measurement.

[0050] A tilt sensor (also known as a tilt sensor, inclinometer, or tilt switch) is a device used to monitor the tilt or inclination of an object relative to gravity. The core function of this sensor is to detect the tilt of various objects, such as platforms, security systems, and mechanical devices. It is used in many industrial and consumer electronic products.

[0051] This embodiment does not limit the number of the inclination sensors 6. This embodiment includes two inclination sensors 6, which are respectively located on both sides of the lifting bucket of the narrow crawler transfer robot for mining.

[0052] It should be noted here that the detailed description of each component structure of this embodiment can refer to other embodiments and will not be repeated here.

[0053] An embodiment of the present invention provides a robot perception system, including: an ultrasonic ranging sensor arranged at the front of the narrow crawler transfer robot for mining, a laser sensor arranged at the bucket of the narrow crawler transfer robot for mining, and a wireless remote controller for remotely controlling the narrow crawler transfer robot for mining. Compared with the existing technology, the embodiment of the present invention sets a perception system on the narrow crawler transfer robot for mining, so that the narrow crawler transfer robot for mining can not only avoid obstacles and avoid accidents when working, but also the present invention adds a wireless remote controller, which can obtain the working status and working parameters of each sensor, and then control and position the narrow crawler transfer robot for mining, without the need for manual on-site control, which not only saves manpower, but also enables the narrow crawler transfer robot for mining to work better and improves work efficiency.

[0054] At the same time, the embodiment of the present invention also adds a first magnetostrictive sensor and an inclination sensor, which can obtain the displacement of the hydraulic support legs and the inclination change of the lifting bucket to obtain the load condition of the narrow crawler transfer robot for mining. Example 3

[0055] An embodiment of the present invention provides a robot perception system, as shown in Figure 3, comprising: a narrow crawler transfer robot 1 for mining, and also comprising: an ultrasonic ranging sensor 2 arranged at the front of the narrow crawler transfer robot for mining, a laser sensor 3 arranged at the bucket of the narrow crawler transfer robot for mining, and a wireless remote controller 4 for remotely controlling the narrow crawler transfer robot for mining.

[0056] Furthermore, it also includes: a first magnetostrictive sensor 5 arranged at the hydraulic support leg of the narrow crawler transfer robot for mining, and an inclination sensor 6 arranged at the lifting bucket of the narrow crawler transfer robot for mining.

[0057] Furthermore, it also includes: an angle sensor 7 arranged at the mechanical upright arm of the narrow crawler transfer robot for mining, a second magnetostrictive sensor 8 arranged at the angle adjustment hydraulic cylinder of the narrow crawler transfer robot for mining, a nine-axis attitude sensor 9 arranged at the body position of the narrow crawler transfer robot for mining, an encoder 10 arranged at the mechanical forearm of the narrow crawler transfer robot for mining, a third magnetostrictive sensor 11 arranged at the folding arm cylinder of the narrow crawler transfer robot for mining, and a three-force sensor 12 arranged at the mechanical gripper of the narrow crawler transfer robot for mining.

[0058] Angle sensors 7 are devices that measure or monitor changes in rotational angle or position. They are widely used in a variety of industrial and consumer devices, such as automobiles, manufacturing machinery, aerospace equipment, robotics, and even video game controllers. These sensors can very accurately measure relative position changes or rotational motion between objects.

[0059] The second magnetostrictive sensor 8 is a device that utilizes the magnetostrictive effect to accurately measure linear or angular position. Magnetostriction refers to the phenomenon in which certain materials (particularly ferromagnetic materials such as nickel or certain alloys) undergo a change in shape or size when exposed to a magnetic field. This physical phenomenon is exploited in sensor technology to enable high-precision, contactless position and / or velocity measurement.

[0060] The 9-axis attitude sensor 9 is an advanced sensor that integrates three different types of sensors to monitor the orientation, position, and movement of an object in space. These three sensors include:

[0061] Accelerometer: This sensor measures the acceleration of an object in three spatial dimensions (X, Y, and Z). It not only measures changes in velocity but also detects static acceleration due to gravity, which can be used to determine the object's tilt angle.

