Remote wall-tapping and top-asking system and method

Abstract

The invention provides a remote wall-knocking and top-asking system and method, and belongs to the technical field of intelligent mines, and the system comprises a prying robot, a simulation display end and a remote control end; the prying robot is used for collecting environment data and sending the environment data to the simulation display end; the simulation display end is used for generating an augmented reality simulation scene after receiving the environment data, and determining an operation position according to the augmented reality simulation scene; the remote control end is used for generating a control instruction according to the operation position, generating a control signal according to the control instruction and sending the control signal to the prying robot so as to control the prying robot to conduct wall-knocking and top-asking operation. The operation scene of the prying robot is simulated through the augmented reality method, the prying robot is controlled through the control signal under the augmented reality simulation scene to conduct wall tapping and top asking, remote wall tapping and top asking operation can be achieved, and potential safety hazards of manual operation are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent mines, and in particular to a remote top-knocking system and method. Background Art

[0002] In the process of underground mining, blasting is a commonly used production technology. The strong vibration it produces will affect the stability of the tunnel roof. Therefore, it is necessary for prying workers to regularly knock on the roof to find out hidden dangers such as pumice and delamination on the roof, and pry them off in a safe position.

[0003] In the existing knocking and top-testing operations, the prying workers usually use empirical methods such as knocking and listening to sounds to judge the stability of the roof. This method has the possibility of misjudging the size of the pumice, resulting in the prying workers being unable to find the correct safe working position, posing a safety hazard.

[0004] Therefore, the existing technology has the problem that manual knocking and top-checking operations may misjudge the size of the pumice stone, which poses a safety hazard and needs to be improved. Summary of the invention

[0005] In view of this, it is necessary to provide a remote knocking system and method for solving the technical problem in the prior art that manual knocking may misjudge the size of pumice and pose a safety hazard.

[0006] In order to solve the above technical problems, on the one hand, the present invention provides a remote knocking and asking system, including: a prying robot, a simulation display terminal and a remote control terminal; The prying robot is used to collect environmental data and send the environmental data to the simulation display terminal; The simulation display terminal is used to generate an augmented reality simulation scene after receiving environmental data, and determine the operation position according to the augmented reality simulation scene; The remote control terminal is used to generate control instructions according to the working position, generate control signals according to the control instructions and send them to the prying robot to control the prying robot to perform knocking and top-asking operations.

[0007] In a possible implementation, the remote knocking and top-asking system also includes a network switch, which is communicatively connected to the prying robot, the simulation display terminal and the remote control terminal for transmitting and collecting environmental data and control signals.

[0008] In a possible implementation, the network switch includes a signal demodulation and modulation module, which is used to modulate the collected environment data and the control signal into a high-frequency electrical signal, and demodulate the high-frequency electrical signal.

[0009] In a possible implementation, the hair prying robot includes a data acquisition module, a mobile crawler and a mechanical arm; The data acquisition module is used to collect environmental data; The mobile crawler is used to move the prying robot to the working position according to the control signal; The robot arm is used to perform tapping and removal operations on the roof pumice according to control signals.

[0010] In a possible implementation, the data acquisition module includes a video acquisition module and an audio acquisition module; The video acquisition module is used to collect video data of the prying robot; The audio acquisition module is used to collect audio data of the hair-picking robot.

[0011] In one possible implementation, the simulation display terminal includes a head-mounted augmented reality display and an audio player; The head mounted augmented reality display is used to generate an augmented reality simulation scene based on the video data; The audio player is used to play audio according to audio data.

[0012] In a possible implementation, the simulation display terminal further includes a hidden danger marking module; The hidden danger marking module is used to mark the roof pumice with the hidden danger of falling off as hidden danger pumice.

[0013] In a possible implementation, the remote control terminal includes a movement control module, an operation control module and a signal conversion module; The movement control module includes an accelerator pedal, a brake pedal, a steering wheel and a gear lever, and is used to generate movement control instructions; The operation control module includes a robot arm rocker, which is used to generate robot arm control instructions; The signal conversion module is used to convert the mobile control instructions and the robotic arm control instructions into control signals, and modulate and encapsulate the control signals and send them to the prying robot.

