Method and device for determining inspection path of coal mine robot and electronic equipment

Abstract

The invention discloses a method and a device for determining an inspection path of a coal mine robot and electronic equipment. The method comprises the steps that in the process that the coal mine robot executes an inspection task in a coal mine environment, the network signal intensity received by the coal mine robot is acquired; when the signal intensity comparison result is that the network signal intensity is greater than the preset signal intensity threshold value, controlling the coal mine robot to determine a real-time inspection path by adopting a network communication positioning mode; under the condition that the signal intensity comparison result is that the network signal intensity is smaller than or equal to the preset signal intensity threshold value, controlling the coal mine robot to adopt a preset self-positioning mode to determine an offline inspection path; a target inspection path is generated based on the real-time inspection path and / or the offline inspection path, and the target inspection path is used for guiding the coal mine robot to complete the inspection task. According to the invention, the technical problem of low efficiency of determining the inspection path of the coal mine robot in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of robot inspection path determination, and in particular to a method, device and electronic equipment for determining an inspection path of a robot for a coal mine. Background Art

[0002] Coal mine robots can refer to robot systems specially used to perform various tasks in coal mine environments. They usually have the capabilities of autonomous navigation, positioning, perception, operation and communication. Due to the complex and dangerous environment of coal mines, they can replace manual entry into coal mines to perform dangerous, heavy or complex work. While monitoring the coal mine environment in real time, they can warn and prevent accidents, improve the production efficiency and work safety of the coal mining industry, reduce the consumption of human resources and safety risks, and have broad application prospects in the coal mining industry.

[0003] At present, in the relevant technology, the inspection path determination of the coal mine robot needs to rely on the coal mine robot to completely rely on the global satellite positioning system (Global Positioning System, referred to as GPS) and other network communication positioning modes to complete. However, the coverage of network signals in the coal mine environment is not comprehensive and unstable. The inspection path determination process is easily restricted by the network signal, resulting in low efficiency in the inspection path determination of the coal mine robot.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a method, device and electronic device for determining an inspection path of a coal mine robot, so as to at least solve the technical problem of low efficiency in determining the inspection path of a coal mine robot in the related art.

[0006] According to one aspect of an embodiment of the present invention, a method for determining an inspection path of a coal mine robot is provided, comprising: obtaining the network signal strength received by the coal mine robot during the process of the coal mine robot performing an inspection task in a coal mine environment, wherein the inspection task includes at least one inspection point that the coal mine robot needs to reach; comparing the network signal strength with a preset signal strength threshold to obtain a signal strength comparison result; when the signal strength comparison result is that the network signal strength is greater than the preset signal strength threshold, controlling the coal mine robot to use a network communication positioning mode to determine a real-time inspection path; when the signal strength comparison result is that the network signal strength is less than or equal to the preset signal strength threshold, controlling the coal mine robot to use a preset self-positioning mode to determine an offline inspection path; and generating a target inspection path based on the real-time inspection path and / or the offline inspection path, wherein the target inspection path is used to guide the coal mine robot to complete the inspection task.

[0007] Optionally, when the signal strength comparison result is that the network signal strength is less than or equal to a preset signal strength threshold, the coal mine robot is controlled to use a preset self-positioning mode to determine an offline inspection path, including: obtaining the detour distance, the number of wheel slips and the slope distance of the coal mine robot during the driving process in the preset self-positioning mode, wherein the detour distance is used to indicate the distance the coal mine robot detoured when encountering obstacles, the number of wheel slips is used to characterize the number of slip circles of the coal mine robot's driving wheels, and the slope distance is used to indicate the distance the coal mine robot travels in a preset abnormal tilt state; based on the detour distance, the number of wheel slips and the slope distance, the offline inspection path is determined.

[0008] Optionally, based on the detour distance, the number of wheel slips and the slope distance, an offline inspection path is determined, including: based on the detour distance, the number of wheel slips and the slope distance, path compensation is performed on the preset offline inspection path of the coal mine robot to obtain the offline inspection path, wherein the preset offline inspection path is used to represent the inspection path pre-set for the coal mine robot in the network communication positioning mode.

[0009] Optionally, based on the detour distance, the number of wheel slips and the slope distance, path compensation is performed on the preset offline inspection path of the coal mine robot to obtain the offline inspection path, including: determining a compensation index based on the detour distance, the number of wheel slips and the slope distance; determining a compensation index comparison result based on the compensation index and a preset compensation index threshold; when the compensation index is greater than the preset compensation index threshold, determining the offline inspection path based on the detour distance, the number of wheel slips, the slope distance and the preset offline inspection path; when the compensation index is less than or equal to the preset compensation index threshold, determining the offline inspection path based on the preset offline inspection path.

[0010] Optionally, generating a target inspection path based on the real-time inspection path and / or the offline inspection path includes: splicing the real-time inspection path and the offline inspection path to obtain the target inspection path.

[0011] Optionally, when the coal mine robot is traveling in a preset self-positioning mode, the network signal processing device is turned off, wherein the network signal processing device includes at least a network signal receiver and a network signal amplifier carried by the coal mine robot.

