Coal mine underground drilling robot automatic rod feeding target position acquisition method and device

Abstract

This application relates to a method and apparatus for obtaining the target position of an automatic rod delivery robot in underground coal mine drilling, which improves the accuracy and precision of the automatic rod delivery position of the drilling robot, thereby improving the efficiency and quality of drilling operations. By improving the traditional direct mathematical modeling method, this method innovatively provides a solution that effectively reduces the error problem of the automatic rod delivery position of the underground coal mine drilling robot, and improves the automation level and operability of drilling operations.

Description

Technical Field

[0001] This application relates to the field of automation of underground drilling rigs in coal mines, specifically to a method and apparatus for automatically obtaining the target position of an underground drilling robot in coal mines. Background Technology

[0002] In underground coal mine drilling operations, drilling robots are commonly used to perform drilling tasks. Their high degree of automation, ease of operation, and ability to significantly reduce worker labor intensity have led to their widespread adoption. Automatic rod feeding technology is a key component of underground drilling robot operations. During drilling, the industrial robot uses a robotic arm to grasp the drill rod in the feed hopper and deliver it to the designated target position. When unloading, the industrial robot moves to the target position and removes the drill rod. This repeated movement enables the underground drilling robot to automatically load and unload drill rods, ultimately automating the entire drilling process. However, during operation, significant deviations often occur between the automatically fed drill rod position and the target position. Inaccurate rod feeding forces the robot to stop operations, and in some cases, can even damage equipment, resulting in irreparable economic losses. This highlights the continued challenges in automating the operation of underground drilling robots.

[0003] Theoretically, the target rod delivery position of an underground drilling robot in a coal mine can be mathematically modeled through various operating systems, ultimately yielding a mathematical expression for the target position. However, due to the large size of the components, significant errors during processing are unavoidable. During assembly, numerous components need to be combined, resulting in substantial cumulative errors in the assembly gaps between parts. While the robotic gripper possesses a degree of flexibility in grasping the drill rod, expanding its permissible range of motion, it also introduces another problem: poor rod delivery position accuracy. These combined errors lead to a significant discrepancy between the target position obtained through direct mathematical modeling and the actual target position during operation. Although industrial robots have high motion accuracy, and their movement position is generally consistent with the commanded position, using the target position obtained through direct mathematical modeling as the commanded position frequently results in rod delivery failure. This is primarily because the target position obtained through mathematical modeling is significantly affected by the machining accuracy of the components, assembly accuracy, and the gripper's delivery accuracy, leading to frequent inaccuracies in the automatic rod delivery position of the underground drilling robot in the coal mine. This results in a series of problems, such as drilling errors, low work efficiency, and equipment damage. Summary of the Invention

[0004] To overcome at least one deficiency in the prior art, this application provides a method and apparatus for automatically obtaining the target position of a drilling robot in an underground coal mine.

[0005] Firstly, a method for automatically obtaining the target position of a drilling robot in an underground coal mine is provided, including:

[0006] The workspace of the underground drilling robot in the coal mine is divided into multiple minimum workspace units, including translational motion range division, rotational motion range division, and lifting motion range division; each minimum workspace unit includes multiple vertices.

[0007] Based on the target position coordinates of the automatic rod delivery at different tilt angles, obtain the rotational motion center coordinate parameters at the zero position;

[0008] Based on the coordinate parameters of the rotational motion center at the zero position and the automatic rod delivery target position parameters of each vertex in each minimum workspace unit, the ball center coordinate error parameters corresponding to each vertex in each minimum workspace unit are determined.

[0009] Determine the intersection points of the plane formed by any point in the workspace and the rotation center axis with multiple arcs of the smallest workspace unit to which the point belongs; determine the sphere center coordinate error parameters of each intersection point based on the sphere center coordinate error parameters corresponding to each vertex; determine the rotation center coordinate error parameters of any point based on the sphere center coordinate error parameters of each intersection point; determine the automatic rod delivery target position coordinates of any point based on the coordinates of any point and the rotation center coordinate error parameters of any point.

[0010] In one embodiment, based on the target position coordinates of the automatic rod feeder at different tilt angles, the coordinate parameters of the rotational motion center at the zero position are obtained, including:

[0011] Determine the target position coordinates of the automatic pole delivery at different tilt angles when the lifting height of the lifting device is zero and the translation amount of the translation device is zero.

[0012] Based on the target position coordinates of the automatic rod feeder at different tilt angles, an equation for calculating the coordinates of the rotational motion center at the zero position is constructed. By solving the equation, the coordinate parameters of the rotational motion center at the zero position are obtained.

[0013] In one embodiment, based on the coordinate parameters of the rotational motion center at the zero position and the automatic rod delivery target position parameters of each vertex in each minimum workspace unit, the ball center coordinate error parameters corresponding to each vertex in each minimum workspace unit are determined, including:

[0014] Determine the automatic rod delivery target position parameters for each vertex in each minimum workspace unit, denoted as Q. ijk Q ijk Let A be the vertex corresponding to the i-th lift height, j-th translation, and k-th tilt angle. ijk The target position parameters for the automatic rod delivery;

[0015] For vertex A ijk Based on the coordinate parameters of the rotational motion center at the zero position and the target position parameters of the automatic rod delivery corresponding to the four vertices, an equation for calculating the ball center coordinate error parameter is constructed; the four vertices have the same lifting height, and the four vertices form two vertex pairs. The two vertices in each vertex pair have the same translation amount and the same tilt angle with opposite signs.

[0016] Solve the equation for calculating the sphere center coordinate error parameter to obtain the sphere center coordinate error parameters corresponding to the four vertices; the sphere center coordinate error parameters corresponding to the four vertices are the same.

[0017] In one embodiment, the sphere center coordinate error parameter of each intersection point is determined based on the sphere center coordinate error parameter corresponding to each vertex; including:

[0018] The sphere center coordinate error parameter of each intersection point is consistent with the sphere center coordinate error parameter of the arc where the intersection point is located, and the sphere center coordinate error parameter of the arc where the intersection point is located is consistent with the sphere center coordinate error parameter of the vertices at both ends of the arc.

