A remote knock system and method

Abstract

The application provides a remote roof and wall knocking system and method, and belongs to the technical field of intelligent mines.The system comprises a prying robot, a simulation display end and a remote control end.The prying robot is used for collecting environmental data and sending the environmental data to the simulation display end.The simulation display end is used for generating an augmented reality simulation scene after receiving the environmental data, and determining a working position according to the augmented reality simulation scene.The remote control end is used for generating a control instruction according to the working position, generating a control signal according to the control instruction and sending the control signal to the prying robot to control the prying robot to perform the roof and wall knocking work.The application simulates the working scene of the prying robot by the augmented reality method, controls the prying robot to perform the roof and wall knocking under the augmented reality simulation scene through the control signal, can realize the remote roof and wall knocking work and avoids the safety hidden danger of manual work.

Description

Technical Field

[0001] This invention relates to the field of intelligent mining technology, and in particular to a remote roof and wall inspection system and method. Background Technology

[0002] In the process of underground mining, blasting is a commonly used production technology. The strong vibrations generated by blasting can affect the stability of the tunnel roof. Therefore, it is necessary for the roughing workers to regularly knock on the roof and walls to find hidden dangers such as loose rocks and peeling layers on the roof, and pry them off in a safe location.

[0003] In existing roof and side inspection operations, the prying workers usually rely on experience-based methods such as tapping and listening to the sound to judge the stability of the roof. This method may misjudge the size of loose rocks, causing the prying workers to be unable to find the correct safe working position, which poses a safety hazard.

[0004] Therefore, existing technology has the potential to misjudge the size of floating stones when manually tapping the sides and top, posing a safety hazard, and needs to be improved. Summary of the Invention

[0005] In view of this, it is necessary to provide a remote tapping system and method for assessing the size of floating stones, in order to solve the technical problem that manual tapping may misjudge the size of floating stones and pose a safety hazard in the existing technology.

[0006] To address the aforementioned technical problems, this invention provides a remote roof-tapping system, comprising: a roof-tapping robot, a simulation display terminal, and a remote control terminal;

[0007] The prying robot is used to collect environmental data and send it to a simulation display.

[0008] The simulation display terminal is used to receive environmental data, generate an augmented reality simulation scene, and determine the work location based on the augmented reality simulation scene;

[0009] The remote control terminal is used to generate control commands based on the work location, generate control signals based on the control commands, and send them to the prying robot to control the prying robot to perform the task of knocking on the sides and top.

[0010] In one possible implementation, the remote tapping and probing system also includes a network switch, which is communicatively connected to the prying robot, the analog display terminal, and the remote control terminal for transmitting collected environmental data and control signals.

[0011] In one possible implementation, the network switch includes a signal demodulation module for modulating acquired environmental data and control signals into high-frequency electrical signals, and demodulating the high-frequency electrical signals.

[0012] In one possible implementation, the prying robot includes a data acquisition module, a moving track, and a robotic arm;

[0013] The data acquisition module is used to collect environmental data;

[0014] The movable track is used to move the prying robot to the work position according to control signals;

[0015] The robotic arm is used to perform tapping and removal operations on the loose rocks on the roof according to control signals.

[0016] In one possible implementation, the data acquisition module includes a video acquisition module and an audio acquisition module;

[0017] The video acquisition module is used to acquire video data from the prying robot;

[0018] The audio acquisition module is used to collect audio data from the prying robot.

[0019] In one possible implementation, the analog display includes a head-mounted augmented reality display and an audio player;

[0020] Head-mounted augmented reality displays are used to generate augmented reality simulation scenes based on video data;

[0021] An audio player is used to play audio based on audio data.

[0022] In one possible implementation, the simulation display terminal also includes a hazard marking module;

[0023] The hazard marking module is used to mark roof slab loose stones that pose a risk of falling off as hazard loose stones.

[0024] In one possible implementation, the remote control terminal includes a mobile control module, a job control module, and a signal conversion module;

[0025] The motion control module includes an accelerator pedal, a brake pedal, a steering wheel, and a gear lever, and is used to generate motion control commands.

[0026] The operation control module includes a robotic arm joystick, used to generate robotic arm control commands;

[0027] The signal conversion module is used to convert motion control commands and robotic arm control commands into control signals, and then modulates and encapsulates the control signals before sending them to the prying robot.

[0028] In one possible implementation, the remote assistance system also includes a logging module;

[0029] The log module is used to record the knocking and top-checking operation records and generate log files based on these records.

[0030] On the other hand, the present invention also provides a remote tapping method for inquiring about the top of the roof, applied to the aforementioned remote tapping system, comprising:

[0031] The robot collects environmental data and sends it to a simulation display.