[0012] According to another aspect of an embodiment of the present invention, a patrol path determination device for a coal mine robot is also provided, including: an acquisition module, used to acquire the network signal strength received by the coal mine robot during the process of the coal mine robot performing a patrol task in a coal mine environment, wherein the patrol task includes at least one patrol point that the coal mine robot needs to reach; a comparison module, used to compare the network signal strength with a preset signal strength threshold to obtain a signal strength comparison result; a first control module, used to control the coal mine robot to use a network communication positioning mode to determine a real-time patrol path when the signal strength comparison result is that the network signal strength is greater than the preset signal strength threshold; a second control module, used to control the coal mine robot to use a preset self-positioning mode to determine an offline patrol path when the signal strength comparison result is that the network signal strength is less than or equal to the preset signal strength threshold; a generation module, used to generate a target patrol path based on the real-time patrol path and / or the offline patrol path, wherein the target patrol path is used to guide the coal mine robot to complete the patrol task.

[0013] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0014] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0015] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0016] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0017] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0018] In an embodiment of the present invention, a method for determining an inspection path of a coal mine robot is provided, comprising: obtaining the network signal strength received by the coal mine robot during the process of the coal mine robot performing an inspection task in a coal mine environment, wherein the inspection task includes at least one inspection point that the coal mine robot needs to reach; comparing the network signal strength with a preset signal strength threshold to obtain a signal strength comparison result; when the signal strength comparison result is that the network signal strength is greater than the preset signal strength threshold, controlling the coal mine robot to use a network communication positioning mode to determine a real-time inspection path; when the signal strength comparison result is that the network signal strength is less than or equal to the preset signal strength threshold, controlling the coal mine robot to use a preset self-positioning mode to determine an offline inspection path; generating a target inspection path based on the real-time inspection path and / or the offline inspection path, wherein the target inspection path is used to guide the coal mine robot to complete the inspection task. It is easy to notice that the present application can timely detect signal strength abnormalities by comparing the network signal strength received by the coal mine robot during its driving process with the preset signal strength threshold, thereby accurately judging the network situation of the coal mine robot, ensuring that the robot selects a suitable communication positioning mode, and improving the accuracy of path determination. The robot is controlled to select different positioning modes according to the signal strength comparison result. When the network signal strength is good, a real-time inspection path can be used to avoid unclear or delayed paths caused by signal interference. When the network signal is weak, a preset self-positioning mode is used to avoid waiting for signal recovery or frequent interruptions, thereby improving the efficiency of path determination. This can ensure that the robot completes the inspection task along the appropriate path, avoids going the wrong way or repeated inspections, and improves the efficiency of completing the inspection task, thereby solving the technical problem of low efficiency in determining the inspection path of robots used in coal mines in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 is a flow chart of a method for determining an inspection path of a coal mine robot according to an embodiment of the present invention;

[0021] Figure 2 is a flow chart of an optional method for determining an inspection path of a coal mine robot according to an embodiment of the present invention;

[0022] Figure 3 2 is a schematic diagram of a patrol path determination device for a coal mine robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] According to one aspect of an embodiment of the present invention, a method for determining an inspection path of a robot for a coal mine is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0026] Figure 1 FIG. 1 is a flow chart of a method for determining an inspection path of a coal mine robot according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0027] Step S102, when the coal mine robot performs an inspection task in a coal mine environment, obtaining the network signal strength received by the coal mine robot.

[0028] Among them, the inspection task includes at least one inspection point that the coal mine robot needs to reach.

[0029] The above-mentioned coal mine robot may refer to a robot device used in the coal mine production process. Coal mine robots can complete some work tasks with high repetitiveness, harsh environment, and high risk, improve production efficiency, reduce production costs, and reduce the incidence of safety accidents. Coal mine robots can be used in various aspects of coal mines, such as mining, transportation, cleaning, exploration, etc. Among them, coal mine robots may include automated coal mining machines, automated conveyors, automated cleaning machines, etc. Coal mine robots can autonomously complete work tasks according to preset programs and instructions, thereby improving production efficiency and quality. The specific type of coal mine robot can be determined according to actual needs and is not limited here.

[0030] In an optional embodiment, in the process of performing inspection tasks in a coal mine environment, the network signal strength received by the coal mine robot can be obtained. Specifically, first, a network signal strength sensor can be installed on the coal mine robot, which can monitor and record the network signal strength received by the robot in real time. Then, according to the geographical layout and inspection requirements of the coal mine, at least one inspection point that the robot needs to reach can be determined. These points may be important locations such as key equipment, ventilation systems, and mine entrances in the coal mine. Then, based on the coal mine map and the location information of the inspection points, an inspection path can be formulated for the robot through a path planning algorithm to ensure that the robot can efficiently reach each inspection point. Then, in the process of the robot moving along the inspection path, the network signal strength sensor can record the signal strength data received by the robot at a certain frequency, and then the collected signal strength data can be analyzed and processed, and the network coverage inside the coal mine can be evaluated by comparing the signal strength at different locations, and the areas with weak signal strength or blind coverage can be found in time. The collected signal strength data can be used as the data basis for subsequent path determination to improve the monitoring and management level of the coal mine environment.

[0031] Step S104: compare the network signal strength with a preset signal strength threshold to obtain a signal strength comparison result.

[0032] The above-mentioned preset signal strength threshold may refer to a preset threshold for measuring the network signal strength. The preset signal strength threshold may be determined according to actual needs and is not limited here.

[0033] In an optional embodiment, a preset signal strength threshold can be set in the program of the coal mine robot, for example, set to -70dBm. During the inspection process, the robot can measure the received signal strength, and then compare the received signal strength with the preset signal strength threshold to obtain a signal strength comparison result. If the received signal strength is higher than the preset threshold, it means that the signal strength is good, otherwise it means that the signal strength is poor. The method of comparing the network signal strength with the preset signal strength threshold to obtain the signal strength comparison result can also be determined according to actual needs and is not limited here.