[0019] In one embodiment, determining the rotational motion center coordinate error parameter of any point based on the sphere center coordinate error parameter of each intersection point includes:

[0020] Divide the area formed by the four intersection points into two triangular regions;

[0021] Determine the triangular region to which any point belongs based on its coordinates;

[0022] Calculate the centroid coordinates of any point within its triangular region;

[0023] Based on the centroid coordinates and the sphere center coordinate error parameters of the three intersection points forming the triangular region, the rotational motion center coordinate error parameters of any point are determined.

[0024] In one embodiment, the centroid coordinates of any point within its triangular region are calculated using the following formula:

[0025] u=[(x2′-x1′)*(x-x1′)+(y2′-y1′)*(y-y1′)+(z2′-z1′)*(z-z1′)] / (2*D)

[0026] v=[(x3′-x1′)*(x-x1′)+(y3′-y1′)*(y-y1′)+(z3′-z1′)*(z-z1′)] / (2*D)

[0027] Where (u, v) are the centroid coordinates of any point in its triangular region, and D is the area of ​​the triangular region; (x, y, z) are the coordinates of any point, where x, y, and z are the lifting height, translation, and tilt angle of the three coordinate axes corresponding to the smallest division work unit of any point, respectively; (x1′, y1′, z1′), (x2′, y2′, z2′), and (x3′, y3′, z3′) are the coordinates of the three intersection points that form the triangular region to which any point belongs.

[0028] In one embodiment, the rotational motion center coordinate error parameter of any point is determined based on the centroid coordinates and the sphere center coordinate error parameters of the three intersection points forming the triangular region, using the following formula:

[0029] E=E1′*u+E2′*v+E3′*(1-uv)

[0030] Where E is the coordinate error parameter of the rotational motion center of any point, E1′, E2′, and E3′ are the coordinate error parameters of the sphere centers of the three intersection points forming the triangular region, and (u, v) are the centroid coordinates of any point in the triangular region.

[0031] In one embodiment, the target position coordinates of the automatic rod delivery at any point are determined based on the coordinates of any point and the coordinate error parameter of the rotational motion center at any point, using the following formula:

[0032]

[0033] Where (x′, y′, z′) are the coordinates of the target position of the automatic pole delivery at any point, (x, y, z) are the coordinates of any point, x, y, z are the lifting height, translation, and tilt angle of the three coordinate axes corresponding to the smallest division of the working unit at any point, respectively, Δa, Δb, Δc, Δr are the lifting height, translation, tilt angle, and sphere radius parameters of the rotational motion center coordinate error parameter E at any point, respectively, and a0, b0, c0, and r0 are the lifting height, translation, tilt angle, and sphere radius parameters of the rotational motion center coordinate parameter at the zero position, respectively.

[0034] Secondly, a device for automatically delivering the target position of a drilling robot in a coal mine is provided, comprising:

[0035] The space partitioning module is used to divide the workspace of the underground drilling robot in coal mine into multiple minimum workspace units. The partitioning includes the division of translational motion range, rotational motion range, and lifting motion range; each minimum workspace unit includes multiple vertices.

[0036] The rotational motion center coordinate parameter acquisition module is used to obtain the rotational motion center coordinate parameters at the zero position based on the target position coordinates of the automatic rod delivery at different tilt angles.

[0037] The ball center coordinate error parameter determination module is used to determine the ball center coordinate error parameter corresponding to each vertex in each minimum workspace unit based on the rotational motion center coordinate parameters of the zero position and the automatic rod delivery target position parameters of each vertex in each minimum workspace unit.

[0038] The automatic rod feeding target position coordinate determination module is used to determine the intersection points of the plane formed by any point in the workspace and the rotation center axis with multiple arcs of the smallest workspace unit to which any point belongs; based on the sphere center coordinate error parameter corresponding to each vertex, it determines the sphere center coordinate error parameter of each intersection point; based on the sphere center coordinate error parameter of each intersection point, it determines the rotation motion center coordinate error parameter of any point; based on the coordinates of any point and the rotation motion center coordinate error parameter of any point, it determines the automatic rod feeding target position coordinates of any point.

[0039] Thirdly, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned method for automatically obtaining the target position of the drilling robot in an underground coal mine.

[0040] Fourthly, a computer program product is provided, including a computer program / instruction, which, when executed by a processor, implements the aforementioned method for automatically obtaining the target position of a drilling robot in an underground coal mine.

[0041] Compared with the prior art, this application has the following beneficial effects: The method and device for obtaining the target position of automatic rod delivery for underground drilling robots in coal mines improves the accuracy and precision of the automatic rod delivery position of drilling robots, thereby improving the efficiency and quality of drilling operations; by improving the traditional direct mathematical modeling method, this method innovatively provides a solution that effectively reduces the error problem of the automatic rod delivery position of underground drilling robots in coal mines, and improves the automation level and operability of drilling operations. Attached Figure Description

[0042] This application can be better understood by referring to the description given below in conjunction with the accompanying drawings, which, together with the detailed description below, are incorporated in and form part of this specification. In the drawings:

[0043] Figure 1 A flowchart illustrating a method for obtaining the target position of an automatic rod delivery robot in a coal mine underground drilling robot according to an embodiment of this application is shown.

[0044] Figure 2A schematic diagram of the movement of a drilling robot in an underground coal mine is shown.

[0045] Figure 3 This diagram illustrates the division of the entire workspace for an underground drilling robot in a coal mine.

[0046] Figure 4 A schematic diagram showing the division of the lifting motion range is provided.

[0047] Figure 5 This diagram illustrates the selection of any point within the working area of ​​a coal mine drilling robot.

[0048] Figure 6 This diagram shows the distribution of any point and four vertices of an underground drilling robot in a coal mine.

