A method, system, equipment, and medium for collaborative control of drilling and anchoring robots.

Abstract

This invention discloses a method, system, equipment, and medium for coordinated control of drilling and anchoring robots, relating to the field of drilling and anchoring robot control. The method includes: detecting the operating status of the temporary support device of the target drilling and anchoring robot to obtain operating status information; determining whether the temporary support device has completed its support work based on the operating status information; if the temporary support device has completed its support work, starting each anchor drilling machine of the target drilling and anchoring robot after a set delay time to perform anchoring work; if the temporary support device has not completed its support work, controlling the temporary support device to reset, performing fault detection and repair on the temporary support device, and returning to the step of "detecting the operating status of the temporary support device of the target drilling and anchoring robot to obtain operating status information". This invention enables the linkage control of the temporary support device and the anchor drilling machine of the drilling and anchoring robot, which is beneficial to improving the mining efficiency of tunneling operations.

Description

Technical Field

[0001] This invention relates to the field of drilling and anchoring robot control, and in particular to a method, system, equipment, and medium for coordinated control of drilling and anchoring robots. Background Technology

[0002] As is well known, China is a major coal producer and consumer. However, with the continuous depletion of easily accessible coal reserves, the difficulty of coal mining has increased dramatically in recent years. The advancement of the tunneling face is a key aspect of modern coal mine production and one of the most challenging and complex systems in underground coal mines. In actual drilling and anchoring robot construction, the drilling and anchoring modules and support modules are typically operated manually as individual machines, without information sharing between devices, thus preventing coordinated control. With the accelerating pace of tunneling face advancement in Chinese coal mines, the speed of fully mechanized coal roadway formation has become a significant factor restricting the production capacity of the working face. Currently, slow drilling and anchoring speeds, low efficiency, high manpower requirements, and poor safety are common problems in coal production. Therefore, developing a safe, efficient, reliable, and rapid collaborative control method for drilling, anchoring, and support to improve roadway formation efficiency is imperative. Summary of the Invention

[0003] The purpose of this invention is to provide a method, system, equipment, and medium for coordinated control of drilling and anchoring robots, so as to realize the linkage control of temporary support devices of drilling and anchoring robots and anchor drilling rigs, thereby improving the mining efficiency of tunneling operations.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] A method for coordinated control of drilling and anchoring support in a drilling and anchoring robot, the method comprising:

[0006] The operating status of the temporary support device for the target drilling and anchoring robot is detected to obtain operating status information; the operating status information includes pose information and pressure information.

[0007] Based on the operating status information, determine whether the temporary support device has completed the support work;

[0008] If the temporary support device completes the support work, then each anchor drilling machine of the target drilling and anchoring robot will start after a set delay time to carry out the anchoring work.

[0009] If the temporary support device fails to complete the support work, the temporary support device is reset, fault detection and repair are performed on the temporary support device, and the process returns to the step of "detecting the operating status of the temporary support device of the target drilling and anchoring robot and obtaining operating status information".

[0010] Optionally, the detection of the operating status of the temporary support device for the target drilling and anchoring robot to obtain operating status information specifically includes:

[0011] The support action of the temporary support device is detected to obtain position information;

[0012] The pressure on the support surface of the temporary support device is detected to obtain pressure information.

[0013] Optionally, determining whether the temporary support device has completed its support work based on the operating status information specifically includes:

[0014] Determine whether the pose information is within the set pose value range to obtain a first determination result;

[0015] If the first judgment result is yes, then it is determined whether the pressure information is within the set pressure value range to obtain the second judgment result;

[0016] If the second judgment result is yes, then the temporary support device completes the support work;

[0017] If the first judgment result is negative or the second judgment result is negative, then the temporary support device has not completed the support work.

[0018] Optionally, detecting the support action of the temporary support device to obtain pose information specifically includes:

[0019] Obtain the first position coordinates of the temporary support device in the carrier coordinate system;

[0020] According to the attitude transformation matrix, the first position coordinates are converted into the second position coordinates of the temporary support device in the navigation coordinate system; the attitude transformation matrix is ​​determined using a quaternion algorithm.

[0021] The tunneling machine attitude angle of the temporary support device is obtained by solving the second position coordinates, and the tunneling machine attitude angle is used as the pose information.

[0022] Optionally, the method further includes:

[0023] Determine whether the operating status information is within the set safety value range to obtain a third determination result;

[0024] If the third judgment result is negative, an alarm signal is generated;

[0025] If the third judgment result is yes, then no alarm signal will be generated.

[0026] A collaborative control system for drilling and anchoring robots, the system comprising:

[0027] The operation status detection module is used to detect the operation status of the temporary support device of the target drilling and anchoring robot and obtain operation status information; the operation status information includes pose information and pressure information.

