Underground auxiliary transport robot iCAR and its control method

Abstract

The present invention provides an underground auxiliary transport robot iCAR and a control method thereof, which relates to the technical field of underground equipment, including a chassis, a steering wheel, an omnidirectional driving control system, a full-section visual navigation system, a master-slave robust multimodal navigation system and a loading and unloading system, wherein the chassis is a rectangular structure; the number of steering wheels is four; the omnidirectional driving control system is arranged on the chassis, and the omnidirectional driving control system is connected to the four steering wheels; the full-section visual navigation system is arranged on the chassis, and the full-section visual navigation system is connected to the omnidirectional driving control system, for obtaining environmental information and sending data frame information to the omnidirectional driving control system; the master-slave robust multimodal navigation system is arranged on the chassis, and the master-slave robust multimodal navigation system is used to obtain the position information and posture information of the underground auxiliary transport robot iCAR and send it to the omnidirectional driving control system; the loading and unloading system includes a lifting mechanism and a loading container used in conjunction with the lifting mechanism, and the lifting mechanism is installed on the chassis. The present invention has high transportation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of underground equipment, and in particular to an underground auxiliary transport robot iCAR and a control method thereof. Background Art

[0002] Auxiliary transportation runs through underground and the ground, and is the main channel for material transportation and exchange between underground and surface. A safe and stable transportation system can greatly improve the production efficiency and safety of coal mines.

[0003] However, the existing auxiliary transportation mode is inconvenient to turn around when used in a narrow underground drift, resulting in low transportation efficiency. Summary of the invention

[0004] The first object of the present invention is to provide an underground auxiliary transport robot iCAR to solve the technical problem of low transportation efficiency of the existing auxiliary transport mode.

[0005] The underground auxiliary transport robot iCAR provided by the present invention comprises a chassis, a steering wheel, an omnidirectional driving control system, a full-section visual navigation system, a master-slave robust multimodal navigation system and a loading and unloading system, wherein the chassis is of a rectangular structure; the number of the steering wheels is four, and the four steering wheels are respectively arranged at the four corner points of the chassis; the omnidirectional driving control system is arranged on the chassis, and the omnidirectional driving control system is connected to the four steering wheels, and is used to drive the four steering wheels to drive the chassis to travel; the full-section visual navigation system is arranged on the chassis, and the full-section visual navigation system is connected to the omnidirectional driving control system, and is used to obtain environmental information and send data frame information to the omnidirectional driving control system; the master-slave robust multimodal navigation system is arranged on the chassis, and the master-slave robust multimodal navigation system is used to obtain the position information and posture information of the underground auxiliary transport robot iCAR and send it to the omnidirectional driving control system; the loading and unloading system comprises a lifting mechanism and a loading container used in conjunction with the lifting mechanism, and the lifting mechanism is installed on the chassis.

[0006] Furthermore, the lifting mechanism includes a hydraulic cylinder and a lifting strut, wherein the cylinder body of the hydraulic cylinder is installed on the chassis, and the lifting strut is fixedly connected to the piston rod of the hydraulic cylinder; one of the lifting strut and the loading container is provided with a clamping block, and the other of the lifting strut and the loading container is provided with a clamping groove, and the clamping groove is clamped and matched with the clamping block.

[0007] Further, the loading container comprises a box body with an open top and a plurality of legs installed at the bottom of the box body; or, the loading container comprises a support plate and a plurality of legs installed at the bottom of the support plate; or, the loading container comprises a box body with an open top.

[0008] Furthermore, the omnidirectional driving control system includes an electronic control device, a hydraulic pump station, a vehicle controller and an on-board domain controller, wherein the electronic control device, the hydraulic pump station, the vehicle controller and the on-board domain controller are all installed on the chassis, wherein each steering wheel is provided with a steering drive device, and the electronic control device is connected to each steering drive device; the hydraulic pump station is connected to the hydraulic cylinder; the vehicle controller and the on-board domain controller are both connected to the electronic control device.

[0009] Furthermore, the full-road visual navigation system includes a positioning camera, a visible light camera, a virtual track and a visual positioning sign, wherein the positioning cameras are arranged at the front and rear of the chassis; the visible light cameras are arranged at the front, rear, left and right sides of the chassis; the virtual track includes a ceiling track located above the road and a ground track located on the road surface, and the virtual track is configured to guide the underground auxiliary transport robot iCAR to travel; there are multiple visual positioning signboards, and the multiple visual positioning signboards are arranged at intervals along the driving path of the underground auxiliary transport robot iCAR; the positioning camera and the visible light camera are both connected to the vehicle-mounted domain controller.

[0010] Furthermore, the overhead rail is suspended above the underground auxiliary transport robot iCAR, and the ground rail is sprayed below the underground auxiliary transport robot iCAR.

[0011] Furthermore, the master-slave robust multimodal navigation system also includes the positioning camera and the visible light camera, and the master-slave robust multimodal navigation system also includes a laser radar, a thermal imaging camera, a wheel speed meter, a positioning communication module, an inertial measurement unit and an inertial navigation antenna, wherein the laser radar is arranged on the left front and right rear of the chassis; each of the steering wheels is arranged on the wheel speed meter; the thermal imaging camera is arranged directly in front and directly behind the chassis; the positioning communication module and the inertial measurement unit are both arranged on the chassis; the inertial navigation antenna is arranged on the left and right sides of the front of the chassis; the laser radar, the thermal imaging camera, the wheel speed meter, the inertial measurement unit and the positioning communication module are all connected to the vehicle-mounted domain controller.