[0032] After receiving environmental data from the analog display terminal, an augmented reality simulation scene is generated, and the work location is determined based on the augmented reality simulation scene;

[0033] Based on the remote control terminal, control commands are generated according to the work location. Control signals are generated according to the control commands and sent to the prying robot to control the prying robot to perform the task of knocking on the sides and top.

[0034] The beneficial effects of the present invention are as follows: The remote tapping and roof-finding system provided by the present invention simulates the working scenario of the prying robot through augmented reality. Under the augmented reality simulation scenario, the prying robot is controlled by control signals to perform tapping and roof-finding operations, which can realize remote tapping and roof-finding operations and avoid the safety hazards of manual operation. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A schematic diagram of a structure of an embodiment of the remote knocking and top-finding system provided by the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the prying robot according to an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the data acquisition module according to an embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of the analog display terminal according to an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the structure of the remote control terminal according to an embodiment of the present invention;

[0041] Figure 6 This is a flowchart illustrating an embodiment of the remote tapping and questioning method provided by the present invention. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0043] In the description of the embodiments of the present invention, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0044] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0045] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0046] This invention provides a remote tapping system and method for determining the location of objects, which will be described below.

[0047] Figure 1 This is a schematic diagram of the structure of an embodiment of the remote knocking and top-finding system provided by the present invention, as shown below. Figure 1 As shown, the remote tapping and top-checking system 10 includes: a prying robot 100, an analog display terminal 200, and a remote control terminal 300;

[0048] The prying robot 100 is used to collect environmental data and send the environmental data to the analog display terminal 200;

[0049] The simulation display terminal 200 is used to receive environmental data, generate an augmented reality simulation scene, and determine the work location based on the augmented reality simulation scene;

[0050] The remote control terminal 300 is used to generate control commands based on the work location, generate control signals based on the control commands, and send them to the prying robot 100 to control the prying robot 100 to perform the task of knocking on the sides and top of the roof.

[0051] Compared with existing technologies, the remote tapping and roof-checking system provided by this invention uses augmented reality to simulate the working scenario of a prying robot. Under the augmented reality simulation scenario, the prying robot is controlled by control signals to perform tapping and roof-checking operations remotely, thus avoiding the safety hazards of manual operation.

[0052] In some embodiments of the present invention, the remote tapping and top-checking system 10 further includes a network switch 400, which is communicatively connected to the prying robot 100, the analog display terminal 200 and the remote control terminal 300, for transmitting collected environmental data and control signals.

[0053] In some embodiments of the present invention, the network switch 400 includes a signal demodulation module 410 for modulating collected environmental data and control signals into high-frequency electrical signals, and demodulating the high-frequency electrical signals.

[0054] Specifically, in this embodiment, the remote roof and wall inspection system 10 also includes a network switch 400. The prying robot 100, the analog display terminal 200, and the remote control terminal 300 are all connected to the mine's underground ring network through the network switch 400. Data exchange and signal transmission are performed within the mine's underground ring network via cable transmission. This allows operators to remotely observe the surroundings of the prying robot 100 from inside the blasting chamber via the analog display terminal 200, and remotely control the prying robot 100 to perform roof and wall inspection operations via the remote control terminal 300.

[0055] In addition, to ensure signal quality during transmission, the network switch 400 includes a signal demodulation module 410. The signal demodulation module 410 can modulate low-frequency network signals such as collected environmental data and control signals into high-frequency electrical signals, which are then transmitted in the underground mine ring network in the form of high-frequency electrical signals. After the transmission is completed, the high-frequency electrical signals are demodulated and sent to the corresponding receiving equipment, thereby improving the transmission efficiency and signal quality during the signal transmission process.

[0056] In some embodiments of the present invention Figure 2 This is a schematic diagram of the structure of the prying robot according to an embodiment of the present invention, as shown below. Figure 2 As shown, the prying robot 100 includes a data acquisition module 110, a moving track 120, and a robotic arm 130;

[0057] Data acquisition module 110 is used to collect environmental data;

[0058] The mobile track 120 is used to move the prying robot to the work position according to the control signal;

[0059] The robotic arm 130 is used to perform tapping and removal operations on the loose rocks on the roof according to control signals.

[0060] Specifically, to replace manual labor in roof and side inspection work, the roof prying robot 100 includes a data acquisition module 110, a moving track 120, and a robotic arm 130. The data acquisition module 110 collects environmental data around the robot and uses this data to create an augmented reality simulation, allowing operators to see and hear the surroundings of the robot. The moving track 120, upon receiving a control signal, controls the robot to move to the work position; the tracked movement improves the robot's adaptability to terrain. The robotic arm 130, upon receiving a control signal, taps on loose rocks on the roof to assess potential detachment and removes any loose rocks at risk of falling.