[0034] Step S106, when the signal strength comparison result is that the network signal strength is greater than the preset signal strength threshold, the coal mine robot is controlled to adopt the network communication positioning mode to determine the real-time inspection path.

[0035] The above-mentioned network communication positioning mode may refer to a method of obtaining positioning information by communicating with a network server. In the network communication positioning mode, the coal mine robot can send a request to the server, and the server determines the location of the coal mine robot based on the information of the coal mine robot, such as the network address, wireless LAN information, base station information, etc., and returns the positioning information to the coal mine robot. This method requires the coal mine robot to maintain a connection with the network, and can obtain positioning information when the network condition is good, and can obtain more accurate positioning information.

[0036] In an optional embodiment, the detected network signal strength can be compared with a preset signal strength threshold. If the network signal strength is greater than the preset signal strength threshold, the coal mine robot is controlled to switch to the network communication positioning mode. In the network communication positioning mode, the robot will determine the real-time inspection path based on the received network signal. The network communication positioning mode can more accurately determine the position of the robot, so that the robot can more accurately follow the specified path during the inspection process. The network communication positioning mode can realize real-time path planning, avoid path adjustments and repeated inspections due to inaccurate positioning, and thus improve the inspection efficiency.

[0037] Step S108, when the signal strength comparison result is that the network signal strength is less than or equal to the preset signal strength threshold, the coal mine robot is controlled to adopt a preset self-positioning mode to determine an offline inspection path.

[0038] The above-mentioned preset self-positioning mode may refer to using a pre-stored map or other information to determine its own position. In the preset self-positioning mode, the device does not need to communicate with the network, but determines its own position through known geographic information or sensor data. It can be used in the absence of a network environment or in poor network conditions, and can determine its position through built-in maps and sensor data.

[0039] In an optional embodiment, when the detected network signal strength is less than or equal to a preset signal strength threshold, the robot can be triggered to adopt a preset self-positioning mode. In the preset self-positioning mode, the robot can move according to a preset offline inspection path without relying on real-time network signal positioning. The offline inspection path can be a path planning based on map information, or a path derived from historical inspection data and experience. The robot can move along the preset offline inspection path to complete the inspection tasks of coal mine equipment and environment. In the above process, the stability and reliability of the coal mine robot are improved, and the robot can still accurately perform the inspection task even when the network signal is poor or unstable. The dependence on network signals is reduced, the problem of robot positioning deviation caused by network signal fluctuations or interruptions is avoided, and the accuracy and efficiency of inspections are improved.

[0040] Step S110: generating a target inspection path based on the real-time inspection path and / or the offline inspection path.

[0041] Among them, the target inspection path is used to guide the coal mine robot to complete the inspection task.

[0042] In an optional embodiment, the real-time inspection path and the offline inspection path can be comprehensively analyzed and optimized to generate the final target inspection path. The target inspection path takes into account both the real-time changes in the internal environmental data of the coal mine and the characteristics of the internal structure and layout of the coal mine, and can effectively guide the coal mine robot to complete the inspection task. By comprehensively analyzing and optimizing the real-time inspection path and the offline inspection path, the target inspection path is generated, which can flexibly respond to changes in the internal environment of the coal mine and improve the flexibility and adaptability of path planning.

[0043] In an embodiment of the present invention, a method for determining an inspection path of a coal mine robot is provided, comprising: obtaining the network signal strength received by the coal mine robot during the process of the coal mine robot performing an inspection task in a coal mine environment, wherein the inspection task includes at least one inspection point that the coal mine robot needs to reach; comparing the network signal strength with a preset signal strength threshold to obtain a signal strength comparison result; when the signal strength comparison result is that the network signal strength is greater than the preset signal strength threshold, controlling the coal mine robot to use a network communication positioning mode to determine a real-time inspection path; when the signal strength comparison result is that the network signal strength is less than or equal to the preset signal strength threshold, controlling the coal mine robot to use a preset self-positioning mode to determine an offline inspection path; generating a target inspection path based on the real-time inspection path and / or the offline inspection path, wherein the target inspection path is used to guide the coal mine robot to complete the inspection task. It is easy to notice that the present application can timely detect signal strength abnormalities by comparing the network signal strength received by the coal mine robot during its driving process with the preset signal strength threshold, thereby accurately judging the network situation of the coal mine robot, ensuring that the robot selects a suitable communication positioning mode, and improving the accuracy of path determination. The robot is controlled to select different positioning modes according to the signal strength comparison result. When the network signal strength is good, a real-time inspection path can be used to avoid unclear or delayed paths caused by signal interference. When the network signal is weak, a preset self-positioning mode is used to avoid waiting for signal recovery or frequent interruptions, thereby improving the efficiency of path determination. This can ensure that the robot completes the inspection task along the appropriate path, avoids going the wrong way or repeated inspections, and improves the efficiency of completing the inspection task, thereby solving the technical problem of low efficiency in determining the inspection path of robots used in coal mines in related technologies.