[0012] The beneficial effects brought by the underground auxiliary transport robot iCAR of the present invention are:

[0013] By setting up an underground auxiliary robot mainly composed of a chassis, an omnidirectional driving control system, a full-section visual navigation system, a master-slave robust multimodal navigation system, a loading and unloading system and four steering wheels, when the underground auxiliary transport robot iCAR needs to be used to perform auxiliary transport tasks, the full-section visual navigation system will first obtain the surrounding environment information of the ground material field, identify the loading container to be transported, obtain the first path information between the underground auxiliary transport robot iCAR and the loading container and send it to the omnidirectional driving control system; the omnidirectional driving control system uses four steering wheels to move the underground auxiliary transport robot iCAR to the bottom of the loading container The loading and unloading system uses the lifting mechanism to load the loading container and perform the auxiliary transportation task; the full-section visual navigation system obtains the surrounding environment information, as well as the second path information between the underground auxiliary transportation robot iCAR and the auxiliary transportation destination, and sends the data frame information to the omnidirectional driving control system; the master-slave robust multimodal navigation system obtains the position information and posture information of the underground auxiliary transportation robot iCAR; the omnidirectional driving control system thereby controls the underground auxiliary transportation robot iCAR to move omnidirectionally; after the underground auxiliary transportation robot iCAR arrives at the auxiliary transportation destination, the lifting mechanism of the loading and unloading system unloads the loading and unloading container.

[0014] The underground auxiliary transport robot iCAR is equipped with steering wheels at the four corner points of the chassis, so that when it moves to a narrow underground drift, it can directly use the four steering wheels to move forward and backward and left and right. This effectively improves the disadvantage that traditional trackless rubber-tyred vehicles need to travel to the additional space provided by the turning chamber to perform turning and steering operations. Turning and steering are convenient, thereby improving transportation efficiency.

[0015] In addition, the underground auxiliary transport robot iCAR is equipped with a full-section visual navigation system and a master-slave robust multimodal navigation system, so that when performing auxiliary transport tasks, the full-section visual navigation system is used for navigation first, and then the master-slave robust multimodal navigation system is used to obtain position information and posture information, thereby assisting in improving the stability and safety of underground navigation, and avoiding the situation where the full-section visual navigation system reduces the navigation accuracy of the underground auxiliary transport robot iCAR due to excessive dust and humidity in the underground environment, thereby improving the adaptability of the underground auxiliary transport robot iCAR to the harsh environment underground.

[0016] The second object of the present invention is to provide a control method for an underground auxiliary transport robot iCAR to solve the technical problem of low transportation efficiency in existing auxiliary transport modes.

[0017] The control method of the underground auxiliary transport robot iCAR provided by the present invention is used for the above-mentioned underground auxiliary transport robot iCAR, comprising:

[0018] The full-segment visual navigation system acquires environmental information and identifies the loading container to be transported, and acquires first path information and sends the data frame information to the omnidirectional driving control system; the first path information is the path information between the underground auxiliary transport robot iCAR and the loading container to be transported;

[0019] The omnidirectional driving control system controls the underground auxiliary transport robot iCAR to move to the bottom of the loading container, and the loading and unloading system uses the lifting mechanism to load the loading container;

[0020] The full-segment visual navigation system acquires environmental information, and acquires second path information and sends the data frame information to the vehicle-mounted domain controller of the omnidirectional driving control system; the second path information is the path information between the underground auxiliary transport robot iCAR loaded with the loading container and the auxiliary transport destination;

[0021] The master-slave robust multimodal navigation system obtains the position and posture information of the underground auxiliary transportation robot iCAR;

[0022] After receiving the above image information and data frame information, the vehicle-mounted domain controller of the omnidirectional driving control system sends the fused information to the vehicle controller;

[0023] The vehicle controller issues control instructions based on the vehicle status information and road condition information, allowing the underground auxiliary transport robot iCAR to move in all directions;

[0024] When the underground auxiliary transport robot iCAR fails, the on-board domain controller sends an alarm to the remote control center to switch the control mode of the underground auxiliary transport robot iCAR;

[0025] The underground auxiliary transport robot iCAR arrives at the auxiliary transport destination, and the loading and unloading system unloads the loading container.

[0026] Furthermore, the control modes of the underground auxiliary transport robot iCAR include unmanned driving mode, long-range remote control mode and short-range remote control mode.

[0027] Furthermore, the omnidirectional movement of the underground auxiliary transport robot iCAR includes forward and backward movement and left and right movement.