[0049] Figure 7 A structural block diagram of an automatic rod delivery target position acquisition device for a coal mine underground drilling robot according to an embodiment of this application is shown. Detailed Implementation

[0050] Exemplary embodiments of the present application will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of the actual embodiments are described in the specification. However, it should be understood that many embodiment-specific decisions can be made in the development of any such actual embodiment to achieve the developer’s specific objectives, and these decisions may vary as the embodiments differ.

[0051] It should also be noted that, in order to avoid obscuring this application with unnecessary details, only the device structure closely related to the solution according to this application is shown in the accompanying drawings, while other details that are not closely related to this application are omitted.

[0052] It should be understood that this application is not limited to the described embodiments by virtue of the following description with reference to the accompanying drawings. In this document, embodiments may be combined with each other, features may be substituted or borrowed between different embodiments, and one or more features may be omitted in one embodiment, where feasible.

[0053] This application provides a method for obtaining the target position of an automatic rod delivery robot in an underground coal mine drilling robot. The method first obtains the coordinate parameters of the target position through manual teaching. The teaching operation is performed by personnel observing and controlling the robot to ensure the accuracy of the teaching points. A series of locations representing typical working conditions can be selected as teaching points to cover the robot's working range. Then, a parameter inverse model is established by performing inverse mathematical modeling between the coordinate parameters obtained from the teaching points and the actual rod delivery target position parameters. This model describes the error between the coordinate parameters of the teaching points and the actual parameters through mathematical expressions. During the model construction process, an inverse distance fitting mathematical method is used to find the best-fitting model parameters. Finally, using this mathematical model, the coordinate parameters of the automatic rod delivery target position can be quickly calculated based on the hole-opening pose parameters of the underground coal mine drilling robot.

[0054] The method of this application improves the accuracy and precision of the automatic rod feeding position of the drilling robot, thereby improving the efficiency and quality of drilling operations. By improving the traditional direct mathematical modeling method, this method innovatively provides a solution that effectively reduces the error problem of the automatic rod feeding position of the drilling robot in underground coal mines, and improves the automation level and operability of drilling operations.

[0055] The method for obtaining the target position of an automatic rod delivery robot for underground coal mine drilling provides embodiments of this application, which is used to accurately and reliably obtain the target position of the automatic rod delivery robot for underground coal mine drilling. The structure of the underground coal mine drilling robot is described below:

[0056] The main components of a coal mine drilling robot include a drill rod box, drill rod, tracked vehicle body, industrial robot, hole opening position adjustment device, active drill rod, gripper, intelligent sensing system, and central control center.

[0057] The drill rod box is located at one end of the tracked vehicle body, and drill rods are neatly packed inside the drill rod box; at the other end of the tracked vehicle body away from the drill rod box, a hole position adjustment device is vertically installed; and an industrial robot is located in the middle of the tracked vehicle body.

[0058] The industrial robot consists of an industrial robot body and a flexible robotic gripper. The industrial robot body is fixedly mounted on the tracked vehicle body. At the end of the industrial robot, a flexible robotic gripper is fixedly mounted. This flexible robotic gripper has a certain amount of small movement in all directions, which reduces the swinging impact on the industrial robot when the drill rod to be fed is clamped by the gripper, and protects the industrial robot's motion structure system.

[0059] The hole-opening position adjustment device mainly includes a lifting device, a rotating device, a translating device, and a power head device. The lifting device is fixedly installed on the tracked vehicle body and can drive the hole-opening position adjustment device to move up and down. A rotating device is installed at the upper center of the lifting device, which can drive the hole-opening position adjustment device to rotate freely around the rotation center to adjust the tilt angle. The translating device is installed on the rotating device and can drive the power head and the clamp to move radially along the rotation center. The power head device is installed at one end of the translating device, and a clamp is fixedly installed at the other end of the translating device. An active drill rod is installed at the front end of the power head device, and the power head device can move back and forth along the central axis of the active drill rod.

[0060] The intelligent sensing system mainly includes a height sensor, a rotation angle sensor, a translational displacement sensor, a power head displacement sensor, and a central control center. The height sensor measures the vertical displacement, the rotation angle sensor detects the tilt angle, the translational displacement sensor detects the movement of the translational device, and the power head displacement sensor detects the translational movement of the power head. The central control center can use the parameter information collected by each sensor to quickly calculate the target coordinates of the automatic rod delivery position and send automatic rod delivery target position commands to the industrial robot, enabling the industrial robot to accurately reach the target position.

[0061] Figure 1 A flowchart illustrating the method for obtaining the target position of an automatic rod delivery robot in a coal mine underground drilling robot according to an embodiment of this application is shown. See also... Figure 1 The methods include:

[0062] Step S1: Divide the workspace of the underground drilling robot in the coal mine into multiple minimum workspace units. The division includes the division of translational motion range, rotational motion range, and lifting motion range. Each minimum workspace unit includes multiple vertices.

[0063] Here, workspace division refers to dividing the range of motion of each component of the underground coal mine drilling robot into smaller workspace units with multiple vertices, based on the structural characteristics and working features of the robot and combined with the manual teaching operation method, thus laying the foundation for reverse modeling. Figure 2 A schematic diagram of the movement of a drilling robot in a coal mine is shown, where o w -x w y w z w For the world coordinate system, o m -x m y m z m Let p be the target position coordinate system, a0, b0, and c0 be the distances between the world coordinate system and the target position coordinate system in the x, y, and z directions, respectively.m The coordinates of the target position for automatic pole delivery. Figure 3 A schematic diagram showing the division of the entire workspace of an underground drilling robot in a coal mine is shown.

[0064] (1) Division of translational motion range

[0065] The translation device can drive the power head device and the clamp to move along the axial direction of the active drill pipe, adjusting the distance between the clamp and the roadway sidewall. The translation amount is denoted as L. The movement range of the translation device is -440mm to 440mm. This range is divided into 110mm intervals, namely -440mm, -330mm, -220mm, -110mm, 0mm, 110mm, 220mm, 330mm, and 440mm.