[0044] Optionally, when the signal strength comparison result is that the network signal strength is less than or equal to a preset signal strength threshold, the coal mine robot is controlled to use a preset self-positioning mode to determine an offline inspection path, including: obtaining the detour distance, the number of wheel slips and the slope distance of the coal mine robot during the driving process in the preset self-positioning mode, wherein the detour distance is used to indicate the distance the coal mine robot detoured when encountering obstacles, the number of wheel slips is used to characterize the number of slip circles of the coal mine robot's driving wheels, and the slope distance is used to indicate the distance the coal mine robot travels in a preset abnormal tilt state; based on the detour distance, the number of wheel slips and the slope distance, the offline inspection path is determined.

[0045] In an optional embodiment, when the signal strength comparison result is that the network signal strength is less than or equal to the preset signal strength threshold, the coal mine robot can be controlled to use the preset self-positioning mode to determine the offline inspection path. Specifically, the detour distance, wheel slip times and slope distance of the coal mine robot during driving in the preset self-positioning mode can be obtained, and the robot's sensor can be used for real-time monitoring and recording. The detour distance indicates the distance the robot detours when encountering an obstacle, the wheel slip times indicate the number of slip circles of the robot's active wheel, and the slope distance indicates the distance the robot travels in an abnormally tilted state. Then, the offline inspection path can be determined based on the detour distance, wheel slip times and slope distance. By analyzing these data, the path of the robot when it encounters an obstacle, slips or is in an abnormally tilted state can be determined to ensure that the robot can successfully complete the inspection task. According to the driving data of the robot in the preset self-positioning mode, the inspection path can be determined more accurately to avoid wasting time and resources when the robot encounters obstacles or other problems. The robot can autonomously select an inspection path based on the preset self-positioning mode when the network signal is weak or automatic positioning is impossible, which improves the robot's autonomy and adaptability.

[0046] Optionally, based on the detour distance, the number of wheel slips and the slope distance, an offline inspection path is determined, including: based on the detour distance, the number of wheel slips and the slope distance, path compensation is performed on the preset offline inspection path of the coal mine robot to obtain the offline inspection path, wherein the preset offline inspection path is used to represent the inspection path pre-set for the coal mine robot in the network communication positioning mode.

[0047] In an optional embodiment, the offline inspection path can be determined based on the detour distance, the number of wheel slips and the slope distance. Specifically, the path of the robot walking in the coal mine can be determined through map data and sensor information, and the situation of avoiding obstacles and dangerous areas can be considered to ensure that the robot can complete the inspection task safely and quickly. The robot's sensor monitors the movement state of the wheel and analyzes the slip of the wheel in different sections to avoid the situation where the robot cannot walk normally or the inspection effect is poor due to wheel slip. The walking speed and path selection of the robot on different slopes can be determined according to the terrain of the coal mine and the slope of the path to ensure that the robot can walk stably and complete the inspection task. Through the comprehensive analysis of the above steps, the preset offline inspection path of the coal mine robot can be compensated for the path to obtain a more accurate and reliable offline inspection path. The setting of the preset offline inspection path can plan the robot's walking route in advance in the network communication positioning mode, avoiding problems such as real-time communication delay and signal instability, and improving the inspection efficiency and accuracy. Through the above steps, the inspection efficiency and accuracy of the robot can be improved, the errors and missed inspections of the inspection path can be reduced, the inspection path can be optimized, energy and time costs can be saved, and the production efficiency and operational benefits of the coal mine can be improved.

[0048] Optionally, based on the detour distance, the number of wheel slips and the slope distance, path compensation is performed on the preset offline inspection path of the coal mine robot to obtain the offline inspection path, including: determining a compensation index based on the detour distance, the number of wheel slips and the slope distance; determining a compensation index comparison result based on the compensation index and a preset compensation index threshold; when the compensation index is greater than the preset compensation index threshold, determining the offline inspection path based on the detour distance, the number of wheel slips, the slope distance and the preset offline inspection path; when the compensation index is less than or equal to the preset compensation index threshold, determining the offline inspection path based on the preset offline inspection path.

[0049] In an optional embodiment, the actual detour distance, wheel slip times and slope distance of the robot can be calculated according to the preset offline inspection path. Then, the compensation index is determined according to the calculated detour distance, wheel slip times and slope distance. The compensation index can be expressed by a comprehensive evaluation index, such as detour distance + wheel slip times + slope distance. Then, a preset compensation index threshold can be set to determine whether the actual compensation index meets the requirements. Then, the actual compensation index and the preset compensation index threshold can be compared. If the actual compensation index is greater than the preset compensation index threshold, path compensation is required. When the compensation index is greater than the preset compensation index threshold, a new offline inspection path is determined according to the detour distance, wheel slip times, slope distance and preset offline inspection path. If the compensation index is less than or equal to the preset compensation index threshold, the preset offline inspection path can be directly adopted. Through the above steps, path compensation can be achieved according to the robot's travel situation during the actual inspection process, ensuring that the robot can inspect more efficiently in coal mines. At the same time, by evaluating the detour distance, number of wheel slips and slope distance, problems in the path can be discovered and adjusted in a timely manner, thereby improving the robot's inspection accuracy and safety, and bringing more intelligent and reliable coal mine inspection results.

[0050] Optionally, generating a target inspection path based on the real-time inspection path and / or the offline inspection path includes: splicing the real-time inspection path and the offline inspection path to obtain the target inspection path.

[0051] In the present application, the driving path of the coal mine robot can be composed of a real-time inspection path and an offline inspection path connected end to end in sequence, which can be determined according to the actual network signal coverage conditions and is not limited here.