[0028] The beneficial effects brought by the control method of the underground auxiliary transport robot iCAR of the present invention are:

[0029] The control method of the underground auxiliary transport robot iCAR controls the above-mentioned underground auxiliary transport robot iCAR to realize the whole process unmanned transportation of the loading container from the ground to the underground unloading, which not only has high transportation efficiency but also can improve the adaptability of the underground auxiliary transport robot iCAR in the harsh environment underground. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0031] Figure 1 A schematic diagram of the structure of an underground auxiliary transport robot iCAR provided in an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the structure of a first type of loading container used by the underground auxiliary transport robot iCAR provided in an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the structure of a second type of loading container used by the underground auxiliary transport robot iCAR provided in an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of the structure of a third type of loading container used by the underground auxiliary transport robot iCAR provided in an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of the layout of the positioning camera, visible light camera, thermal imaging camera, laser radar and inertial navigation antenna of the underground auxiliary transportation robot iCAR provided in an embodiment of the present invention;

[0036] Figure 6 A schematic diagram of an underground auxiliary transport robot iCAR provided by an embodiment of the present invention traveling along a virtual track;

[0037] Figure 7 A schematic diagram of the installation of a steering drive device on a steering wheel of an underground auxiliary transport robot iCAR provided by an embodiment of the present invention;

[0038] Figure 8 A schematic structural diagram of the lifting mechanism of the underground auxiliary transport robot iCAR provided in an embodiment of the present invention.

[0039] Description of reference numerals:

[0040] 1-chassis; 2-lifting mechanism; 3-electronic control device; 4-hydraulic pump station; 5-vehicle controller; 6-steering drive device; 7-on-board domain controller; 8-positioning communication module; 9-inertial measurement unit; 10-steering wheel; 11-wheel speed meter; 12-box; 121-top opening; 13-legs; 14-support plate; 15-positioning camera; 16-visible light camera; 17-thermal imaging camera; 18-laser radar; 19-inertial navigation antenna; 20-virtual track; 201-ceiling track; 202-ground track; 21-visual positioning sign; 22-shock absorber; 23-steering mechanism; 24-guide mechanism; 25-lifting pillar; 26-hydraulic cylinder. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0042] like Figure 1 As shown, this embodiment provides an underground auxiliary transport robot iCAR, including a chassis 1, a steering wheel 10, an omnidirectional driving control system, a full-section visual navigation system, a master-slave robust multimodal navigation system and a loading and unloading system, wherein the chassis 1 is a rectangular structure; there are four steering wheels 10, which are respectively arranged at four corner points of the chassis 1; the omnidirectional driving control system is arranged on the chassis 1, and the omnidirectional driving control system is connected to the four steering wheels 10, and is used to drive the four steering wheels 10 to drive the chassis 1 to travel; the full-section visual navigation system is arranged on the chassis 1, and the full-section visual navigation system is connected to the omnidirectional driving control system, and is used to obtain environmental information and send data frame information to the omnidirectional driving control system; the master-slave robust multimodal navigation system is arranged on the chassis 1, and the master-slave robust multimodal navigation system is used to obtain the position information and posture information of the underground auxiliary transport robot iCAR and send it to the omnidirectional driving control system; the loading and unloading system includes a lifting mechanism 2 and a loading container used in conjunction with the lifting mechanism 2, and the lifting mechanism 2 is installed on the chassis 1.

[0043] When the underground auxiliary transport robot iCAR needs to be used to perform auxiliary transport tasks, the full-section visual navigation system will first obtain the surrounding environment information of the ground material field, identify the loading container to be transported, obtain the first path information between the underground auxiliary transport robot iCAR and the loading container and send it to the omnidirectional driving control system; the omnidirectional driving control system uses four steering wheels 10 to move the underground auxiliary transport robot iCAR to the bottom of the loading container, and the loading and unloading system uses the lifting mechanism 2 to load the loading container and perform the auxiliary transport task; the full-section visual navigation system obtains the surrounding environment information, as well as the second path information between the underground auxiliary transport robot iCAR and the auxiliary transport destination, and sends the data frame information to the omnidirectional driving control system; the master-slave robust multimodal navigation system obtains the position information and posture information of the underground auxiliary transport robot iCAR; the omnidirectional driving control system thereby controls the underground auxiliary transport robot iCAR to move omnidirectionally; after the underground auxiliary transport robot iCAR arrives at the auxiliary transport destination, the lifting mechanism 2 of the loading and unloading system unloads the loading and unloading container.

[0044] The underground auxiliary transport robot iCAR is provided with steering wheels 10 at the four corner points of the chassis 1, so that when it moves to a narrow underground drift, it can directly use the four steering wheels 10 to move forward and backward and left and right, effectively improving the disadvantage that traditional trackless rubber-tyred vehicles need to travel to the additional space provided by the turning chamber to perform turning and steering operations, making turning and steering convenient, thereby improving transportation efficiency.

[0045] In addition, the underground auxiliary transport robot iCAR is equipped with a full-section visual navigation system and a master-slave robust multimodal navigation system, so that when performing auxiliary transport tasks, the full-section visual navigation system is used for navigation first, and then the master-slave robust multimodal navigation system is used to obtain position information and posture information, thereby assisting in improving the stability and safety of underground navigation, and avoiding the situation where the full-section visual navigation system reduces the navigation accuracy of the underground auxiliary transport robot iCAR due to excessive dust and humidity in the underground environment, thereby improving the adaptability of the underground auxiliary transport robot iCAR to the harsh environment underground.