[0062] Gyroscope: A gyroscope measures the rotational speed of an object in three dimensions. It works by detecting the rotation of an object along each axis, thus understanding how the object rolls, pitches, and yaws.

[0063] Magnetometer: A magnetometer senses the influence of the Earth's magnetic field, providing a relative orientation to the Earth's magnetic north. It measures magnetic field strength in three dimensions, helping to determine an object's orientation relative to the Earth.

[0064] An encoder 10 is a sensor that measures position, velocity, or angle and converts this information into a signal that can be interpreted by a digital device. Encoders are commonly used in mechanical and electronic systems to provide precise position or velocity feedback. Encoders can be categorized into the following main types based on their operating principle and application:

[0065] Optical encoders use a photodiode (LED) and a photoelectric sensor (such as a photodiode or phototransistor) to interpret the pattern on the encoder disk. As the encoder disk rotates or moves, the pattern blocks or transmits light, generating a digital signal.

[0066] Magnetic encoders: Use magnetic fields to sense position. Typically, magnetic encoders use a magnet or magnetic stripe and a magnetic field sensor such as a Hall effect sensor.

[0067] Capacitive encoders: Determine position by measuring the change in capacitance between two electrical conductors. The change in capacitance is caused by patterns or grooves on the encoder disc.

[0068] Mechanical encoders use direct mechanical contact to determine position. While this type of encoder is not as accurate or reliable as other types, they still find use in some low-cost or low-precision applications.

[0069] The third magnetostrictive sensor 11 is a device that utilizes the magnetostrictive effect to accurately measure linear or angular position. Magnetostriction refers to the phenomenon in which certain materials (particularly ferromagnetic materials such as nickel or certain alloys) undergo a change in shape or size when exposed to a magnetic field. This physical phenomenon is exploited in sensor technology to enable high-precision, contactless position and / or velocity measurement.

[0070] The three-axis force sensor 12, more commonly known as a triaxial force sensor or multi-axis force sensor, is an advanced sensor capable of simultaneously measuring forces acting in three mutually perpendicular directions (typically the X, Y, and Z axes). This sensor can measure forces in three directions and can also detect torque (the rotational effect of a force about a point), providing comprehensive information about how an object is affected by force. The core operating principle of the three-axis force sensor 12 involves the use of strain gauges—tiny devices installed inside the sensor that detect minute deformations in a material when a force is applied. When a force is applied to the sensor, the strain gauge deforms, causing its resistance to change. These changes are then converted into electrical signals and, through circuitry, into digital readouts, providing precise information about the magnitude and direction of the applied force.

[0071] It should be noted here that the detailed description of each component structure of this embodiment can refer to other embodiments and will not be repeated here.

[0072] An embodiment of the present invention provides a robot perception system, including: an ultrasonic ranging sensor arranged at the front of the narrow crawler transfer robot for mining, a laser sensor arranged at the bucket of the narrow crawler transfer robot for mining, and a wireless remote controller for remotely controlling the narrow crawler transfer robot for mining. Compared with the existing technology, the embodiment of the present invention sets a perception system on the narrow crawler transfer robot for mining, so that the narrow crawler transfer robot for mining can not only avoid obstacles and avoid accidents when working, but also the present invention adds a wireless remote controller, which can obtain the working status and working parameters of each sensor, and then control and position the narrow crawler transfer robot for mining, without the need for manual on-site control, which not only saves manpower, but also enables the narrow crawler transfer robot for mining to work better and improves work efficiency.

[0073] At the same time, the embodiment of the present invention also adds a first magnetostrictive sensor and an inclination sensor, which can obtain the displacement of the hydraulic support legs and the inclination change of the lifting bucket to determine whether the load of the narrow crawler transfer robot for mining is uniform.