[0066] (2) Division of rotational motion range

[0067] The rotating device drives the power head, gripper, and translation device to move around the rotation center, adjusting the tilt angle of the underground coal mine drilling robot, denoted as θ. The tilt angle range is -90° to +90°. Considering the characteristics of the underground coal mine drilling robot, the power head is relatively heavy, and the amount of elastic deformation of the translation device and lifting mechanism varies at different tilt angles. For the flexible manipulator, the larger the tilt angle, the greater the deformation; when the tilt angle is small, the flexible manipulator hardly deforms. Therefore, the tilt angle of the rotating device is divided into equal intervals of 20° within the range of -60° to +60°; and further divided into intervals of 15°, 10°, and 5° within the remaining tilt angle range. That is, -60° to -90° is divided into -75°, -85°, and -90°; and the range of 60° to 90° is divided into 75°, 85°, and 90°.

[0068] (3) Lifting range of motion division

[0069] The lifting device can drive the power head device, gripper, translation device, and rotation device to move vertically, adjusting the height of the underground drilling robot in the coal mine, denoted as H. The range of motion in the height direction is 0-400mm; the height direction is divided into the smallest moving units at 100mm intervals, i.e., 0mm, 100mm, 200mm, 300mm, and 400mm. Figure 4 A schematic diagram showing the division of the lifting motion range is provided.

[0070] Finally, the activity range of the underground drilling robot in the coal mine is divided as follows: in the vertical direction, it can be divided into 5 layers, each layer can be divided into 96 active areas, with a total of 97 intersection points; the two corresponding layers in the vertical direction can form the smallest active units, each layer can be divided into 96 smallest active units, of which 72 are hexahedral structures with 8 vertices each, and 24 are fan-shaped structures with 6 vertices each.

[0071] Step S2: Based on the target position coordinates of the automatic rod feeder at different tilt angles, obtain the rotational motion center coordinate parameters at the zero position. Here, the rotational motion center coordinate parameters at the zero position are solved as the mathematical model basis for reverse modeling.

[0072] Step S3: Based on the coordinate parameters of the rotational motion center at the zero position and the automatic rod delivery target position parameters of each vertex in each minimum workspace unit, determine the ball center coordinate error parameters corresponding to each vertex in each minimum workspace unit.

[0073] Step S4: Determine the intersection points of the plane formed by any point in the workspace and the rotation center axis with multiple arcs of the smallest workspace unit to which the point belongs; determine the sphere center coordinate error parameters of each intersection point based on the sphere center coordinate error parameters corresponding to each vertex; determine the rotation center coordinate error parameters of any point based on the sphere center coordinate error parameters of each intersection point; determine the automatic rod delivery target position coordinates of any point based on the coordinates of any point and the rotation center coordinate error parameters of any point.

[0074] This embodiment improves the accuracy and precision of the automatic rod delivery position of the drilling robot, thereby improving the efficiency and quality of drilling operations. By improving the traditional direct mathematical modeling method, this method innovatively provides a solution that effectively reduces the error problem of the automatic rod delivery position of the drilling robot in underground coal mines, and improves the automation level and operability of drilling operations.

[0075] In one embodiment, step S2, obtaining the rotational motion center coordinate parameters at the zero position based on the target position coordinates of the automatic rod delivery at different tilt angles, may include:

[0076] Step S21: When the lifting height of the lifting device is zero, the translation amount of the translation device is zero, and the translation amount of the power head device is zero, determine the target position coordinates of the automatic rod delivery at different tilt angles.

[0077] Here, the position of the hole position adjustment device can be adjusted first, and the lifting height of the lifting device and the translation amount of the translation device can be adjusted to zero.

[0078] Then, the tilt angle of the hole position adjustment device is adjusted to zero. The target position parameters of the automatic rod delivery in this pose are obtained through manual teaching. This process is repeated 5 times, abnormal data is removed, and the average value is calculated. The target position of the automatic rod delivery in this pose is recorded as Q. 000 =[x 000 ,y 000 ,z 000 ], x 000 ,y 000 ,z 000 These are the x, y, and z coordinates when the tilt angle is zero.

[0079] Then, the tilt angle of the hole position adjustment device was adjusted to 90 degrees, 180 degrees, and 270 degrees respectively. The automatic rod delivery target position parameters were obtained for each pose through manual teaching. This process was repeated 5 times, abnormal data was removed, and the average value was calculated. The automatic rod delivery target position for each pose was recorded as Q. 006 =[x 006 ,y 006 ,z 006 Q 0012 =[x 0012 ,y 0012 ,z 0012 Q 0018 =[x 0018 ,y 0018 ,z 0018 ];

[0080] Step S22: Based on the target position coordinates of the automatic rod feeder at different tilt angles, construct the equation for calculating the coordinates of the rotational motion center at the zero position, solve the equation, and obtain the coordinate parameters O of the rotational motion center at the zero position. 000 = [a0, b0, c0, r0].

[0081] Here, based on Q 000 Q 006 Q 0012 Q 0018 Construct the equations for calculating the coordinates of the rotational motion center at the zero position:

[0082]

[0083] Where a0, b0, c0, and r0 are the lifting height, translation, tilt angle, and radius of the sphere representing the rotational motion center coordinates at the zero position, respectively. 000 L is the translation amount when the tilt angle is zero. 006 L represents the translation amount when the tilt angle is 90 degrees. 0012 L represents the translation amount when the tilt angle is 180 degrees. 0018 This represents the translation amount when the tilt angle is 270 degrees.

[0084] In one embodiment, step S3, determining the ball center coordinate error parameter corresponding to each vertex in each minimum workspace unit based on the rotational motion center coordinate parameters of the zero position and the automatic rod delivery target position parameters of each vertex in each minimum workspace unit, may include:

[0085] Step S31: Determine the automatic rod delivery target position parameters for each vertex in each minimum workspace unit, denoted as Q. ijk Q ijk Let A be the vertex corresponding to the i-th lift height, j-th translation, and k-th tilt angle. ijk The automatic rod delivery target position parameters.