[0046] like Figure 8 As shown, in this embodiment, the lifting mechanism 2 includes a hydraulic cylinder 26 and a lifting strut 25, wherein the cylinder body of the hydraulic cylinder 26 is installed on the chassis 1, and the lifting strut 25 is fixedly connected to the piston rod of the hydraulic cylinder 26; the lifting strut 25 is provided with a clamping block, and the loading container is provided with a clamping groove that is clamped with the above-mentioned clamping block.

[0047] When it is necessary to load the loading container, the underground auxiliary transport robot iCAR moves to the right below the loading container, and the hydraulic cylinder 26 of the lifting mechanism 2 is actuated to drive the lifting pillar 25 to extend. The clamping block provided on the lifting pillar 25 and the clamping slot provided on the loading container are used to realize the clamping of the loading container on the lifting pillar 25. After the loading container is fixed at the limit position of the lifting pillar 25, the underground auxiliary transport robot iCAR drives the loading container carried by the lifting pillar 25 to the unloading position. In the process of the underground auxiliary transport robot iCAR transferring the loading container to the unloading position, the lifting pillar 25 always remains in the extended state, so that the loading container is above the ground and does not contact the ground. When the underground auxiliary transport robot iCAR drives the loading container to move to the unloading position and needs to unload the loading container, the hydraulic cylinder 26 drives the lifting pillar 25 to retract, so that the loading container descends to the ground, and the unloading of the loading container can be realized by releasing the clamping limit of the clamping block and the clamping slot between the lifting pillar 25 and the loading container.

[0048] This arrangement of the lifting mechanism 2 provides a stable lifting process and reliable lifting force. Moreover, when the loading container is transported from the loading position to the unloading position for unloading, the entire process only requires one extension and one retraction of the lifting support 25, and the action flow is small.

[0049] In other embodiments, the clamping block may be disposed on the loading container, and the clamping slot may be disposed on the lifting support 25 .

[0050] like Figure 2 As shown, in this embodiment, the loading container can be a box body 12 with a top opening 121 and a plurality of legs 13 installed at the bottom of the box body 12 .

[0051] When this type of loading container is in use, materials can be placed in the box 12 through the top opening 121, and the risk of materials scattering is reduced by the box 12 containing the materials. In addition, the provision of multiple legs 13 also forms a certain space between the box 12 and the placement surface, so that the underground auxiliary transport robot iCAR can move to the bottom of the box 12 to load it, and the loading efficiency is high.

[0052] like Figure 3 As shown, in this embodiment, the loading container may also be a support plate 14 and a plurality of legs 13 installed at the bottom of the support plate 14 .

[0053] When this type of loading container is in use, the material can be directly fixed to the support plate 14, so that the loading purpose can be achieved even when the material structure size is large, meeting the loading requirements of large-sized materials.

[0054] like Figure 4As shown, in this embodiment, the loading container can also be only a box body 12 with a top opening 121. That is to say, the loading container is a container structure with a top opening 121 at this time.

[0055] This type of loading container has a large capacity when in use and can load large quantities of materials at one time.

[0056] Among them, for Figure 4 The loading container shown can be placed on the chassis 1 by a sling to be connected to the lifting support 25 of the lifting mechanism 2, or a support frame is arranged under the loading container so that the loading container has a certain height relative to the ground, so that the underground auxiliary transport robot iCAR can move under it to load it.

[0057] It is understandable that Figure 4 The loading container shown can also be placed in Figure 3 The two loading containers are stacked together to form a loading container combination. The final form of the loading container combination can be referred to in Figure 1 , which consists of two Figure 4 The container-type loading container shown, wherein for Figure 4 The transshipment process of the container-type loading container shown can be regarded as Figure 3 The transfer process of the loading container of the transport plate type shown.

[0058] Specifically, when performing auxiliary transport tasks, the underground auxiliary transport robot iCAR can be moved to the bottom of the loading container combination, and the lifting pillar 25 is extended to engage with the support plate 14 to achieve the limited fixation of the loading container combination on the lifting pillar 25, thereby lifting the loading container combination to achieve the auxiliary transport purpose; when moving to the unloading position, the lifting pillar 25 is lowered to make the multiple legs 13 of the transport plate type loading container contact the ground, thereby placing the loading container combination in the unloading position to achieve the unloading purpose. This method of using the loading container combination to achieve unloading Figure 4 The container-type loading container auxiliary transport form shown above can transport multiple Figure 4 The loading container shown has a high transfer efficiency.

[0059] Please continue to refer to Figure 1 In this embodiment, the omnidirectional driving control system includes an electronic control device 3, a hydraulic pump station 4, a vehicle controller 5 and a vehicle-mounted domain controller 7. The electronic control device 3, the hydraulic pump station 4, the vehicle controller 5 and the vehicle-mounted domain controller 7 are all installed on the chassis 1, wherein each steering wheel 10 is provided with a steering drive device 6, the electronic control device 3 is connected to each steering drive device 6; the hydraulic pump station 4 is connected to the hydraulic cylinder 26; the vehicle controller 5 and the vehicle-mounted domain controller 7 are both connected to the electronic control device 3.