[0052] In an optional embodiment, the real-time inspection path and the offline inspection path can be spliced, and a suitable splicing point can be selected so that the robot can smoothly switch from the real-time path to the offline path, or switch from the offline inspection path to the real-time inspection path, thereby completing the inspection task of the entire coal mine area. By splicing the real-time inspection path and the offline inspection path, through reasonable splicing paths, the robot can cover the entire coal mine area more efficiently during the inspection process, reduce path redundancy, and improve inspection efficiency. The combination of real-time paths and offline paths can ensure that the robot inspection covers every corner of the coal mine area, improving the comprehensiveness and accuracy of the inspection.

[0053] Optionally, when the coal mine robot is traveling in a preset self-positioning mode, the network signal processing device is turned off, wherein the network signal processing device includes at least a network signal receiver and a network signal amplifier carried by the coal mine robot.

[0054] The network signal receiver and network signal amplifier in the above process of the present application can be in an off state to reduce the energy consumption of the robot, extend the working time and cruising range; and the device for monitoring the network signal strength can be in an on state or intermittently on state, so that the robot can switch to the network communication positioning mode in time when the network signal is good.

[0055] In an optional embodiment, when the coal mine robot performs inspection tasks, a preset self-positioning mode can be adopted, that is, the robot drives according to the pre-set path and nodes. In this process, the network signal processing device can be turned off. Specifically, the time point for turning off the network signal processing device can be determined. Before the robot starts to perform the inspection task, a time point is set by the control system. When the robot starts to drive automatically, the network signal processing device is turned off. The power off of the network signal receiver and the network signal amplifier is controlled. At the set time point, the control system sends an instruction to the network signal processing device to disconnect its power supply and stop it from working. By turning off the network signal processing device, during the process of driving the coal mine robot in the preset self-positioning mode, the network signal processing device will consume more electricity when working. Turning off the device can reduce the energy consumption of the robot and extend the working time and cruising range. The network signal inside the coal mine may interfere with the robot's automatic positioning and navigation system. Turning off the network signal processing device can avoid such interference and improve the positioning accuracy and reliability of the robot.

[0056] The technical solution proposed in this application is explained below in combination with an optional application scenario. This application proposes a method for positioning a coal mine robot, which relates to the technical field of coal mine robots. The method includes route planning, positioning mode switching, autonomous positioning and movement, real-time monitoring of power, and execution of work instructions. During the movement of the coal mine robot, the position of the coal mine robot in the mine is corrected in real time by the center point of the coal mine robot and the center line of the route, so as to avoid the economic losses caused by the collision between the coal mine robot and the shaft wall. At the same time, based on the compensation index, it is judged whether the coal mine robot is affected by the environment and terrain during the self-check time, resulting in a distance error between the passing point. When an error occurs, the distance compensation is performed in time, which reduces the cumulative error of the coal mine robot during the movement process, improves the positioning accuracy of the coal mine robot, avoids the coal mine robot from deviating from the predetermined path during the actual execution process, and ensures that the coal mine robot accurately reaches the target position to carry out work.

[0057] The present application can formulate a route for a coal mining robot in a mine, obtain a mine map from a database, receive the location of a target location and record it as the end point, record the current location of the coal mining robot as the starting point, mark the route in the mine map according to the starting point and the end point, and measure the distance of the route; switch the positioning mode of the coal mining robot according to the strength of the network signal, and the switching process can be as follows: the coal mining robot receives the network signal through a wireless signal receiver and a signal amplifier, divides the strength of the network signal according to the number of signal grids corresponding to the signal strength indicator of the coal mining robot, and when the number of signal grids of the coal mining robot is three, The strength of the network signal is marked as a first-level network signal. When the number of signal grids of the coal mine robot is two grids, the strength of the network signal is marked as a second-level network signal. When the number of signal grids of the coal mine robot is one grid, the strength of the network signal is marked as a third-level network signal. When the number of signal grids of the coal mine robot is zero, the strength of the network signal is marked as a fourth-level network signal. When the strength of the network signal is a first-level network signal and a second-level network signal, the positioning mode of the coal mine robot is switched to the GPS positioning mode. When the strength of the network signal is a third-level network signal and a fourth-level network signal, the positioning mode of the coal mine robot is switched to the autonomous positioning mode. It should be noted that the signal strength indicator of the coal mine robot can be expressed in signal grids, and the maximum number of signal grids can be three grids.

[0058] This application switches the positioning mode of the coal mine robot through the availability of network signals, flexibly responds to the problem of unstable network signals in mines, enables the coal mine robot to flexibly select navigation strategies according to actual conditions, and improves the navigation efficiency of the coal mine robot. The coal mine robot travels along the route in the autonomous positioning mode, and the travel process is as follows: record the distance traveled by the coal mine robot in the GPS positioning mode, use the difference formula between the distance of the route and the distance traveled in the GPS positioning mode to obtain the remaining travel distance, obtain the center line corresponding to the route, select the center point of the coal mine robot as the reference point and stop powering the wireless signal receiver and signal amplifier, reduce unnecessary power consumption, and increase the cruising range of the coal mine robot; change the starting point to the current position of the coal mine robot on the route, preset the self-check time, estimate the distance moved within the self-check time according to the travel speed of the coal mine robot, calibrate the estimated arrival position within the self-check time on the route and record it as a passing point, and when the coal mine robot moves according to the preset The position correction frequency is based on the reference point and the center line of the travel route to make real-time corrections to the position of the coal mining robot in the mine; the distance between the center line corresponding to the current position and the well wall is obtained and recorded as the standard well wall distance, the coal mining robot measures the distance between the left side of the reference point and the well wall and records it as the left well wall distance, and the correction distance of the standard well wall distance and the left well wall distance is calculated by the difference calculation formula. When the correction distance is greater than 0, it means that the coal mining robot has deviated to the left compared with the center line of the travel route, and the coal mining robot adjusts the angle to the right until the reference point coincides with the center line on the travel route. When the correction distance is less than 0, it means that the coal mining robot has deviated to the right compared with the center point of the travel route, and the coal mining robot adjusts the angle to the left until the reference point coincides with the center line on the travel route.