[0014] In a possible implementation, the remote help and assistance system further includes a log module; The log module is used to record the operation records of knocking on the top and generating log files according to the operation records of knocking on the top.

[0015] On the other hand, the present invention also provides a remote knocking and asking for help method, which is applied to the above remote knocking and asking for help system, comprising: The prying robot collects environmental data and sends the environmental data to the simulation display terminal; Generate an augmented reality simulation scene based on the environmental data received by the simulation display terminal, and determine the operation position according to the augmented reality simulation scene; Based on the remote control terminal and according to the working position, a control instruction is generated, and a control signal is generated according to the control instruction and sent to the prying robot to control the prying robot to perform the knocking and top operation.

[0016] The beneficial effects of the present invention are as follows: the remote knocking and top-checking system provided by the present invention simulates the working scene of the prying robot through an augmented reality method, and controls the prying robot to knock and top-check through control signals in the augmented reality simulation scene, thereby realizing remote knocking and top-checking operations and avoiding safety hazards of manual operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A schematic diagram of the structure of an embodiment of the remote knocking and asking for help system provided by the present invention; Figure 2 This is a schematic diagram of the structure of a hair prying robot according to an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a data acquisition module according to an embodiment of the present invention; Figure 4 A schematic diagram of the structure of an analog display terminal according to an embodiment of the present invention; Figure 5 A schematic diagram of the structure of a remote control terminal according to an embodiment of the present invention; Figure 6 A schematic diagram of a flow chart of an embodiment of the remote help-asking method provided by the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] In the description of the embodiments of the present invention, unless otherwise specified, "multiple" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" may mean: A exists alone, A and B exist at the same time, and B exists alone.

[0021] The descriptions of "first", "second", etc. involved in the embodiments of the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the technical features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0022] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0023] The present invention provides a remote knocking help and asking for help system and method, which are respectively described below.

[0024] Figure 1 A schematic diagram of the structure of an embodiment of the remote knocking help and asking system provided by the present invention is shown as follows: Figure 1 As shown, the remote knocking and asking system 10 includes: a prying robot 100, a simulation display terminal 200 and a remote control terminal 300; The hair-prying robot 100 is used to collect environmental data and send the environmental data to the simulation display terminal 200; The simulation display terminal 200 is used to generate an augmented reality simulation scene after receiving environmental data, and determine the operation position according to the augmented reality simulation scene; The remote control terminal 300 is used to generate a control instruction according to the working position, generate a control signal according to the control instruction and send it to the prying robot 100 to control the prying robot 100 to perform the knocking operation.

[0025] Compared with the prior art, the remote knocking and top-checking system provided by the present invention simulates the working scene of the prying robot through an augmented reality method, and controls the prying robot to knock and top-check through control signals in the augmented reality simulation scene, thereby realizing remote knocking and top-checking operations and avoiding safety hazards of manual operations.

[0026] In some embodiments of the present invention, the remote knocking and asking for help system 10 also includes a network switch 400, which is communicatively connected to the prying robot 100, the simulation display terminal 200 and the remote control terminal 300 for transmitting and collecting environmental data and control signals.

[0027] In some embodiments of the present invention, the network switch 400 includes a signal demodulation and modulation module 410 for modulating the collected environment data and the control signal into a high-frequency electrical signal, and demodulating the high-frequency electrical signal.

[0028] Specifically, in the embodiment, the remote knocking and top-checking system 10 also includes a network switch 400, and the prying robot 100, the simulation display terminal 200 and the remote control terminal 300 are all connected to the underground ring network of the mine through the network switch 400. Data exchange and signal transmission are performed in the underground ring network of the mine through cable transmission. This allows the operator to avoid the blasting chamber, remotely observe the surrounding situation of the prying robot 100 through the simulation display terminal 200, and remotely control the prying robot 100 through the remote control terminal 300 to perform knocking and top-checking operations.