[0060] In this omnidirectional driving control system, the function of the electronic control device 3 is to supply power to the entire system; the electronic control device 3 includes a brake-lifting motor, which serves as the internal pressure source of the hydraulic cylinder 26; the steering drive device 6 is used to realize the steering drive of the steering wheel 10; the vehicle controller 5 is the control center of the entire underground auxiliary transport robot iCAR; the function of the vehicle-mounted domain controller 7 is to integrate some functions of the underground auxiliary transport robot iCAR into one controller to reduce the number of electronic controller units.

[0061] When the omnidirectional driving control system receives the data frame information sent by the full-road visual navigation system, wherein the data frame information is specifically received by the vehicle-mounted domain controller 7, the steering drive device 6 will be controlled through the electronic control device 3 to make the steering wheel 10 at the corresponding position turn and move, so that the underground auxiliary transport robot iCAR moves to the position of the loading container. At the same time, the electronic control device 3 also controls the brake lifting motor of the hydraulic pump station 4 to provide a pressure source for the hydraulic cylinder 26, so that the hydraulic cylinder 26 can drive the lifting support 25 to extend for loading.

[0062] In this embodiment, the electric control device 3 includes a high-voltage power distribution unit, which is responsible for the power distribution and management of the underground auxiliary transportation robot iCAR. The steering wheel 10 is provided with a drive motor and a steering motor, which are both connected to the electric control device 3 and controlled by the electric control device 3.

[0063] like Figure 7 As shown, the steering drive device 6 includes a shock absorber 22, a steering mechanism 23 and a guide mechanism 24, wherein the steering mechanism 23 is installed on the steering wheel 10 and connected to the steering motor, and the steering motor drives the steering wheel 10 to steer through the steering mechanism 23; the guide mechanism 24 is installed on the steering wheel 10, and is used to guide the steering wheel 10 during driving; one end of the shock absorber 22 is connected to the steering wheel 10, and the other end of the shock absorber 22 is connected to the chassis 1, and is used to reduce shock for the steering wheel 10 during driving.

[0064] like Figure 5 and Figure 6 As shown, in this embodiment, the full-road visual navigation system includes a positioning camera 15, a visible light camera 16, a virtual track 20 and a visual positioning sign 21, wherein the chassis 1 is provided with a positioning camera 15 in front and at the rear; the chassis 1 is provided with a visible light camera 16 in front, at the rear, at the left and at the right; the virtual track 20 includes a ceiling track 201 located above the road and a ground track 202 located on the road surface, and the virtual track 20 is configured to guide the underground auxiliary transport robot iCAR to travel; there are multiple visual positioning signs 21, and the multiple visual positioning signs 21 are arranged at intervals along the travel path of the underground auxiliary transport robot iCAR; the positioning camera 15 and the visible light camera 16 are both connected to the vehicle-mounted domain controller 7.

[0065] When performing the auxiliary transport task, the full-section visual navigation system uses the positioning camera 15 and the visible light camera 16 to obtain the surrounding environment information of the ground fabric yard, and identifies the loading container to be transported, so as to obtain the first path information between it and the loading container and send it to the vehicle-mounted domain controller 7 of the omnidirectional driving control system; the vehicle-mounted domain controller 7 further controls the steering wheel 10 through the electronic control device 3 to move the underground auxiliary transport robot iCAR to the bottom of the loading container to load the loading container; when the loading of the loading container is completed, the full-section visual navigation system again uses the positioning camera 15 and the visible light camera 16 to obtain the surrounding environment information of the ground fabric yard, and obtains the second path information and road end information between it and the auxiliary transport destination, and sends the data frame information to the vehicle-mounted domain controller 7 again. Among them, the positioning camera 15 and the visible light camera 16 can obtain the first path information and the second path information by identifying the virtual track 20. The current position of the underground auxiliary transport robot iCAR can be determined through the visual positioning sign 21.

[0066] The above-mentioned positioning camera 15 and visible light camera 16 are arranged so that the underground auxiliary transport robot iCAR can smoothly drive to the desired position, and with the aid of the visual positioning sign 21, the positioning of the underground auxiliary transport robot iCAR can also be realized. By combining the sky rail 201 with the ground rail 202 to form a virtual track 20, it is possible to avoid the situation where the ground rail 202 cannot be successfully identified due to the harsh underground environment, and effectively improve the working stability and safety of the underground auxiliary transport robot iCAR of this embodiment.

[0067] Please continue to refer to Figure 6 In this embodiment, the ceiling rail 201 is suspended above the underground auxiliary transport robot iCAR, and the floor rail 202 is sprayed below the underground auxiliary transport robot iCAR.

[0068] This form of arranging the ceiling rail 201 by suspension is easy to adjust. This form of forming the ground rail 202 by spraying can reduce the interference caused to the underground auxiliary transport robot iCAR during driving while ensuring effective identification, thereby ensuring the smooth driving of the underground auxiliary transport robot iCAR.