[0061] Furthermore, it should be understood that the above description only describes part of the structure of the prying robot 100. The prying robot 100 may also include other structures based on the above structure, depending on the actual situation. For example, in this embodiment, the prying robot also includes a support arm for supporting the prying robot during operation to maintain its balance.

[0062] In some embodiments of the present invention Figure 3 This is a schematic diagram of the data acquisition module according to an embodiment of the present invention, as shown below. Figure 3 As shown, the data acquisition module 110 includes a video acquisition module 111 and an audio acquisition module 112;

[0063] The video acquisition module 111 is used to acquire video data from the prying robot;

[0064] The audio acquisition module 112 is used to acquire audio data from the prying robot.

[0065] Specifically, in this embodiment, the data acquisition module 110 is divided into a video acquisition module 111 and an audio acquisition module 112, used to collect video and audio information around the prying robot. The video acquisition module 111 uses three onboard cameras to collect video data from the front, left rear, and right rear of the prying robot, respectively. The audio acquisition module 112 uses several onboard microphones to collect surrounding audio data. The acquired video and audio data are then encapsulated using the RTMP (Real-Time Messaging Protocol) and modulated into high-frequency electrical signals by the signal demodulation and modulation module 410 before being sent to the analog display terminal 200.

[0066] In some embodiments of the present invention Figure 4 This is a schematic diagram of the structure of the analog display terminal according to an embodiment of the present invention, such as... Figure 4 As shown, the analog display terminal 200 includes a head-mounted augmented reality display 210 and an audio player 220;

[0067] The head-mounted augmented reality display 210 is used to generate augmented reality simulation scenes based on video data;

[0068] The audio player 220 is used to play audio based on audio data.

[0069] Specifically, in this embodiment, after acquiring video and audio data around the prying robot 100, the signal demodulation module 410 demodulates the data and transmits it to the analog display terminal 200. In the analog display terminal 200, the head-mounted augmented reality display 210 generates an augmented reality simulation scene based on the video data, allowing operators to observe the floating stones on the top plate in three dimensions. The audio player 220 plays audio based on the audio data collected by the onboard microphone, enabling operators to determine the risk of the floating stones falling off the top plate based on the sound when controlling the robotic arm to tap them.

[0070] In some embodiments of the present invention, the analog display terminal 200 further includes a hazard marking module 230;

[0071] The hazard marking module 230 is used to mark roof slab loose stones with potential for falling off as hazard loose stones.

[0072] Specifically, to avoid omissions in the roof inspection work, the simulation display terminal 200 also includes a hazard marking module 230. When operators judge that a certain loose rock on the roof is at risk of falling, they can mark it as a hazard loose rock and delete the mark after completing the subsequent work, thereby avoiding omissions.

[0073] In some embodiments of the present invention Figure 5 This is a schematic diagram of the structure of the remote control terminal according to an embodiment of the present invention, such as... Figure 5 As shown, the remote control terminal 300 includes a mobile control module 310, a work control module 320, and a signal conversion module 330;

[0074] 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 commands.

[0075] The operation control module 320 includes a robotic arm joystick 321 for generating robotic arm control commands;

[0076] The signal conversion module 330 is used to convert the motion control command and the robotic arm control command into control signals, and then modulate and encapsulate the control signals before sending them to the prying robot 100.

[0077] Specifically, the remote control terminal 300 includes a motion control module 310, a work control module 320, and a signal conversion module 330, used for remote control of the prying robot 100. The motion 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 brake pedal 322 control the rotation speed of the prying robot's tracks 120 to control the robot's forward, backward, or turning movements. The steering wheel 333 controls the orientation of the prying robot's main body, and the gear lever 334 controls the speed gear. The work control module 320 includes a robotic arm joystick 321, which, in this embodiment, controls the movement of the prying robot's robotic arm. The signal conversion module 330 converts control commands into control signals, encapsulates them using the TCP (Transmission Control Protocol) protocol, modulates them into high-frequency electrical signals, and sends them to the prying robot 100 via the mine's underground ring network for roof and wall tapping operations.

[0078] In this embodiment, the general process of controlling the prying robot 100 to pry and inspect the roof is as follows: The operator observes the shape of the loose stones on the roof around the prying robot 100 through the simulation display terminal 200 and judges whether there is a risk of them falling off based on work experience. For loose stones with a risk of falling off, the operator remotely controls the prying robot 100 to use the robotic arm 130 to tap the corresponding loose stone through the remote control terminal 300, and further judges the risk of the loose stone falling off based on the audio information and work experience. For loose stones that are indeed at risk of falling off, the operator operates the prying robot 100 to use the robotic arm 130 to pry the loose stone off the roof through the remote control terminal 300, completing the prying and inspecting operation.