[0029] In addition, in order to ensure the signal quality during the transmission process, the network switch 400 includes a signal demodulation and modulation module 410. The signal demodulation and modulation module 410 can modulate low-frequency network signals such as collected environmental data and control signals into high-frequency electrical signals, and transmit them in the form of high-frequency electrical signals in the underground ring network of the mine. After the transmission is completed, the high-frequency electrical signal is demodulated and sent to the corresponding receiving device, thereby improving the transmission efficiency and signal quality during the signal transmission process.

[0030] In some embodiments of the present invention, Figure 2 FIG. 1 is a schematic diagram of the structure of a hair-prying robot according to an embodiment of the present invention. Figure 2 As shown, the hair prying robot 100 includes a data acquisition module 110, a mobile crawler 120 and a mechanical arm 130; The data collection module 110 is used to collect environmental data; The mobile crawler 120 is used to move the prying robot to the working position according to the control signal; The robot arm 130 is used to perform tapping and removal operations on the top plate pumice according to the control signal.

[0031] Specifically, in order to replace manual knocking and top-asking operations, the prying robot 100 includes a data acquisition module 110, a mobile track 120 and a mechanical arm 130. Among them, the data acquisition module 110 is used to collect environmental data around the prying robot, and use the environmental data to establish an augmented reality simulation scene, so that the operator can see and hear the situation around the prying robot 100. The mobile track 120 is used to control the prying robot 100 to move to the working position after receiving a control signal. The tracked movement method can improve the adaptability of the prying robot to the terrain. The mechanical arm 130 is used to knock on the top plate pumice to determine the hidden danger of falling off and remove the top plate pumice with the risk of falling off when receiving a control signal.

[0032] In addition, it should be understood that the above is only a partial structure of the prying robot 100. The prying robot 100 may also include other structures based on the above structure according to actual conditions. For example, the prying robot in the embodiment also includes a support arm, which is used to support the prying robot during operation to keep the prying robot balanced.

[0033] In some embodiments of the present invention, Figure 3 FIG. 1 is a schematic diagram of the structure of a data acquisition module according to an embodiment of the present invention. Figure 3 As shown, the data acquisition module 110 includes a video acquisition module 111 and an audio acquisition module 112; The video acquisition module 111 is used to collect video data of the hair-prying robot; The audio collection module 112 is used to collect audio data of the hair-prying robot.

[0034] Specifically, in the embodiment, the data acquisition module 110 is divided into a video acquisition module 111 and an audio acquisition module 112, which are used to collect video information and audio information around the prying robot. The video acquisition module 111 collects video data in front of, behind the left and behind the right of the prying robot through three onboard cameras, and the audio acquisition module 112 collects surrounding audio data through a number of onboard microphones, and encapsulates the collected video data and audio data based on the RTMP protocol (RealTime Messaging Protocol), and then modulates the signal into a high-frequency electrical signal through the signal demodulation and modulation module 410 and sends it to the analog display terminal 200.

[0035] In some embodiments of the present invention, Figure 4 FIG. 1 is a schematic diagram of the structure of the analog display terminal according to an embodiment of the present invention. Figure 4 As shown, the simulation display terminal 200 includes a head-mounted augmented reality display 210 and an audio player 220; The head mounted augmented reality display 210 is used to generate an augmented reality simulation scene according to the video data; The audio player 220 is used to play audio according to audio data.

[0036] Specifically, in the embodiment, after collecting the video data and audio data around the prying robot 100, the signal demodulation and modulation module 410 demodulates the data and transmits it to the simulation display terminal 200. In the simulation display terminal 200, the head-mounted augmented reality display 210 generates an augmented reality simulation scene based on the video data based on the augmented reality technology, so that the operator can observe the top plate pumice in three dimensions through the augmented reality simulation scene. The audio player 220 plays the audio according to the audio data collected by the onboard microphone, so that the operator can judge whether there is a risk of falling off according to the sound when controlling the mechanical arm to knock the top plate pumice.