[0074] In addition, the embodiment of the present invention further adds an angle sensor, a second magnetostrictive sensor, a nine-axis attitude sensor, an encoder, a third magnetostrictive sensor and a three-force sensor, which can obtain the angle of the mechanical arm, the angle of the hydraulic cylinder, the angular displacement and linear displacement of the mechanical forearm, the displacement of the folding arm oil cylinder and the force conditions of the mechanical clamp when the narrow crawler transfer robot for mining is working, so as to use the wireless remote control to remotely position the narrow crawler transfer robot for mining, further enabling the narrow crawler transfer robot for mining to work better and improve work efficiency. Example 4

[0075] An embodiment of the present invention provides a robot perception and positioning method, as shown in FIG4 , including:

[0076] 401. Ultrasonic ranging sensors are used to monitor in real time the distance between a narrow crawler transfer robot for mining and obstacles in front of it during its movement.

[0077] 402. Use laser sensors to monitor in real time the distance between a narrow crawler transfer robot for mining and obstacles or walls on both sides during its movement.

[0078] 403. Use a wireless remote controller to remotely position the mining narrow crawler transfer robot based on the distance between the mining narrow crawler transfer robot and the obstacle in front and the obstacles or walls on both sides.

[0079] When the distance to the obstacle ahead measured by the ultrasonic ranging sensor is less than a first preset threshold, a wireless remote control is used to change the direction of travel of the narrow crawler transfer robot for mining to avoid the obstacle ahead. It should be noted here that the first preset threshold can be determined according to actual conditions and is not limited here, for example: 0.5 meters.

[0080] When the distance to the obstacles or walls measured by the laser sensor is less than a second preset threshold, the narrow crawler mining robot is directed to avoid the obstacles or walls using a wireless remote control. It should be noted that the second preset threshold can be determined based on actual conditions and is not limited here. For example, 0.3 meters is provided.

[0081] It should be noted here that the detailed description of each step of this embodiment can refer to other embodiments and will not be repeated here.

[0082] The present invention provides a robot perception and positioning method, comprising: using an ultrasonic ranging sensor to monitor in real time the distance between the narrow crawler transfer robot for mining and obstacles in front during its movement; using a laser sensor to monitor in real time the distance between the narrow crawler transfer robot for mining and obstacles or walls on both sides during its movement, and using a wireless remote controller to remotely control the positioning of the narrow crawler transfer robot for mining based on the distance between the narrow crawler transfer robot for mining and obstacles in front and the distance between the narrow crawler transfer robot for mining and obstacles or walls on both sides. Compared with the prior art, the present invention provides a perception system on the narrow crawler transfer robot for mining, so that the narrow crawler transfer robot for mining can not only avoid obstacles and avoid accidents when working, but also adds a wireless remote controller, which can obtain the working status and working parameters of each sensor, and then control and position the narrow crawler transfer robot for mining without the need for manual on-site control, which not only saves manpower but also enables the narrow crawler transfer robot for mining to work better and improves work efficiency. Example 5

[0083] An embodiment of the present invention provides a robot perception and positioning method, as shown in FIG5 , including:

[0084] 501. Ultrasonic ranging sensors are used to monitor in real time the distance between a narrow crawler transfer robot for mining and obstacles in front of it during its movement.

[0085] 502. Use laser sensors to monitor in real time the distance between the narrow crawler transfer robot for mining and obstacles or walls on both sides during its movement.

[0086] 503. Use a wireless remote controller to remotely position the mining narrow crawler transfer robot based on the distance between the mining narrow crawler transfer robot and the obstacle in front and the obstacles or walls on both sides.

[0087] 504. When the narrow crawler transfer robot for mining is working, the displacement of the hydraulic support legs is obtained through the magnetostrictive sensor and the inclination change of the lifting bucket is obtained through the nine-axis attitude sensor to obtain the load situation of the narrow crawler transfer robot for mining.

[0088] When the displacement of the hydraulic outrigger exceeds a third preset threshold, loading is controlled via a wireless remote control. When the tilt angle of the lift bucket exceeds a fourth preset threshold, loading is controlled via a wireless remote control. This embodiment does not impose any restrictions on the third or fourth preset thresholds, and implementers may determine these based on actual circumstances.

[0089] It should be noted here that the detailed description of each step of this embodiment can refer to other embodiments and will not be repeated here.