[0086] Here, following the division method of the smallest workspace unit in step S1, each vertex in each smallest workspace unit is represented by A. ijk This indicates that, where i represents the lifting height, j represents the translation amount, and k represents the tilt angle, with the right side horizontal being 0, and the counting is performed by rotating counterclockwise. Specifically, i takes values ​​of 0, 1, 2, 3, and 4, corresponding to 0mm, 100mm, 200mm, 300mm, and 400mm respectively; j takes values ​​from -4 to 4, corresponding to -440mm, -330mm, -220mm, -110mm, 0mm, 110mm, 220mm, 330mm, and 440mm respectively; and k takes values ​​from 0 to 23. The automatic pole delivery target position parameter Q for each vertex can be obtained through manual teaching. ijk =[x ijk ,y ijk ,z ijk ,L ijk ,], where x ijk y ijk z ijk Vertex A ijk The coordinates of the x, y, and z axes in the automatic rod delivery target position parameters, L ijk For vertex A ijk The translation parameter in the automatic rod delivery target position parameters.

[0087] Step S32, for vertex A ijk Based on the coordinate parameters of the rotational motion center at the zero position and the target position parameters of the automatic rod delivery corresponding to the four vertices, an equation for calculating the ball center coordinate error parameter is constructed; the four vertices are vertex A. ijk The other three vertices and the four vertices have the same lift height. The four vertices form two vertex pairs. In each vertex pair, the two vertices have the same translation amount and the same tilt angle with opposite signs; see, for example, [link to relevant documentation]. Figure 4 The four vertices A marked in red are... ijk Aijk+1 A ijk+12 A ijk+13 Vertex A ijk+1 Automatic rod delivery target position parameter Q ijk+1 =[x ijk+1 ,y ijk+1 ,z ijk+1 ,L ijk+1 Vertex A ijk+12 Automatic rod delivery target position parameter Q ijk+12 =[x ijk+12 ,y ijk+12 ,z ijk+12 ,L ijk+12 Vertex A ijk+13 Automatic rod delivery target position parameter Q ijk+13 =[x ijk+13 ,y ijk+13 ,z ijk+13 ,L ijk+13 Specifically, the equation for calculating the sphere center coordinate error parameter can be expressed by the following formula:

[0088]

[0089] Where, Δa ijk =Δa ijk+1 =Δa ijk+12 =Δa ijk+13 Δb ijk =Δb ijk+1 =Δb ijk+12 =Δb ijk+13 , Δc ijk =Δc ijk+1 =Δc ijk+12 =Δc ijk+13 , Δr ijk =Δr ijk+1 =Δr ijk+12 =Δr ijk+13 , △a ijk ,△b ijk ,△ cijk ,△r ijk Vertex A ijk The corresponding sphere center coordinate error parameters include the lift height parameter, translation parameter, tilt angle parameter, and sphere radius parameter of the range of motion, △a. ijk+1 ,△b ijk+1 ,△c ijk+1 ,△r ijk+1 Vertex A ijk+1 The corresponding sphere center coordinate error parameters include the lift height parameter, translation parameter, tilt angle parameter, and sphere radius parameter of the range of motion, △a. ijk+12 ,△b ijk+12 ,△c ijk+12 ,△rijk+12 Vertex A ijk+12 The corresponding sphere center coordinate error parameters include the lift height parameter, translation parameter, tilt angle parameter, and sphere radius parameter of the range of motion, △a. ijk+13 ,△b ijk+13 ,△c ijk+13 ,△r ijk+13 Vertex A ijk+13 The corresponding sphere center coordinate error parameters include the lifting height parameter, translation parameter, tilt angle parameter, and sphere radius parameter of the movement range.

[0090] Step S33: Solve the equation for calculating the sphere center coordinate error parameters to obtain the sphere center coordinate error parameters corresponding to the four vertices; the sphere center coordinate error parameters corresponding to the four vertices are the same. Vertex A ijk A ijk+1 A ijk+12 A ijk+13 The corresponding sphere center coordinate error parameters are denoted as △o. ijk , △o ijk+1 , △o ijk+12 , △o ijk+13 , and △o ijk =△o ijk+1 =△o ijk+12 =△o ijk+13 That is, vertex A ijk The corresponding sphere center coordinate error parameter △o ijk =[△a ijk ,△b ijk ,△c ijk ,△r ijk ].

[0091] In one embodiment, step S4, determining the intersection point of the plane formed by any point in the workspace and the rotation center axis with multiple arcs of the smallest workspace unit to which the point belongs, may include:

[0092] Here, the coordinates of any point P in the workspace are (x, y, z), where x, y, and z are the lifting height, translation amount, and tilt angle of the three coordinate axes of the smallest workspace unit corresponding to any point P, respectively.

[0093] Then, determine the smallest workspace cell to which any point P belongs. Figure 5 This diagram illustrates the selection of any point within the working area of ​​an underground drilling robot in a coal mine. (See attached diagram.) Figure 5 If x ijk <x<x i+1jk , and y ijk <y<y ij+1k , and z ijk <z<z ijk+1Then any point Z belongs to such a minimal workspace unit: consisting of eight vertices (x... ijk ,y ijk ,z ijk ), (x ijk ,y ij+1k ,z ijk ), (x i+1jk ,y ijk ,x ijk ), (x i+1jk ,y ij+1k ,z ijk ), (x ijk ,y ijk ,z ijk+1 ), (x ijk ,y ij+1k ,z ijk+1 ), (x i+1jk ,y ijk ,z ijk+1 ), (x i+1jk ,y ij+1k ,z ijk+1 A hexahedral space composed of (x) ijk ,y ijk ,z ijk Let (x, j, k) be a vertex at the bottom left corner of the smallest workspace unit. The lift height, translation amount, and tilt angle are labeled x, j, and k, respectively. Within the smallest workspace unit: (x...) ijk ,y ijk ,z ijk ), (x ijk ,y ijk ,z ijk+1 The arc R1 is formed by the point (x) ij+1k ,y ij+1k ,x ij+1k ), (x ij+1k+1 ,y ij+1k+1 ,z ij+1k+1 The arc R2 is formed by the point (x) i+1j+1k ,y i+1j+1k ,z i+1j+1k ), (x i+1j+1k+1 ,y i+1j+1k+1 ,z i+1j+1k+1 The arc R3 is formed by the point (x) i+1jk ,y i+1jk ,z i+1jk ), (x i+1jk+1 ,y i+1jk+1 ,z i+1jk+1 This forms the arc R4. It should be noted that the smallest workspace unit to which any point P belongs can also be a sector. When it is a sector, the smallest workspace unit has 6 vertices and two arcs.