[0028] The support work judgment module is used to determine whether the temporary support device has completed the support work based on the operating status information.

[0029] An anchor drilling rig control module is used to control each anchor drilling rig of the target drilling and anchoring robot to start after a set delay time to carry out anchoring work if the temporary support device completes the support work;

[0030] The support device maintenance module is used to control the temporary support device to reset if the temporary support device has not completed the support work, to perform fault detection and maintenance on the temporary support device, and to return to the operation status detection module.

[0031] Optionally, the operation status detection module includes:

[0032] At least one pose sensor is used to detect the support action of the temporary support device and obtain pose information;

[0033] At least one pressure sensor is used to detect the pressure on the support surface of the temporary support device and obtain pressure information.

[0034] Optionally, the pose sensor is an inertial navigation pose sensor; the pressure sensor is a piezoresistive pressure sensor.

[0035] An electronic device includes a memory and a processor, the memory storing a computer program, and the processor running the computer program to enable the electronic device to perform the above-described drilling and anchoring robot collaborative control method.

[0036] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described drilling and anchoring robot collaborative control method.

[0037] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0038] The present invention provides a collaborative control method for drilling and anchoring robots, which controls the working status of the drilling and anchoring robot's anchor drilling rig by detecting the working status of the robot's temporary support device. This solves the problem in existing technologies where the linkage control between the robot's temporary support device and the anchor drilling rig cannot be achieved, thus affecting the mining efficiency of tunneling operations. Based on the operating status information of the robot's temporary support device, automatic collaborative control between the drilling and anchoring robots and the anchor drilling rig is realized during the tunneling process. This increases the uptime of each piece of equipment, improves the reliability, safety, and efficiency of the tunneling face, and enhances the coordination between the drilling and anchoring support devices. Attached Figure Description

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

[0040] Figure 1 A flowchart of the collaborative control method for drilling and anchoring robots provided by the present invention;

[0041] Figure 2 A detailed flowchart of the drilling and anchoring robot collaborative control method provided in this embodiment of the invention;

[0042] Figure 3 A block diagram of the drilling and anchoring robot collaborative control system provided by the present invention;

[0043] Figure 4 This is a schematic diagram showing the positions of the pressure sensor and the pose sensor provided in an embodiment of the present invention.

[0044] Symbol explanation: 1-Pressure sensor, 2-Position sensor. Detailed Implementation

[0045] 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.

[0046] The purpose of this invention is to provide a method, system, equipment, and medium for coordinated control of drilling and anchoring robots, so as to realize the linkage control of temporary support devices of drilling and anchoring robots and anchor drilling rigs, thereby improving the mining efficiency of tunneling operations.

[0047] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Example 1

[0049] like Figure 1 and Figure 2 As shown, the drilling and anchoring robot collaborative control method provided by the present invention includes:

[0050] Step 101: Detect the operating status of the temporary support device of the target drilling and anchoring robot to obtain operating status information; the operating status information includes pose information and pressure information.

[0051] In practical applications, the above steps specifically involve: performing pose detection on the temporary support device of the drilling and anchoring robot to obtain its pose information, and performing pressure detection on the temporary support device to obtain its pressure information. The pressure information specifically refers to the numerical values ​​from the pressure sensors.

[0052] As a specific implementation method, detecting the support action of the temporary support device to obtain pose information specifically includes:

[0053] (1) Obtain the first position coordinates of the temporary support device in the carrier coordinate system.

[0054] (2) Based on the attitude transformation matrix, the first position coordinates are converted into the second position coordinates of the temporary support device in the navigation coordinate system; the attitude transformation matrix is ​​determined by the quaternion algorithm.

[0055] (3) The tunneling machine attitude angle of the temporary support device is obtained by solving the second position coordinates, and the tunneling machine attitude angle is used as the position information.

[0056] In practical applications, pose information is acquired by pose sensors on the temporary support device. The initial data of the strapdown inertial navigation system (SINS) in the temporary support device is the pose information of the temporary support device in the carrier coordinate system. Combined positioning requires determining the pose information of the temporary support device in the navigation coordinate system. Therefore, the data in the carrier coordinate system needs to be projected to the navigation coordinate system through an attitude transformation matrix. During the movement of the temporary support device of the drilling and anchoring robot, the attitude changes continuously, and the attitude information is continuously updated using a quaternion algorithm, which is simple, easy to operate, and highly practical. After obtaining the attitude transformation matrix, the strapdown inertial navigation system can solve for the attitude angle of the tunneling machine in the navigation coordinate system. Pressure information is acquired by pressure sensors on the temporary support device. Utilizing the piezoresistive effect of monocrystalline or polycrystalline silicon, when the monocrystalline or polycrystalline silicon material of the piezoresistive pressure sensor is subjected to external force, its band structure changes, resulting in a change in its resistivity. This phenomenon is called the piezoresistive effect. Changes in the resistivity of metal or semiconductor materials will cause a relative change in their resistance. Since the change in resistance is not easy to measure directly, it needs to be converted into a change in current or voltage that is easier to detect, and the bridge parameters are detected by a computer-controlled digital multimeter.