[0037] In some embodiments of the present invention, the simulation display terminal 200 further includes a hidden danger marking module 230; The hidden danger marking module 230 is used to mark the roof pumice with the hidden danger of falling off as the hidden danger pumice.

[0038] Specifically, in order to avoid omissions in the knocking and top-questioning operations, the simulation display terminal 200 also includes a hidden danger marking module 230. When the operator determines based on experience that a certain roof pumice is at risk of falling off, the operator can mark it as a hidden danger pumice, and delete the mark after completing subsequent operations to avoid omissions.

[0039] In some embodiments of the present invention, Figure 5 FIG. 1 is a schematic diagram of the structure of a remote control terminal according to an embodiment of the present invention. Figure 5 As shown, the remote control terminal 300 includes a movement control module 310, an operation control module 320 and a signal conversion module 330; The movement control module 310 includes an accelerator pedal 311, a brake pedal 322, a steering wheel 333 and a gear lever 334, and is used to generate movement control instructions; The operation control module 320 includes a robot arm rocker 321 for generating a robot arm control instruction; The signal conversion module 330 is used to convert the movement control instructions and the robot arm control instructions into control signals, and modulate and encapsulate the control signals and send them to the prying robot 100 .

[0040] Specifically, the remote control terminal 300 includes a mobile control module 310, an operation control module 320 and a signal conversion module 330, which are used to remotely control the prying robot 100. Among them, the mobile control module 310 includes an accelerator pedal 311, a brake pedal 322, a steering wheel 333 and a gear lever 334. The accelerator pedal 311 and the brake pedal 322 can control the rotation speed of the mobile crawler 120 of the prying robot to control the robot to move forward, backward or turn, the steering wheel 333 can control the direction of the main part of the prying robot, and the gear lever 334 can control the speed gear. The operation control module 320 includes a mechanical arm rocker 321, and the embodiment controls the mechanical arm of the prying robot to move through the mechanical arm rocker 321. The signal conversion module 330 converts the control instruction into a control signal, and modulates it into a high-frequency electrical signal after encapsulation through the TCP protocol (Transmission Control Protocol), and sends it to the prying robot 100 through the underground mine ring network to perform the knocking and top operation.

[0041] In the embodiment, the general process of controlling the prying robot 100 to knock on the roof is as follows: the operator observes the shape of the prying robot 100's roof puff stone through the simulation display terminal 200 and judges whether there is a risk of falling off based on work experience. For prying stones with a risk of falling off, the operator remotely controls the prying robot 100 through the remote control terminal 300 to use the mechanical arm 130 to knock on the corresponding pumice stone, and further judges the risk of falling off of the pumice stone based on work experience according to the audio information. For pumice stones that are judged to have a risk of falling off, the remote control terminal 300 is used to operate the prying robot 100 to use the mechanical arm 130 to pry the risky pumice stone off the roof, completing the knocking on the roof operation.

[0042] In some embodiments of the present invention, the remote help and assistance system 10 further includes a log module 500; The log module 500 is used to record the operation records of knocking on the top and asking for help, and generate a log file according to the operation records of knocking on the top and asking for help.

[0043] Specifically, in the embodiment, the remote knocking and top checking system 10 further includes a log module 500. After the potential floating stone is pried off the roof, the operator can record the knocking and top checking operation through the log module 500 and generate a log file. In subsequent knocking and top checking operations, the log file can be used as a reference to provide a basis for determining whether there is a risk of floating stone falling off the roof.

[0044] In order to better implement the remote knocking and asking for help system in the embodiment of the present invention, the present invention also provides a remote knocking and asking for help method. Figure 6 A flow chart of an embodiment of the remote help-asking method provided by the present invention is shown as follows: Figure 6 As shown, the method includes: S601, collecting environmental data based on the hair-prying robot, and sending the environmental data to the simulation display terminal; S602, generating an augmented reality simulation scene based on the environment data received by the simulation display terminal, and determining the operation position according to the augmented reality simulation scene; S603, based on the remote control terminal and according to the operation position, a control instruction is generated, and a control signal is generated according to the control instruction and sent to the prying robot to control the prying robot to perform the knocking operation.