[0069] Please continue to refer to Figure 5In this embodiment, the master-slave robust multimodal navigation system also includes the above-mentioned positioning camera 15 and visible light camera 16. On this basis, the master-slave robust multimodal navigation system also includes a laser radar 18, a thermal imaging camera 17, a wheel speed meter 11, a positioning communication module 8, an inertial measurement unit 9 and an inertial navigation antenna 19, wherein a laser radar 18 is arranged at the left front and right rear of the chassis 1; each steering wheel 10 is provided with a wheel speed meter 11; a thermal imaging camera 17 is arranged directly in front and directly behind the chassis 1; the positioning communication module 8 and the inertial measurement unit 9 are both arranged on the chassis 1; the inertial navigation antenna 19 is arranged on the left and right sides of the front of the chassis 1; the laser radar 18, the thermal imaging camera 17, the wheel speed meter 11, the inertial measurement unit 9 and the positioning communication module 8 are all connected to the vehicle-mounted domain controller 7.

[0070] When performing auxiliary transport tasks, the master-slave robust multimodal navigation system uses the laser radar 18 and the inertial measurement unit 9 to couple tightly, and with the help of SLAM (Simultaneous localization and mapping) technology, realizes the three-dimensional real-time positioning and posture estimation of the underground auxiliary transport robot iCAR itself. Among them, the setting of the laser radar 18 can timely remind when encountering obstacles during driving, ensuring the safety during driving; the setting of the wheel speed meter 11 can realize the speed detection of the underground auxiliary transport robot iCAR during driving; the setting of the thermal imaging camera 17 makes the detection of people more robust. By setting the thermal imaging camera 17 directly in front and behind the chassis 1, the underground auxiliary transport robot iCAR can still sense people after turning around; the inertial navigation antenna 19 does not rely on external information, and the position judgment of the underground auxiliary transport robot iCAR is more accurate. Among them, the inertial navigation antenna 19 can form a navigation coordinate system based on the underground auxiliary transport robot iCAR itself.

[0071] In this embodiment, the positioning communication module 8 is a 5G communication module.

[0072] In addition, this embodiment also provides a control method for an underground auxiliary transport robot iCAR, which is used for the above-mentioned underground auxiliary transport robot iCAR, comprising:

[0073] The full-section visual navigation system acquires environmental information and identifies the loading container to be transported, and acquires first path information and sends the data frame information to the omnidirectional driving control system; the first path information is the path information between the underground auxiliary transport robot iCAR and the loading container to be transported;

[0074] The omnidirectional driving control system controls the underground auxiliary transport robot iCAR to move to the bottom of the loading container, and the loading and unloading system uses the lifting mechanism 2 to load the loading container;

[0075] The full-segment visual navigation system acquires environmental information, and acquires second path information and sends the data frame information to the vehicle-mounted domain controller 7 of the omnidirectional driving control system; the second path information is the path information between the underground auxiliary transport robot iCAR loaded with the loading container and the auxiliary transport destination;

[0076] The master-slave robust multimodal navigation system obtains the position and posture information of the underground auxiliary transportation robot iCAR;

[0077] After receiving the above image information and data frame information, the vehicle-mounted domain controller 7 of the omnidirectional driving control system sends the fused information to the vehicle controller 5;

[0078] The vehicle controller 5 issues control instructions according to the vehicle status information and road condition information, so that the underground auxiliary transport robot iCAR can move in all directions;

[0079] When the underground auxiliary transport robot iCAR fails, the on-board domain controller 7 sends an alarm to the remote control center to switch the control mode of the underground auxiliary transport robot iCAR;

[0080] The underground auxiliary transport robot iCAR arrives at the auxiliary transport destination, and the loading and unloading system unloads the loading container.

[0081] The control method of the underground auxiliary transport robot iCAR controls the above-mentioned underground auxiliary transport robot iCAR to realize the whole process unmanned transportation of the loading container from the ground to the underground unloading, which not only has high transportation efficiency but also can improve the adaptability of the underground auxiliary transport robot iCAR in the harsh environment underground.

[0082] In this embodiment, the control mode of the underground auxiliary transport robot iCAR can include unmanned driving mode, remote control mode and short-range remote control mode. This setting expands the driving mode of the underground auxiliary transport robot iCAR, so that the underground auxiliary transport robot iCAR can make timely adjustments when a fault occurs to ensure the smooth progress of the auxiliary transport task.

[0083] In this embodiment, the omnidirectional movement of the underground auxiliary transport robot iCAR includes forward and backward movement and left and right movement. This setting can well meet the auxiliary transport requirements in the narrow space underground.

[0084] As a specific embodiment, the control method of the underground auxiliary transport robot iCAR includes:

[0085] Step 1: When performing the auxiliary transport task, the full-section visual navigation system obtains the surrounding environment information of the ground material field, identifies the loading container to be transported, obtains the path information and sends the data frame information to the omnidirectional driving intelligent control system;

[0086] Step 2: The omnidirectional driving control system uses the steering wheel 10 and the global high-precision map of the ground to move to the bottom of the loading container, and the loading and unloading system uses the lifting mechanism 2 to complete the loading task and perform the auxiliary transportation task;

[0087] Step 3: The full-segment visual navigation system senses the surrounding environment, obtains path information and road end information, and sends data frame information to the vehicle domain controller 7 in the omnidirectional driving control system;