[0059] When the coal mine robot detects an obstacle and detours during its travel within the self-checking time, the position where the detour begins is recorded as the detour starting point, and the position where the coal mine robot completes detour around the obstacle and returns to the corresponding center line of the travel route is recorded as the detour end point. The distance traveled by the coal mine robot in the process of detour around the obstacle is recorded, and the straight-line distance between the detour starting point and the detour end point is measured, and the detour distance of the coal mine robot within the self-checking time is obtained by the difference calculation formula. The total detour distance H of the coal mine robot within the self-checking time is obtained by summing up the detour distances through the summation formula. The wheels of the coal mine robot are monitored by the speed sensor. When the wheel speed is greater than the preset wheel speed threshold, it is determined that the wheels of the coal mine robot are slipping, and the number of wheel slips DN of the coal mine robot within the self-checking time is counted.

[0060] Obtain the inclination degree of the coal mine robot at each time point within the self-checking time, compare the inclination degree at each time point with the preset inclination degree threshold, and when the inclination degree is greater than the preset inclination degree threshold, mark the time point as an abnormal time point, connect each adjacent abnormal time point to obtain each abnormal time period, measure the distance traveled by the coal mine robot in each abnormal time period, sum the distance traveled by the coal mine robot in each abnormal time period through the summation formula, obtain the total distance traveled by the coal mine robot in the abnormal time period and record it as the slope distance L; record the position of the coal mine robot after the self-checking time as the actual position, and obtain the wheel radius of the coal mine robot from the database according to the following formula:

[0061]

[0062] The compensation index BC of the coal mining robot within the self-checking time can be calculated, h is the preset travel distance threshold for bypassing obstacles, R is the wheel radius of the coal mining robot, dn is the preset wheel slip distance threshold, l is the preset slope distance threshold, a1, a2 and a3 are respectively the preset compensation index first weight factor, the compensation index second weight factor and the compensation index third weight factor, which can be determined according to actual needs and are not limited here; when the compensation index of the coal mining robot within the self-checking time is greater than the preset compensation index threshold, it means that the coal mining robot is in the self-checking time. When the robot is traveling within the self-check time, it is disturbed by external factors and fails to reach the passing point within the self-check time. It is determined that the distance error between the actual position and the passing point exceeds the allowable distance difference range. The coal mine robot needs to perform distance compensation. The distance difference between the actual position and the passing point is calculated and recorded as the compensation distance. The coal mine robot continues to travel towards the passing point according to the travel route and then arrives at the passing point after the compensation distance. When the compensation index of the coal mine robot within the self-check time is less than the preset compensation index threshold, it is determined that the distance error between the actual position and the passing point is within the allowable range, and the coal mine robot does not need to perform distance compensation.

[0063] According to the above process, when the coal mine robot arrives at the passing point, it continues to estimate the distance traveled within the self-check time according to the travel speed, marks the estimated arrival position as the passing point, and then travels to the passing point according to the travel route. After the self-check time, the travel environment of the coal mine robot within the self-check time is analyzed to obtain the compensation index of the coal mine robot within the self-check time. When the compensation index of the coal mine robot within the self-check time is greater than the preset compensation index threshold, distance compensation is performed until the coal mine robot reaches the end of the travel route.

[0064] The present application obtains a compensation index by analyzing the traveling environment of the coal mine robot within the self-check time, and determines whether the coal mine robot is affected by the environment and terrain during the self-check time, resulting in a distance error between the coal mine robot and the passing point based on the compensation index. When an error occurs, distance compensation is performed in time to enable the coal mine robot to reach the estimated passing point, ensuring that the coal mine robot travels along the predetermined travel route, reducing the accumulated error of the coal mine robot during the travel process, and improving the positioning accuracy of the coal mine robot.

[0065] This application also monitors the power of the coal mine robot in real time. The process is as follows: the power of the coal mine robot is monitored in real time while the coal mine robot is moving along the route. When the power of the coal mine robot is less than the preset power threshold, the position of each wireless charging base station on the route is obtained, the distance between the current position of the coal mine robot and each wireless charging base station is calculated, and the wireless charging base station with the shortest distance from the coal mine robot is recorded as the target base station, and the power consumption of the coal mine robot is actively reduced to ensure that the coal mine robot maintains sufficient endurance to reach the wireless charging base station for charging when the power is insufficient, and goes to the target base station for wireless charging. After charging is completed, continue to move toward the end point along the route. It should be noted that measures to actively reduce the power consumption of the coal mine robot include but are not limited to reducing the current travel speed of the coal mine robot, reducing the calculation frequency, and turning off irrelevant sensors. After the coal mine robot reaches the end point according to the route, it performs corresponding operations according to the work instructions.