[0094] Any point and the axis of rotation form a plane. Taking the plane as a tangent, the tangent intersects with each of the four arcs of the smallest workspace unit at one point, thus determining four intersection points, namely p1, p2, p3, and p4. Figure 6 This diagram shows the distribution of any point on a coal mine drilling robot relative to its four vertices. Based on... Figure 5 and Figure 6 The coordinates of the four intersection points can be determined as p1 = (x1, y1, z1) = (x ijk ,y ijk p2 = (x2, y2, z2) = (x i j+1k ,y i j+1k p3 = (x3, y3, z3) = (x i+1j+1k ,y i+1j+1k p4 = (x4, y4, z4) = (x i+1jk ,y i+1jk It should be noted that when the smallest working space unit to which any point Z belongs is a sector space, the tangent intersects the two arcs of the smallest working space unit at two intersection points. The two vertices of the six vertices of the sector space that do not form an arc are the remaining two intersection points.

[0095] In one embodiment, step S4, determining the sphere center coordinate error parameter of each intersection point based on the sphere center coordinate error parameter corresponding to each vertex, may include:

[0096] The sphere center coordinate error parameter at each intersection point is consistent with the sphere center coordinate error parameter of the arc containing the intersection point, and the sphere center coordinate error parameter of the arc containing the intersection point is consistent with the sphere center coordinate error parameters of the vertices at both ends of the arc; specifically, the sphere center coordinate error parameters of the four intersection points are represented by E1, E2, E3, and E4, respectively. In this embodiment, E1 = Δo ijk E2 = △o ij+1k E3 = △o i+1j+1k E4 = △o i+1jk .

[0097] In one embodiment, step S4, determining the rotational motion center coordinate error parameter of any point based on the sphere center coordinate error parameter of each intersection point, may include:

[0098] Step S41: Divide the region formed by the four intersection points into two triangular regions; here, the rectangular region formed by the four intersection points can be divided into two triangles p1p2p3 and p2p3p4.

[0099] Step S42: Determine the triangular region to which any point belongs based on its coordinates.

[0100] Here, the coordinates of any point P satisfy x1≤x≤x2, y1≤y≤y2, z1≤z≤z2. If the coordinates (x,y,z) of any point P are substituted into the formula... If the equation holds, then it proves that any point z is inside triangle p1p2p3, and conversely, it is inside triangle p2p3p4.

[0101] Another method to determine the triangular region of any point is as follows: the coordinates of any point P satisfy x1≤x≤x2, y1≤y≤y2, z1≤z≤z2. If the coordinates (x,y,z) of any point P are substituted into the formula... If the equation holds, it proves that any point z is inside triangle p1p3p4, and conversely, it is inside triangle p1p2p3.

[0102] Step S43: Calculate the centroid coordinates of any point within its triangular region; specifically, this can be determined using the following formula:

[0103] u=[(x2′-x1′)*(x-x1′)+(y2′-y1′)*(y-y1′)+(z2′-z1′)*(z-z1′)] / (2*D)

[0104] v=[(x3′-x1′)*(x-x1′)+(y3′-y1′)*(y-y1′)+(z3′-z1′)*(z-z1′)] / (2*D)

[0105] Where (u,v) are the centroid coordinates of any point P in the triangular region to which it belongs, and D is the area of ​​the triangular region to which it belongs; (x,y,z) are the coordinates of any point P; (x1′,y1′,z1′), (x2′,y2′,z2′), and (x3′,y3′,z3′) are the coordinates of the three intersection points that form the triangular region to which any point P belongs.

[0106] Step S44: Based on the centroid coordinates and the sphere center coordinate error parameters of the three intersection points forming the triangular region, determine the rotational motion center coordinate error parameters of any point.

[0107] Specifically, the following formula is used for calculation:

[0108] E=E1′*u+E2′*v+E3′*(1-uv)

[0109] Where E is the coordinate error parameter of the rotational motion center of any point, E1′, E2′, and E3′ are the coordinate error parameters of the sphere centers of the three intersection points forming the triangular region, and (u,v) are the centroid coordinates of any point in the triangular region.

[0110] In one embodiment, in step S4, the target position coordinates of the automatic rod delivery at any point are determined based on the coordinates of any point and the coordinate error parameter of the rotational motion center at any point, using the following formula:

[0111]

[0112] Where (x',y',z') are the coordinates of the target position of the automatic pole delivery at any point, (x,y,z) are the coordinates of any point, x, y, and z are the lifting height, translation, and tilt angle of the three coordinate axes corresponding to the smallest division work unit at any point, respectively, △a, △b, △c, and △r are the lifting height, translation, tilt angle, and radius parameters of the rotational motion center coordinate error parameter E at any point, respectively, and a0, b0, c0, and r0 are the lifting height, translation, tilt angle, and radius parameters of the sphere of motion range at the zero position.

[0113] In summary, the automatic rod delivery target position acquisition method for underground drilling robots in coal mines proposed in this application has the following technical advantages:

[0114] 1. Based on the structural characteristics and working features of the underground drilling robot, as well as the manual teaching operation method, the working space is divided into 96 minimum working units. The minimum working units are more suitable for the use of the underground drilling robot in coal mines.