[0088] Step 4: The master-slave robust multimodal navigation system uses the tight coupling of the laser radar 18 and the inertial measurement unit 9, supplemented by SLAM technology, to achieve the three-dimensional real-time positioning and attitude estimation of the vehicle itself;

[0089] Step 5: The vehicle-mounted domain controller 7 receives the above-mentioned image information and data frame information, performs fusion processing, and sends the processed information to the vehicle controller 5;

[0090] Step 6: The vehicle controller 5 issues instructions based on the vehicle status information, road condition information and vehicle accessories status, the actuator completes driving, steering and braking, and the steering wheel 10 completes omnidirectional movement;

[0091] Step 7: When the underground auxiliary transport robot iCAR fails, the on-board domain controller 7 promptly sends an alarm to the remote control center and switches between the three control modes of unmanned driving mode, remote remote control mode and short-range remote control mode;

[0092] Step eight, when the underground auxiliary transport robot iCAR arrives at the auxiliary transport destination, the loading and unloading system uses the lifting mechanism 2 to unload the loading container and then returns, completing the auxiliary transport task.

[0093] In the above step 2, the omnidirectional driving control system starts the loading and unloading system through the braking lifting motor, and the hydraulic cylinder 26 of the lifting mechanism 2 lifts the lifting pillar 25 to lift the loading container, and the block of the lifting pillar 25 cooperates with the slot of the loading container to complete the autonomous loading task. The loaded underground auxiliary transport robot iCAR starts to perform the auxiliary transport task; the global high-precision map of the ground is generated by the master-slave robust multimodal navigation system, and the data will be stored in the master-slave robust multimodal navigation system in advance. When the underground auxiliary transport robot iCAR is running, the full-section visual navigation system and the master-slave robust multimodal navigation system will obtain data and update data in real time to construct a global high-precision map of the ground.

[0094] In the above step three, the positioning camera 15 and the visible light camera 16 respectively perform real-time detection on the virtual track 20 and the visual positioning sign 21 to obtain path information and road end information, and send the data frame information to the vehicle-mounted domain controller 7 in the omnidirectional driving control system; the road end information includes people and obstacles, etc., and also includes the virtual track 20 and the visual positioning sign 21.

[0095] In the above step four, the multiple laser beams emitted by the laser radar 18 can obtain the point cloud information of the surrounding environment, construct a three-dimensional point cloud map of the underground, and tightly couple the laser radar 18 with the inertial measurement unit 9, assisted by SLAM technology, to achieve the vehicle's own three-dimensional real-time positioning and posture estimation; when the laser radar 18 detects obstacles and pedestrians, or when the underground auxiliary transport robot iCAR travels to narrow tunnels and chute, the omnidirectional driving control system adjusts the four steering wheels 10 in time according to its own positioning and posture, moves forward and backward and left and right, realizes lateral two-dimensional translation, quickly switches the driving function, realizes the elimination of U-turn chambers in underground tunnels, and simplifies the transportation system.

[0096] In the above step six, the vehicle controller 5 sends control information to the drive motor, steering motor and brake lifting motor to realize the speed regulation, steering and lifting braking of the vehicle; the on-board accessories refer to the positioning camera 15, visible light camera 16, thermal imaging camera 17, laser radar 18 and inertial navigation antenna 19.

[0097] In the above step eight, the omnidirectional driving control system starts the loading and unloading system by braking the lifting motor, and the hydraulic cylinder 26 of the lifting mechanism 2 lowers the lifting support 25 to place the loading container. The block of the lifting support 25 is released from the slot of the loading container, completing the autonomous unloading task. After unloading, the underground auxiliary transport robot iCAR returns to complete the auxiliary transport task.

[0098] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

[0099] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0100] In the above embodiments, the descriptions of directions such as “upper”, “lower”, “front”, “back”, “left”, “right”, and “side” are all based on the drawings.

[0101] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An underground auxiliary transport robot iCAR, characterized in that: The invention comprises a chassis (1), a steering wheel (10), an omnidirectional driving control system, a full-segment visual navigation system, a master-slave robust multimodal navigation system and a loading and unloading system, wherein the chassis (1) is of a rectangular structure; there are four steering wheels (10), and the four steering wheels (10) are respectively arranged at four corner points of the chassis (1); the omnidirectional driving control system is arranged on the chassis (1), and the omnidirectional driving control system is connected to the four steering wheels (10) and is used to drive the four steering wheels (10) to drive the chassis (1) to travel; the full-segment visual navigation system is arranged On the chassis (1), the full-segment visual navigation system is connected to the omnidirectional driving control system, and is used to obtain environmental information and send data frame information to the omnidirectional driving control system; the master-slave robust multimodal navigation system is arranged on the chassis (1), and the master-slave robust multimodal navigation system is used to obtain position information and posture information of the underground auxiliary transportation robot iCAR and send it to the omnidirectional driving control system; the loading and unloading system comprises a lifting mechanism (2) and a loading container used in conjunction with the lifting mechanism (2), and the lifting mechanism (2) is installed on the chassis (1); The lifting mechanism (2) comprises a hydraulic cylinder (26) and a lifting support (25), wherein the cylinder body of the hydraulic cylinder (26) is mounted on the chassis (1), and the lifting support (25) is fixedly connected to the piston rod of the hydraulic cylinder (26); one of the lifting support (25) and the loading container is provided with a clamping block, and the other of the lifting support (25) and the loading container is provided with a clamping groove, and the clamping groove is clamped and matched with the clamping block; The loading container comprises a box body (12) having a top opening (121) and a plurality of legs (13) installed at the bottom of the box body (12); or, the loading container comprises a support plate (14) and a plurality of legs (13) installed at the bottom of the support plate (14); or, the loading container comprises a box body (12) having a top opening (121).