[0057] Step 102: Based on the operating status information, determine whether the temporary support device has completed the support work. This step specifically includes:

[0058] (1) Determine whether the pose information is within the set pose value range to obtain the first determination result.

[0059] (2) If the first judgment result is yes, then determine whether the pressure information is within the set pressure value range to obtain the second judgment result.

[0060] (3) If the second judgment result is yes, then the temporary support device completes the support work.

[0061] (4) If the first judgment result is negative or the second judgment result is negative, then the temporary support device has not completed the support work.

[0062] In practical applications, the positional information of the temporary support device and the numerical information of the pressure sensor (i.e., pressure information) are compared with the preset standard working sensor information to determine whether to delay the start of the anchor drilling rig for anchoring work. Specifically: when the positional information is within the preset standard positional value range, it indicates that the support action of the temporary support device is normal, and the pressure information is compared; otherwise, the temporary support device is controlled to return to its initial position and fault detection and maintenance are performed. When the pressure information is within the preset standard pressure value range, it indicates that the support surface pressure of the temporary support device is normal, and the anchor drilling rig is controlled to start after a 5-second delay to complete the anchoring work; otherwise, the temporary support device is controlled to return to its initial position and fault detection and maintenance are performed.

[0063] Step 103: If the temporary support device completes the support work, then the anchor drilling machines of the target drilling and anchoring robot will start after a set delay time to carry out the anchoring work.

[0064] Step 104: If the temporary support device fails to complete the support work, control the temporary support device to reset, perform fault detection and repair on the temporary support device, and return to step 101.

[0065] Furthermore, the method also includes: determining whether the operating status information is within a set safety value range to obtain a third determination result; if the third determination result is negative, generating an alarm signal; if the third determination result is positive, not generating an alarm signal.

[0066] Specifically, the drilling and anchoring robot collaborative control method provided in this embodiment can be applied to any terminal with control functions, such as a laptop computer.

[0067] Example 2

[0068] In order to implement the method corresponding to Embodiment 1 above and achieve the corresponding functions and technical effects, a drilling and anchoring robot collaborative control system is provided below.

[0069] like Figure 3 As shown, the drilling and anchoring robot collaborative control system provided by the present invention includes:

[0070] The operation status detection module 301 is used to detect the operation status of the temporary support device of the target drilling and anchoring robot and obtain operation status information; the operation status information includes pose information and pressure information.

[0071] The support work judgment module 302 is used to determine whether the temporary support device has completed the support work based on the operating status information.

[0072] The anchor drilling rig control module 303 is used to control each anchor drilling rig of the target drilling and anchoring robot to start after a set delay time to carry out anchoring work if the temporary support device completes the support work.

[0073] The support device maintenance module 304 is used to control the temporary support device to reset if the temporary support device has not completed the support work, to perform fault detection and maintenance on the temporary support device, and to return to the operation status detection module 301.

[0074] Furthermore, the operational status detection module includes at least one pose sensor and at least one pressure sensor. The pose sensor is used to detect the support action of the temporary support device to obtain pose information. The pressure sensor is used to detect the pressure on the support surface of the temporary support device to obtain pressure information.

[0075] Preferably, the pose sensor is an inertial navigation pose sensor; the pressure sensor is a piezoresistive pressure sensor.

[0076] like Figure 4 As shown, the drilling and anchoring robot collaborative control system provided in this embodiment of the invention includes one pose sensor 2 and three pressure sensors 1. Both the pressure sensor 1 and the pose sensor 2 are installed on the temporary support device of the target drilling and anchoring robot. The pressure sensor monitors the pressure on the support surface of the temporary support device, while the pose sensor monitors whether the support action of the support device is correct. The central controller transmits the signals from the sensors to the control center via wireless communication and displays them on a touchscreen display. When the sensor measurement value is not a safe value after the work is completed, an alarm system is triggered. The central controller automatically cuts off the power supply to the corresponding part and gradually shuts down the machine according to the collaborative control method to ensure safety in the coal mine. The corresponding value on the touchscreen display turns red to indicate to the operator that a malfunction has occurred at the tunneling face and requires timely repair.

[0077] This embodiment adds multiple sensors, including pressure sensors and pose sensors, to the temporary support device of the drilling and anchoring robot, enabling real-time detection of the operating status of the temporary support device. The detection information from the sensors is then used to coordinate the control of the anchor drilling rig.