[0115] 2. By using manual teaching to obtain the coordinates of the teaching points and performing reverse modeling based on the parameters, a mathematical expression is finally provided to calculate the coordinates of the automatic rod delivery position, thereby improving the accuracy and operability of the drilling robot.

[0116] 3. By reverse-engineering the mathematical model of automatic rod delivery through teaching points, the problem of rod delivery operation failure caused by large deviations in the rod delivery position due to machining errors, assembly errors, and flexible manipulators in the direct theoretical mathematical model is solved. This greatly improves the accuracy of the target position of automatic rod delivery for underground drilling robots in coal mines. This method can directly and simply obtain the final accurate rod delivery mathematical model through manual teaching without considering internal or external factors. It has the advantages of simplicity, practicality, and reliability.

[0117] Based on the same inventive concept as the automatic rod delivery target position acquisition method for underground drilling robots in coal mines, this embodiment also provides a corresponding automatic rod delivery target position acquisition device for underground drilling robots in coal mines. Figure 7 A structural block diagram of an automatic rod delivery target position acquisition device for a coal mine underground drilling robot according to an embodiment of this application is shown. See also: Figure 7 The device includes:

[0118] The space division module 71 is used to divide the workspace of the underground drilling robot in the coal mine into multiple minimum workspace units. The division includes the division of translational motion range, rotational motion range and lifting motion range; each minimum workspace unit includes multiple vertices.

[0119] The rotational motion center coordinate parameter acquisition module 72 is used to acquire the rotational motion center coordinate parameters at the zero position based on the target position coordinates of the automatic rod delivery at different tilt angles.

[0120] The ball center coordinate error parameter determination module 73 is used to determine the ball center coordinate error parameter corresponding to each vertex in each minimum workspace unit based on the rotational motion center coordinate parameter of the zero position and the automatic rod delivery target position parameter of each vertex in each minimum workspace unit.

[0121] The automatic rod feeding target position coordinate determination module 74 is used to determine the intersection points of the plane formed by any point in the workspace and the rotation center axis with multiple arcs of the smallest workspace unit to which the point belongs; based on the sphere center coordinate error parameters corresponding to each vertex, determine the sphere center coordinate error parameters of each intersection point; determine the rotation center coordinate error parameters of any point based on the sphere center coordinate error parameters of each intersection point; and determine the automatic rod feeding target position coordinates of any point based on the coordinates of any point and the rotation center coordinate error parameters of any point.

[0122] The automatic rod delivery target position acquisition device for underground drilling robots in coal mines in this embodiment has the same inventive concept as the automatic rod delivery target position acquisition method for underground drilling robots in coal mines described above. Therefore, the specific implementation of this device can be found in the embodiment section of the automatic rod delivery target position acquisition method for underground drilling robots in coal mines described above, and its technical effects correspond to the technical effects of the above method, so it will not be repeated here.

[0123] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the above-described method for automatically obtaining the target position of a drilling robot in an underground coal mine.

[0124] This application provides a computer program product, including a computer program / instruction. When the computer program / instruction is executed by a processor, it implements the above-described method for automatically obtaining the target position of a drilling robot in an underground coal mine.

[0125] The above are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for automatically acquiring the target position of a drilling robot in an underground coal mine, characterized in that, include: The workspace of the underground drilling robot in a coal mine is divided into multiple minimum workspace units, including division of translational motion range, rotational motion range, and lifting motion range; each minimum workspace unit includes multiple vertices. Based on the target position coordinates of the automatic rod delivery at different tilt angles, obtain the rotational motion center coordinate parameters at the zero position; Based on the coordinate parameters of the rotational motion center at the zero position and the automatic rod delivery target position parameters of each vertex in each of the minimum workspace units, the ball center coordinate error parameters corresponding to each vertex in each of the minimum workspace units are determined. Determine the intersection point of the plane formed by any point in the workspace and the rotation center axis with multiple arcs of the smallest workspace unit to which the arbitrary point belongs; Based on the sphere center coordinate error parameters corresponding to each vertex, determine the sphere center coordinate error parameters of each intersection point; The rotational motion center coordinate error parameter of any point is determined based on the sphere center coordinate error parameter of each intersection point; Based on the coordinates of any point and the coordinate error parameters of the rotational motion center of any point, determine the target position coordinates of the automatic rod delivery at any point; Specifically, based on the rotational motion center coordinate parameters of the zero position and the automatic rod delivery target position parameters of each vertex in each of the minimum workspace units, the ball center coordinate error parameters corresponding to each vertex in each of the minimum workspace units are determined, including: Determine the automatic rod delivery target position parameter for each vertex in each of the minimum workspace units, denoted as Q. ijk Q ijk The vertex corresponding to the i-th lift height, j-th translation, and k-th tilt angle. The target position parameters for the automatic rod delivery; For vertices Based on the coordinate parameters of the rotational motion center at the zero position and the target position parameters of the automatic rod delivery corresponding to the four vertices, a calculation equation for the ball center coordinate error parameter is constructed; the four vertices have the same lifting height, and the four vertices form two vertex pairs, with the two vertices in each vertex pair having the same translation amount and the same tilt angle with opposite signs; Solve the equation for calculating the sphere center coordinate error parameter to obtain the sphere center coordinate error parameters corresponding to the four vertices; the sphere center coordinate error parameters corresponding to the four vertices are the same. The target position coordinates of the automatic rod delivery point are determined based on the coordinates of any point and the coordinate error parameter of the rotational motion center of that point, using the following formula: in,( , , Let (x, y, z) be the coordinates of the automatic pole delivery target position at any point, and let (x, y, z) be the coordinates of any point. Let x, y, and z be the lifting height, translation, and tilt angle of the three coordinate axes corresponding to the smallest division work unit at any point, respectively. Let △a, △b, △c, and △r be the lifting height, translation, tilt angle, and sphere radius parameters of the rotational motion center coordinate error parameter E at any point, respectively. , , and These are the lifting height parameter, translation parameter, tilt angle parameter, and sphere radius parameter of the rotational motion center coordinate parameters at the zero position.