[0066] The present application corrects the position of the coal mining robot in the mine in real time through the center point of the coal mining robot and the center line of the travel route during the movement of the coal mining robot, so as to avoid economic losses caused by collision between the coal mining robot and the shaft wall. At the same time, based on the compensation index, it determines whether the coal mining robot is affected by the environment and terrain during the self-inspection time, resulting in distance errors between the passing points. When errors occur, distance compensation is performed in time, which reduces the accumulated error of the coal mining robot during the movement process, improves the positioning accuracy of the coal mining robot, avoids the coal mining robot from deviating from the predetermined path during the actual execution process, and ensures that the coal mining robot accurately reaches the target position to carry out work.

[0067] Figure 2 FIG. 1 is a flow chart of an optional method for determining an inspection path of a coal mine robot according to an embodiment of the present invention. Figure 2As shown, it includes: S202, obtaining the network signal strength received by the coal mine robot during the process of the coal mine robot performing the inspection task in the coal mine environment. S204, comparing the network signal strength with the preset signal strength threshold to obtain a signal strength comparison result. S206, when the signal strength comparison result is that the network signal strength is greater than the preset signal strength threshold, controlling the coal mine robot to use the network communication positioning mode to determine the real-time inspection path. S208, obtaining the detour distance, the number of wheel slips and the slope distance of the coal mine robot during the driving process in the preset self-positioning mode; based on the detour distance, the number of wheel slips and the slope distance, determine the offline inspection path. S210, splicing the real-time inspection path and the offline inspection path to obtain the target inspection path.

[0068] According to another aspect of an embodiment of the present invention, a device for determining a patrol path of a coal mine robot is also provided. The device can execute the method for determining a patrol path of a coal mine robot of the above embodiment. The specific implementation method and preferred application scenario are the same as those of the above embodiment and will not be repeated here.

[0069] Figure 3 is a schematic diagram of a patrol path determination device for a coal mine robot according to an embodiment of the present application, such as Figure 3 As shown, the device includes the following: an acquisition module 302 , a comparison module 304 , a first control module 306 , a second control module 308 and a generation module 310 .

[0070] Among them, an acquisition module is used to obtain the network signal strength received by the coal mine robot during the process of the coal mine robot performing an inspection task in a coal mine environment, wherein the inspection task includes at least one inspection point that the coal mine robot needs to reach; a comparison module is used to compare the network signal strength with a preset signal strength threshold to obtain a signal strength comparison result; a first control module is used to control the coal mine robot to use a network communication positioning mode to determine a real-time inspection path when the signal strength comparison result is that the network signal strength is greater than the preset signal strength threshold; a second control module is used to control the coal mine robot to use a preset self-positioning mode to determine an offline inspection path when the signal strength comparison result is that the network signal strength is less than or equal to the preset signal strength threshold; a generation module is used to generate a target inspection path based on the real-time inspection path and / or the offline inspection path, wherein the target inspection path is used to guide the coal mine robot to complete the inspection task.

[0071] Among them, the second control module is also used to obtain the detour distance, the number of wheel slips and the slope distance of the coal mine robot during the driving process in the preset self-positioning mode, wherein the detour distance is used to indicate the distance that the coal mine robot detoured when encountering obstacles, the number of wheel slips is used to characterize the number of slip circles of the driving wheels of the coal mine robot, and the slope distance is used to indicate the distance that the coal mine robot travels in a preset abnormal tilt state; based on the detour distance, the number of wheel slips and the slope distance, the offline inspection path is determined.

[0072] Among them, the second control module is also used to perform path compensation on the preset offline inspection path of the coal mine robot based on the detour distance, the number of wheel slips and the slope distance to obtain the offline inspection path, wherein the preset offline inspection path is used to represent the inspection path pre-set for the coal mine robot in the network communication positioning mode.

[0073] Among them, the second control module is also used to determine the compensation index based on the detour distance, the number of wheel slips and the slope distance; determine the compensation index comparison result based on the compensation index and the preset compensation index threshold; when the compensation index is greater than the preset compensation index threshold, determine the offline inspection path based on the detour distance, the number of wheel slips, the slope distance and the preset offline inspection path; when the compensation index is less than or equal to the preset compensation index threshold, determine the offline inspection path based on the preset offline inspection path.

[0074] The generation module is also used to splice the real-time inspection path and the offline inspection path to obtain the target inspection path.

[0075] Among them, when the coal mine robot is driving in a preset self-positioning mode, the network signal processing equipment is turned off, wherein the network signal processing equipment at least includes a network signal receiver and a network signal amplifier carried by the coal mine robot.

[0076] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention when running.

[0077] The above-mentioned memory may refer to a device inside a computer for storing data and programs, and may include memory, hard disk, etc., wherein the memory may be used to temporarily store running programs and data, the hard disk may be used to store programs and data for a long time, and the memory may be used to enable the computer to read and write data, and execute programs; the above-mentioned processor may be responsible for executing instructions in computer programs and performing data processing, and may be responsible for controlling and executing various operations, including arithmetic operations, logical operations, data transmission, etc.

[0078] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0079] The above-mentioned computer storage medium may refer to a medium in a computer memory used to store certain discontinuous physical quantities. Computer storage media mainly include semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser disks, etc.; the stored program included in the computer-readable storage medium may be a set of instructions that can be recognized and executed by a computer, running on an electronic computer, and is an information tool that meets certain needs of people.