[0079] In some embodiments of the present invention, the remote knocking and questioning system 10 further includes a log module 500;

[0080] The log module 500 is used to record the knocking and banging operation records and generate log files based on the knocking and banging operation records.

[0081] Specifically, the remote roof and wall inspection system 10 in this embodiment also includes a log module 500. After removing the loose rocks from the roof slab, the operator can record the roof and wall inspection operation through the log module 500 and generate a log file. In subsequent roof and wall inspection operations, the log file can be used as a reference to provide a basis for judging whether there is a risk of loose rocks falling off the roof slab.

[0082] To better implement the remote knocking and top-finding system in this embodiment of the invention, a corresponding remote knocking and top-finding method is also provided. Figure 6 This is a flowchart illustrating an embodiment of the remote knocking and questioning method provided by the present invention, as shown below. Figure 6 As shown, the method includes:

[0083] S601. Collect environmental data based on the prying robot and send the environmental data to the simulation display terminal;

[0084] S602. After receiving environmental data from the analog display terminal, generate an augmented reality simulation scene and determine the work location based on the augmented reality simulation scene;

[0085] S603: Based on the remote control terminal and according to the work position, control instructions are generated, control signals are generated according to the control instructions and sent to the prying robot to control the prying robot to perform the task of knocking on the sides and top.

[0086] Specifically, the remote tapping and top-finding method provided by the present invention can be implemented based on the remote tapping and top-finding system provided by the present invention. The relevant steps can be referred to the content of the remote tapping and top-finding system mentioned above, and will not be repeated here.

[0087] In summary, the remote tapping and roof-checking system provided by this invention uses augmented reality to simulate the working scenario of a prying robot. Under the augmented reality simulation scenario, the prying robot is controlled by control signals to perform tapping and roof-checking operations, which can realize remote tapping and roof-checking operations and avoid the safety hazards of manual operations.

[0088] The remote knocking and top-finding system and method provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A remote tapping method for checking the top of a structure, characterized in that, include: The method includes a prying robot, a simulation display terminal, and a remote control terminal, comprising: The prying robot collects environmental data and sends the environmental data to the simulation display terminal; the prying robot includes a data acquisition module, a moving track and a robotic arm, the robotic arm is used to perform tapping and removal operations on the top plate floating stones according to control signals; the data acquisition module includes a video acquisition module and an audio acquisition module, and the environmental data includes video data and audio data; The video acquisition module uses three airborne cameras to collect video data from the front, left rear, and right rear of the prying robot, respectively. The audio acquisition module uses several airborne microphones to collect ambient audio data. After encapsulating the acquired video and audio data based on the RTMP protocol, the signal demodulation and modulation module modulates the signal into a high-frequency electrical signal and sends it to the analog display terminal. The simulation display terminal generates an augmented reality simulation scene after receiving the environmental data, and determines the work location based on the augmented reality simulation scene; the simulation display terminal includes a head-mounted augmented reality display, an audio player, and a hazard marking module; The head-mounted augmented reality display generates the augmented reality simulation scene based on the video data, allowing operators to observe the roof slab in three dimensions through the simulation scene. The audio player plays audio based on the audio data, enabling operators to determine the risk of detachment based on the sound when controlling the robotic arm to tap the roof slab. The hazard marking module marks the roof slab with a potential detachment hazard as a hazard in the augmented reality simulation scene. Based on the remote control terminal and according to the work position, control instructions are generated, and control signals are generated according to the control instructions and sent to the prying robot to control the prying robot to perform the task of knocking on the sides and tops. The remote control terminal includes a job control module, a movement control module, and a signal conversion module; The operation control module includes a robotic arm joystick for generating robotic arm control commands; The motion control module is used to generate motion control commands; The signal conversion module converts the movement control command and the robotic arm control command into control signals, and then modulates and encapsulates the control signals before sending them to the prying robot.

2. The remote tapping and top-checking method according to claim 1, characterized in that, It also includes a network switch, which is communicatively connected to the prying robot, the analog display terminal and the remote control terminal; The network switch transmits collected environmental data and control signals.

3. The remote tapping and top-checking method according to claim 2, characterized in that, The signal demodulation module demodulates the high-frequency electrical signal.

4. The remote tapping and top-checking method according to claim 1, characterized in that, The data acquisition module collects environmental data; The mobile track moves the prying robot to the working position according to the control signal.

5. The remote tapping method for checking the top and bottom of a building according to claim 1, characterized in that, The motion control module includes an accelerator pedal, a brake pedal, a steering wheel, and a gear lever.

6. The remote tapping and top-checking method according to claim 1, characterized in that, It also includes a logging module; The log module records the knocking and banging operation records and generates a log file based on the knocking and banging operation records.

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