2. The underground auxiliary transport robot iCAR according to claim 1, characterized in that: The omnidirectional driving control system comprises an electronic control device (3), a hydraulic pump station (4), a vehicle controller (5) and an on-board domain controller (7), wherein the electronic control device (3), the hydraulic pump station (4), the vehicle controller (5) and the on-board domain controller (7) are all installed on the chassis (1), wherein each steering wheel (10) is provided with a steering drive device (6), the electronic control device (3) is connected to each steering drive device (6); the hydraulic pump station (4) is connected to the hydraulic cylinder (26); the vehicle controller (5) and the on-board domain controller (7) are both connected to the electronic control device (3).

3. The underground auxiliary transport robot iCAR according to claim 2, characterized in that: The full-road visual navigation system comprises a positioning camera (15), a visible light camera (16), a virtual track (20) and a visual positioning sign (21), wherein the positioning camera (15) is arranged at the front and rear of the chassis (1); the visible light camera (16) is arranged at the front, rear, left and right of the chassis (1); the virtual track (20) comprises a ceiling track (201) located above the road and a ground track (202) located on the road surface, and the virtual track (20) is configured to guide the underground auxiliary transport robot iCAR to travel; the number of the visual positioning sign (21) is multiple, and the multiple visual positioning sign (21) is arranged at intervals along the travel path of the underground auxiliary transport robot iCAR; the positioning camera (15) and the visible light camera (16) are both connected to the vehicle-mounted domain controller (7).

4. The underground auxiliary transport robot iCAR according to claim 3, characterized in that: The ceiling rail (201) is suspended above the underground auxiliary transport robot iCAR, and the floor rail (202) is sprayed below the underground auxiliary transport robot iCAR.

5. The underground auxiliary transport robot iCAR according to claim 3, characterized in that: The master-slave robust multimodal navigation system also includes the positioning camera (15) and the visible light camera (16), and the master-slave robust multimodal navigation system also includes a laser radar (18), a thermal imaging camera (17), a wheel speed meter (11), a positioning communication module (8), an inertial measurement unit (9) and an inertial navigation antenna (19), wherein the laser radar (18) is arranged at the left front and right rear of the chassis (1); each of the steering wheels (10) is arranged with the wheel speed meter (11) ; The thermal imaging camera (17) is arranged in front and rear of the chassis (1); the positioning communication module (8) and the inertial measurement unit (9) are arranged on the chassis (1); the inertial navigation antenna (19) is arranged on the left and right sides of the front of the chassis (1); the laser radar (18), the thermal imaging camera (17), the wheel speed meter (11), the inertial measurement unit (9) and the positioning communication module (8) are all connected to the vehicle-mounted domain controller (7).

6. A control method for an underground auxiliary transport robot iCAR, characterized in that: The underground auxiliary transport robot iCAR used in any one of claims 1 to 5 comprises: The full-segment visual navigation system acquires environmental information and identifies the loading container to be transported, acquires first path information and sends the data frame information to the omnidirectional driving control system; the first path information is path information between the underground auxiliary transport robot iCAR and the loading container to be transported; the omnidirectional driving control system controls the underground auxiliary transport robot iCAR to move to the bottom of the loading container, and the loading and unloading system uses the lifting mechanism (2) to load the loading container; The full-segment visual navigation system acquires environmental information, and acquires second path information and sends the data frame information to a vehicle-mounted domain controller (7) of the omnidirectional driving control system; the second path information is path information between the underground auxiliary transport robot iCAR loaded with a loading container and an auxiliary transport destination; The master-slave robust multimodal navigation system obtains the position and posture information of the underground auxiliary transportation robot iCAR; After receiving the above-mentioned environmental information and data frame information, the vehicle-mounted domain controller (7) of the omnidirectional driving control system sends the fused information to the vehicle controller (5); The vehicle controller (5) issues control instructions according to the vehicle status information and road condition information, so that the underground auxiliary transport robot iCAR moves in all directions; When the underground auxiliary transport robot iCAR fails, the onboard domain controller (7) sends an alarm to the remote control center to switch the control mode of the underground auxiliary transport robot iCAR; The underground auxiliary transport robot iCAR arrives at the auxiliary transport destination, and the loading and unloading system unloads the loading container.

7. The control method of the underground auxiliary transport robot iCAR according to claim 6, characterized in that: The control modes of the underground auxiliary transport robot iCAR include unmanned driving mode, long-distance remote control mode and short-distance remote control mode.

8. The control method of the underground auxiliary transport robot iCAR according to claim 6, characterized in that: The omnidirectional movement of the underground auxiliary transport robot iCAR includes forward and backward movement and left and right movement.

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