[0090] The present invention provides a robot perception and positioning method, comprising: using an ultrasonic ranging sensor to monitor in real time the distance between the narrow crawler transfer robot for mining and obstacles in front during its movement; using a laser sensor to monitor in real time the distance between the narrow crawler transfer robot for mining and obstacles or walls on both sides during its movement, and using a wireless remote controller to remotely control the positioning of the narrow crawler transfer robot for mining based on the distance between the narrow crawler transfer robot for mining and obstacles in front and the distance between the narrow crawler transfer robot for mining and obstacles or walls on both sides. Compared with the prior art, the present invention provides a perception system on the narrow crawler transfer robot for mining, so that the narrow crawler transfer robot for mining can not only avoid obstacles and avoid accidents when working, but also adds a wireless remote controller, which can obtain the working status and working parameters of each sensor, and then control and position the narrow crawler transfer robot for mining without the need for manual on-site control, which not only saves manpower but also enables the narrow crawler transfer robot for mining to work better and improves work efficiency.

[0091] At the same time, the embodiment of the present invention can obtain the displacement of the hydraulic support legs and the change in the inclination angle of the lifting bucket to obtain the load condition of the narrow crawler transfer robot for mining. Example 6

[0092] An embodiment of the present invention provides a robot perception and positioning method, as shown in FIG6 , including:

[0093] 601. Ultrasonic ranging sensors are used to monitor in real time the distance between a narrow crawler transfer robot for mining and obstacles in front of it during its movement.

[0094] 602. Use laser sensors to monitor in real time the distance between a narrow crawler transfer robot for mining and obstacles or walls on both sides during its movement.

[0095] 603. Use a wireless remote controller to remotely position the narrow crawler transfer robot for mining based on the distance between the robot and the obstacle in front and the obstacles or walls on both sides.

[0096] 604. When the narrow crawler transfer robot for mining is working, the displacement of the hydraulic support legs is obtained through the magnetostrictive sensor and the inclination change of the lifting bucket is obtained through the sensor to obtain the load condition of the narrow crawler transfer robot for mining.

[0097] 605. When the narrow crawler transfer robot for mining is working, the angle of the mechanical vertical arm of the narrow crawler transfer robot for mining is obtained through the angle sensor, the angle of the hydraulic cylinder of the narrow crawler transfer robot for mining is obtained through the inclination sensor, the angular displacement and linear displacement of the mechanical forearm of the narrow crawler transfer robot for mining is obtained through the encoder, the displacement of the folding arm oil cylinder of the narrow crawler transfer robot for mining is obtained through the magnetostrictive sensor, and the force condition of the mechanical gripper of the narrow crawler transfer robot for mining is obtained through the three-force sensor, so as to remotely control the positioning of the narrow crawler transfer robot for mining using a wireless remote controller.

[0098] When the narrow crawler transfer robot for mining is working, the working status of each component structure is monitored in real time through various sensors, and each component structure is adjusted and positioned through a wireless remote control.

[0099] The present invention provides a robot perception and positioning method, comprising: using an ultrasonic ranging sensor to monitor in real time the distance between the narrow crawler transfer robot for mining and obstacles in front during its movement; using a laser sensor to monitor in real time the distance between the narrow crawler transfer robot for mining and obstacles or walls on both sides during its movement; and using a wireless remote controller to remotely control the positioning of the narrow crawler transfer robot for mining based on the distance between the narrow crawler transfer robot for mining and obstacles in front and the distance between the narrow crawler transfer robot for mining and obstacles or walls on both sides. Compared with the prior art, the present invention provides a perception system on the narrow crawler transfer robot for mining, so that the narrow crawler transfer robot for mining can not only avoid obstacles and avoid accidents when working, but also adds a wireless remote controller, which can obtain the working status and working parameters of each sensor, and then control and position the narrow crawler transfer robot for mining without the need for manual on-site control, which not only saves manpower but also enables the narrow crawler transfer robot for mining to work better and improves work efficiency.

[0100] At the same time, the embodiment of the present invention can obtain the displacement of the hydraulic support legs and the change in the inclination angle of the lifting bucket to obtain the load condition of the narrow crawler transfer robot for mining.