2. The method as described in claim 1, characterized in that, in, Based on the target position coordinates of the automatic rod feeder at different tilt angles, the coordinate parameters of the rotational motion center at the zero position are obtained, including: Determine the target position coordinates of the automatic pole delivery at different tilt angles when the lifting height of the lifting device is zero and the translation amount of the translation device is zero. Based on the target position coordinates of the automatic rod delivery at different tilt angles, an equation for calculating the coordinates of the rotational motion center at the zero position is constructed. By solving the equation, the coordinate parameters of the rotational motion center at the zero position are obtained.

3. The method as described in claim 1, characterized in that, in, Based on the sphere center coordinate error parameters corresponding to each vertex, determine the sphere center coordinate error parameters for each intersection point; including: The sphere center coordinate error parameter of each intersection point is consistent with the sphere center coordinate error parameter of the arc where the intersection point is located, and the sphere center coordinate error parameter of the arc where the intersection point is located is consistent with the sphere center coordinate error parameter of the vertices at both ends of the arc.

4. The method as described in claim 1, characterized in that, in, The coordinate error parameter of the rotational motion center at any point is determined based on the sphere center coordinate error parameter of each intersection point, including: Divide the area formed by the four intersection points into two triangular regions; Determine the triangular region to which any point belongs based on its coordinates; Calculate the centroid coordinates of any point within its corresponding triangular region; Based on the centroid coordinates and the sphere center coordinate error parameters of the three intersection points forming the triangular region, the rotational motion center coordinate error parameters of any point are determined.

5. The method as described in claim 4, characterized in that, in, The centroid coordinates of any given point within its corresponding triangular region are calculated using the following formula: Where (u,v) are the centroid coordinates of any point within its triangular region, and D is the area of ​​the triangular region; (x,y, Let x, y, and z be the coordinates of any point, where x, y, and z are the lifting height, translation, and tilt angle of the three coordinate axes corresponding to the smallest division work unit at that point, respectively. , , ), ( , , ), ( , , ) are the coordinates of the three intersection points of the triangular region to which any point belongs.

6. The method as described in claim 4, characterized in that, in, Based on the centroid coordinates and the sphere center coordinate error parameters of the three intersection points forming the triangular region, the rotational motion center coordinate error parameters of any point are determined using the following formula: Where E is the coordinate error parameter of the rotational motion center at any point. , , These are the sphere center coordinate error parameters for the three intersection points that form the triangular region to which the sphere belongs, and (u, v) are the centroid coordinates of any point in the triangular region to which the sphere belongs.

7. A device for automatically delivering the target position of a drilling robot in an underground coal mine, characterized in that, include: The space partitioning module is used to divide the workspace of the underground drilling robot in a coal mine into multiple minimum workspace units. The partitioning includes the division of translational motion range, rotational motion range, and lifting motion range. Each minimum workspace unit includes multiple vertices. The rotational motion center coordinate parameter acquisition module is used to obtain the rotational motion center coordinate parameters at the zero position based on the target position coordinates of the automatic rod delivery at different tilt angles. The ball center coordinate error parameter determination module is used to determine the ball center coordinate error parameter corresponding to each vertex of each of the minimum workspace units based on the rotational motion center coordinate parameters of the zero position and the automatic rod delivery target position parameters of each vertex in each of the minimum workspace units. The automatic rod feeding target position coordinate determination module is used to determine the intersection point of the plane formed by any point in the workspace and the rotation center axis with multiple arcs of the smallest workspace unit to which the arbitrary point belongs; Based on the sphere center coordinate error parameters corresponding to each vertex, determine the sphere center coordinate error parameters of each intersection point; The rotational motion center coordinate error parameter of any point is determined based on the sphere center coordinate error parameter of each intersection point; Based on the coordinates of any point and the coordinate error parameters of the rotational motion center of any point, determine the target position coordinates of the automatic rod delivery at any point; Specifically, based on the rotational motion center coordinate parameters of the zero position and the automatic rod delivery target position parameters of each vertex in each of the minimum workspace units, the ball center coordinate error parameters corresponding to each vertex in each of the minimum workspace units are determined, including: Determine the automatic rod delivery target position parameter for each vertex in each of the minimum workspace units, denoted as Q. ijk Q ijk The vertex corresponding to the i-th lift height, j-th translation, and k-th tilt angle. The target position parameters for the automatic rod delivery; For vertices Based on the coordinate parameters of the rotational motion center at the zero position and the target position parameters of the automatic rod delivery corresponding to the four vertices, a calculation equation for the ball center coordinate error parameter is constructed; the four vertices have the same lifting height, and the four vertices form two vertex pairs, with the two vertices in each vertex pair having the same translation amount and the same tilt angle with opposite signs; Solve the equation for calculating the sphere center coordinate error parameter to obtain the sphere center coordinate error parameters corresponding to the four vertices; the sphere center coordinate error parameters corresponding to the four vertices are the same. The target position coordinates of the automatic rod delivery point are determined based on the coordinates of any point and the coordinate error parameter of the rotational motion center of that point, using the following formula: in,( , , Let (x, y, z) be the coordinates of the automatic pole delivery target position at any point, and let (x, y, z) be the coordinates of any point. Let x, y, and z be the lifting height, translation, and tilt angle of the three coordinate axes corresponding to the smallest division work unit at any point, respectively. Let △a, △b, △c, and △r be the lifting height, translation, tilt angle, and sphere radius parameters of the rotational motion center coordinate error parameter E at any point, respectively. , , and These are the lifting height parameter, translation parameter, tilt angle parameter, and sphere radius parameter of the rotational motion center coordinate parameters at the zero position.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method for obtaining the target position of an automatic rod delivery robot for underground drilling in coal mines as described in any one of claims 1-6.

9. A computer program product, characterized in that, It includes a computer program / instruction, which, when executed by a processor, implements the method for obtaining the target position of an automatic rod delivery robot for underground drilling in coal mines as described in any one of claims 1-6.

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