[0078] Example 3

[0079] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and the processor runs the computer program to enable the electronic device to execute the drilling and anchoring robot collaborative control method of Embodiment 1. The electronic device may be a server.

[0080] In addition, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the drilling and anchoring robot collaborative control method of Embodiment 1.

[0081] The present invention provides a method, system, equipment, and medium for coordinated control of drilling and anchoring robots. By detecting the working status of the temporary support device of the drilling and anchoring robot, the working status of the anchor drilling machine of the drilling and anchoring robot is controlled. This solves the problem in the prior art that the temporary support device and the anchor drilling machine of the drilling and anchoring robot cannot be linked for control, thus affecting the mining efficiency of tunneling work. It realizes automatic coordinated control between the drilling and anchoring robots and the anchoring machine during the tunneling process, increases the uptime of each piece of equipment, improves the reliability, safety, and efficiency of the tunneling face, and enhances the coordination between the drilling and anchoring support equipment.

[0082] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0083] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for coordinated control of drilling and anchoring support in a drilling and anchoring robot, characterized in that, The method includes: The operating status of the temporary support device for the target drilling and anchoring robot is detected to obtain operating status information; the operating status information includes pose information and pressure information. Based on the operating status information, determine whether the temporary support device has completed the support work; Determine whether the position information is within a set position value range to obtain a first determination result; if the first determination result is yes, determine whether the pressure information is within a set pressure value range to obtain a second determination result; if the second determination result is yes, the temporary support device completes the support work; if the first determination result is no or the second determination result is no, the temporary support device has not completed the support work. If the temporary support device completes the support work, then each anchor drilling machine of the target drilling and anchoring robot will start after a set delay time to carry out the anchoring work. If the temporary support device fails to complete the support work, the temporary support device is reset, fault detection and repair are performed on the temporary support device, and the process returns to the step of "detecting the operating status of the temporary support device of the target drilling and anchoring robot and obtaining operating status information".

2. The drilling and anchoring robot collaborative control method according to claim 1, characterized in that, The detection of the operating status of the temporary support device for the target drilling and anchoring robot to obtain operating status information specifically includes: The support action of the temporary support device is detected to obtain position information; The pressure on the support surface of the temporary support device is detected to obtain pressure information.

3. The drilling and anchoring robot collaborative control method according to claim 2, characterized in that, The detection of the support action of the temporary support device to obtain pose information specifically includes: Obtain the first position coordinates of the temporary support device in the carrier coordinate system; According to the attitude transformation matrix, the first position coordinates are converted into the second position coordinates of the temporary support device in the navigation coordinate system; the attitude transformation matrix is ​​determined using a quaternion algorithm. The tunneling machine attitude angle of the temporary support device is obtained by solving the second position coordinates, and the tunneling machine attitude angle is used as the pose information.

4. The drilling and anchoring robot collaborative control method according to claim 1, characterized in that, The method further includes: Determine whether the operating status information is within the set safety value range to obtain a third determination result; If the third judgment result is negative, an alarm signal is generated; If the third judgment result is yes, then no alarm signal will be generated.

5. A collaborative control system for drilling and anchoring robots, characterized in that, The system includes: The operation status detection module is used to detect the operation status of the temporary support device of the target drilling and anchoring robot and obtain operation status information; the operation status information includes pose information and pressure information. The support work judgment module is used to determine whether the temporary support device has completed the support work based on the operating status information; to determine whether the position information is within a set position value range to obtain a first judgment result; if the first judgment result is yes, then to determine whether the pressure information is within a set pressure value range to obtain a second judgment result; if the second judgment result is yes, then the temporary support device has completed the support work; if the first judgment result is no or the second judgment result is no, then the temporary support device has not completed the support work. An anchor drilling rig control module is used to control each anchor drilling rig of the target drilling and anchoring robot to start after a set delay time to carry out anchoring work if the temporary support device completes the support work; The support device maintenance module is used to control the temporary support device to reset if the temporary support device has not completed the support work, to perform fault detection and maintenance on the temporary support device, and to return to the operation status detection module.

6. The drilling and anchoring robot collaborative control system according to claim 5, characterized in that, The operation status detection module includes: At least one pose sensor is used to detect the support action of the temporary support device and obtain pose information; At least one pressure sensor is used to detect the pressure on the support surface of the temporary support device and obtain pressure information.

7. The drilling and anchoring robot collaborative control system according to claim 6, characterized in that, The pose sensor is an inertial navigation pose sensor; the pressure sensor is a piezoresistive pressure sensor.

8. An electronic device, characterized in that, The device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform the drilling and anchoring robot collaborative control method as described in any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the drilling and anchoring robot collaborative control method as described in any one of claims 1 to 4.

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