[0101] In addition, the embodiment of the present invention can obtain the angle of the mechanical arm, the displacement of the hydraulic cylinder, the angular displacement and linear displacement of the mechanical forearm, the displacement of the folding arm cylinder and the force conditions of the mechanical clamp when the narrow crawler transfer robot for mining is working, so as to use the wireless remote control to remotely position the narrow crawler transfer robot for mining, further enabling the narrow crawler transfer robot for mining to work better and improve work efficiency.

[0102] It should be noted here that the detailed description of each step of this embodiment can refer to other embodiments and will not be repeated here.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. Robot perception system, including: A narrow crawler transfer robot for mining (1), characterized in that it also comprises: an ultrasonic distance measuring sensor (2) arranged at the front of the narrow crawler transfer robot for mining, a laser sensor (3) arranged at the bucket of the narrow crawler transfer robot for mining, and a wireless remote controller (4) for remotely controlling the narrow crawler transfer robot for mining.

2. The robot perception system according to claim 1, characterized in that: Also includes: A first magnetostrictive sensor (5) is arranged at the hydraulic outrigger of the narrow crawler transfer robot for mining, and an inclination sensor (6) is arranged at the lifting bucket of the narrow crawler transfer robot for mining.

3. The robot perception system according to claim 1, characterized in that: Also includes: An angle sensor (7) is arranged at the mechanical upright arm of the narrow crawler transfer robot for mining, a second magnetostrictive sensor (8) is arranged at the angle adjustment hydraulic cylinder of the narrow crawler transfer robot for mining, a nine-axis attitude sensor (9) is arranged at the body position of the narrow crawler transfer robot for mining, an encoder (10) is arranged at the mechanical forearm of the narrow crawler transfer robot for mining, a third magnetostrictive sensor (11) is arranged at the folding arm oil cylinder of the narrow crawler transfer robot for mining, and a three-force sensor (12) is arranged at the mechanical gripper of the narrow crawler transfer robot for mining.

4. The robot perception system according to claim 1, characterized in that: include: The two ultrasonic distance measuring sensors (2) are respectively located on both sides of the front of the mining narrow crawler transfer robot (1).

5. The robot perception system according to claim 1, characterized in that: include: The four laser sensors (3) are respectively located at the four corners of the bucket of the mining narrow crawler transfer robot (1).

6. The robot perception system according to claim 2, characterized in that: include: The two inclination sensors (6) are respectively located on both sides of the lifting bucket of the narrow crawler transfer robot (1) for mining.

7. A robot sensing and positioning method, characterized in that: include: The ultrasonic ranging sensor is used to monitor in real time the distance between the narrow crawler transfer robot for mining and the obstacles ahead during its movement; The distance between the narrow crawler transfer robot for mining and obstacles or walls on both sides during the movement is monitored in real time by a laser sensor; According to the distance between the narrow crawler transfer robot for mining and the obstacle in front and the obstacles or walls on both sides, the narrow crawler transfer robot for mining is remotely located using a wireless remote controller.

8. The robot sensing and positioning method according to claim 7, characterized in that: Also includes: When the narrow crawler transfer robot for mining is working, the displacement of the hydraulic support leg is obtained by a magnetostrictive sensor and the inclination change of the lifting bucket is obtained by an inclination sensor to obtain whether the load of the narrow crawler transfer robot for mining is uniform.

9. The robot sensing and positioning method according to claim 7, characterized in that: Also includes: When the narrow crawler transfer robot for mining is working, the angle of the mechanical upright arm of the narrow crawler transfer robot for mining is obtained through an angle sensor, the tilt angle of the bucket of the narrow crawler transfer robot for mining after loading is obtained through an inclination sensor, the angular displacement and linear displacement of the mechanical forearm of the narrow crawler transfer robot for mining is obtained through an encoder, the displacement of the folding arm cylinder of the narrow crawler transfer robot for mining is obtained through a magnetostrictive sensor, and the force condition of the mechanical clamp of the narrow crawler transfer robot for mining is obtained through a three-force sensor, so as to use the wireless remote controller to remotely control and position the narrow crawler transfer robot for mining.

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