[0080] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0081] The above-mentioned computer program product may refer to a software program that has been written, tested and released and can be run on a computer or other device. The computer program product may include an application, an operating system, tool software, etc., which is used to implement specific functions or solve specific problems.

[0082] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0083] The above-mentioned non-volatile computer-readable storage medium may refer to a medium for storing data. The non-volatile computer-readable storage medium can keep the data from being lost when the power is off, and can be used to store long-term data, such as operating systems, applications, and user files. The non-volatile storage medium may include hard disk drives, solid-state drives, optical disks, and flash memory storage devices, etc.

[0084] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0085] The above-mentioned computer program may refer to a collection of instructions used to tell a computer to perform a specific task or operation. A computer program may be written by a programmer using a specific programming language and may include algorithms, data structures, logic, and control flows. A computer program may be used for a variety of purposes, including application software, operating systems, and the like.

[0086] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0087] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0088] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0089] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0090] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0091] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining an inspection path of a coal mine robot, characterized in that: include: In the process of the coal mine robot performing an inspection task in the coal mine environment, obtaining the network signal strength received by the coal mine robot, wherein the inspection task includes at least one inspection point that the coal mine robot needs to reach; Comparing the network signal strength with a preset signal strength threshold to obtain a signal strength comparison result; When the signal strength comparison result shows that the network signal strength is greater than the preset signal strength threshold, controlling the coal mine robot to adopt a network communication positioning mode to determine a real-time inspection path; When the signal strength comparison result shows that the network signal strength is less than or equal to the preset signal strength threshold, controlling the coal mine robot to adopt a preset self-positioning mode to determine an offline inspection path; A target inspection path is generated based on the real-time inspection path and / or the offline inspection path, wherein the target inspection path is used to guide the coal mine robot to complete the inspection task.

2. The method for determining the inspection path of a coal mine robot according to claim 1, characterized in that: When the signal strength comparison result is that the network signal strength is less than or equal to the preset signal strength threshold, controlling the coal mine robot to adopt a preset self-positioning mode to determine an offline inspection path, including: Obtaining the detour distance, wheel slip times and slope distance of the coal mining robot during driving in the preset self-positioning mode, wherein the detour distance is used to indicate the distance that the coal mining robot detoured when encountering obstacles, the wheel slip times are used to indicate the number of slip circles of the driving wheels of the coal mining robot, and the slope distance is used to indicate the distance that the coal mining robot travels in a preset abnormal tilt state; The offline inspection path is determined based on the detour distance, the number of wheel slips and the slope distance.

3. The inspection path determination method for a coal mine robot according to claim 2, characterized in that: Determining the offline inspection path based on the detour distance, the number of wheel slips and the slope distance includes: Based on the detour distance, the number of wheel slips and the slope distance, path compensation is performed on the preset offline inspection path of the coal mine robot to obtain the offline inspection path, wherein the preset offline inspection path is used to represent the inspection path pre-set for the coal mine robot in the network communication positioning mode.

4. The method for determining the inspection path of a coal mine robot according to claim 3, characterized in that: Based on the detour distance, the number of wheel slips and the slope distance, path compensation is performed on a preset offline inspection path of the coal mine robot to obtain the offline inspection path, including: Determining a compensation index based on the detour distance, the number of wheel slips and the slope distance; Determining a compensation index comparison result based on the compensation index and a preset compensation index threshold; When the compensation index is greater than the preset compensation index threshold, determining the offline inspection path based on the detour distance, the number of wheel slips, the slope distance and the preset offline inspection path; When the compensation index is less than or equal to the preset compensation index threshold, the offline inspection path is determined based on the preset offline inspection path.

5. The inspection path determination method for a coal mine robot according to claim 1, characterized in that: Generating a target inspection path based on the real-time inspection path and / or the offline inspection path includes: The real-time inspection path and the offline inspection path are spliced ​​to obtain the target inspection path.

6. The method for determining the inspection path of a coal mine robot according to any one of claims 1 to 5, characterized in that: During the driving of the coal mine robot in the preset self-positioning mode, the network signal processing device is turned off, wherein the network signal processing device at least includes a network signal receiver and a network signal amplifier carried by the coal mine robot.

7. A patrol path determination device for a coal mine robot, characterized in that: include: An acquisition module, used for acquiring the network signal strength received by the coal mine robot during the process of the coal mine robot performing an inspection task in the coal mine environment, wherein the inspection task includes at least one inspection point that the coal mine robot needs to reach; A comparison module, used to compare the network signal strength with a preset signal strength threshold to obtain a signal strength comparison result; A first control module is used to control the coal mine robot to determine a real-time inspection path by adopting a network communication positioning mode when the signal strength comparison result shows that the network signal strength is greater than the preset signal strength threshold; A second control module is used to control the coal mine robot to determine an offline inspection path by using a preset self-positioning mode when the signal strength comparison result shows that the network signal strength is less than or equal to the preset signal strength threshold; A generation module is used to generate a target inspection path based on the real-time inspection path and / or the offline inspection path, wherein the target inspection path is used to guide the coal mine robot to complete the inspection task.

8. An electronic device, characterized in that: include: A memory storing an executable program; A processor is used to run the program, wherein the program, when running, executes the inspection path determination method for a coal mine robot as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the storage medium is located is controlled to execute the inspection path determination method for a coal mine robot according to any one of claims 1 to 6.

10. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, implements the inspection path determination method of a coal mine robot according to any one of claims 1 to 6.

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