[0045] Specifically, the remote knocking and asking for help method provided by the present invention can be implemented based on the remote knocking and asking for help system provided by the present invention, and the relevant steps can refer to the contents of the above-mentioned remote knocking and asking for help system, which will not be repeated here.

[0046] In summary, the remote knocking and top-checking system provided by the present invention simulates the working scene of the prying robot through an augmented reality method, and controls the prying robot to knock and top-check through control signals in the augmented reality simulation scene, thereby realizing remote knocking and top-checking operations and avoiding safety hazards of manual operations.

[0047] The remote control system and method provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A remote knocking and asking system, characterized in that: include: Prying robot, simulation display terminal and remote control terminal; The prying robot is used to collect environmental data and send the environmental data to the simulation display terminal; The simulation display terminal is used to generate an augmented reality simulation scene after receiving the environmental data, and determine the operation position according to the augmented reality simulation scene; The remote control end is used to generate a control instruction according to the working position, generate a control signal according to the control instruction and send it to the prying robot to control the prying robot to perform the knocking operation.

2. The remote help and assistance system according to claim 1 is characterized in that: The remote knocking and asking for help system also includes a network switch, which is communicatively connected with the prying robot, the simulation display terminal and the remote control terminal for transmitting and collecting environmental data and control signals.

3. The remote knocking and asking system according to claim 2 is characterized in that: The network switch includes a signal demodulation module, which is used to modulate the collected environment data and the control signal into high-frequency electrical signals, and demodulate the high-frequency electrical signals.

4. The remote help and assistance system according to claim 1 is characterized in that: The prying robot includes a data acquisition module, a mobile crawler and a mechanical arm; The data acquisition module is used to collect environmental data; The mobile crawler is used to move the prying robot to the working position according to the control signal; The robotic arm is used to perform tapping and removal operations on the top plate pumice according to the control signal.

5. The remote help and assistance system according to claim 4 is characterized in that: The data acquisition module includes a video acquisition module and an audio acquisition module; The video acquisition module is used to collect video data of the prying robot; The audio collection module is used to collect audio data of the hair-prying robot.

6. The remote knocking and asking system according to claim 5 is characterized in that: The simulation display terminal includes a head-mounted augmented reality display and an audio player; The head-mounted augmented reality display is used to generate an augmented reality simulation scene according to the video data; The audio player is used to play audio according to the audio data.

7. The remote help and assistance system according to claim 6 is characterized in that: The simulation display terminal also includes a hidden danger marking module; The hidden danger marking module is used to mark the top plate pumice with the hidden danger of falling off as hidden danger pumice.

8. The remote help and assistance system according to claim 1 is characterized in that: The remote control terminal includes a movement control module, an operation control module and a signal conversion module; The movement control module includes an accelerator pedal, a brake pedal, a steering wheel and a gear lever, and is used to generate movement control instructions; The operation control module includes a robot arm rocker, which is used to generate robot arm control instructions; The signal conversion module is used to convert the movement control instruction and the robot arm control instruction into a control signal, and modulate and encapsulate the control signal and send it to the prying robot.

9. The remote help and assistance system according to claim 1 is characterized in that: The system also includes a log module; The log module is used to record the operation records of knocking on the top and asking for help, and generate a log file according to the operation records of knocking on the top and asking for help.

10. A remote knocking and asking for help method, applied to the remote knocking and asking for help system as claimed in any one of claims 1 to 9, characterized in that: include: Collecting environmental data based on the prying robot and sending the environmental data to the simulation display terminal; Generate an augmented reality simulation scene based on the environmental data received by the simulation display terminal, and determine the operation position according to the augmented reality simulation scene; Based on the remote control terminal and according to the working position, a control instruction is generated, and a control signal is generated according to the control instruction and sent to the prying robot to control the prying robot to perform the knocking and top operation.

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