Path planning method and system for mining guniting robot

Abstract

The invention provides a path planning method and system for a mining guniting robot, and relates to the technical field of robot path planning, and the method comprises the following steps: obtaining and analyzing a guniting operation plan of a user, and determining a guniting operation position parameter and a guniting usage amount according to the analyzed guniting operation plan; constructing a three-dimensional simulation model of the guniting operation area of the guniting operation position and a simulation motion model of the mining guniting robot, meanwhile, establishing a path planning model, performing simulation operation by utilizing the simulation motion model and the guniting operation environment simulation model, and determining a planning path; determining an optimal operation path according to the planned path; according to the invention, resource waste or poor operation effect caused by improper operation parameter setting is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robot path planning, and more particularly to a path planning method and system for a mining shotcrete robot. Background Art

[0002] At present, the grouting work in coal mine tunnel construction is usually done manually or by a combination of man and machine. Tunnel construction has problems such as harsh environment and high work intensity. Therefore, the application of mining automated grouting robots is an important way to achieve efficient and safe grouting construction in coal mine tunnels. Due to the complex underground environment of coal mines, the grouting robot needs to pre-set a relatively reasonable planning path before operation, which is of great significance to improving the work efficiency of the robot.

[0003] However, although many researchers have conducted extensive research on the path planning of mining shotcrete robots, there is still a situation where the accuracy of path planning is low, which affects the working efficiency of mining shotcrete robots.

[0004] Therefore, how to provide a path planning method for a mining shotcrete robot that can solve the above problems is an issue that technical personnel in this field urgently need to solve. Summary of the invention

[0005] In view of this, the present invention provides a path planning method and system for a mining shotcrete robot, which avoids waste of resources or poor operating results due to improper setting of operating parameters; at the same time, by using a three-dimensional simulation model and a simulated motion model for simulation operations, the motion trajectory and shotcrete effect of the shotcrete robot can be simulated in advance, thereby discovering and solving potential problems before actual operations, thereby improving operating efficiency and accuracy.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A path planning method for a mining shotcrete robot comprises the following steps:

[0008] Acquire and analyze the user's shotcrete operation plan, and determine the shotcrete operation position parameters and the amount of shotcrete used according to the analyzed shotcrete operation plan;

[0009] Construct a three-dimensional simulation model of the shotcrete operation area at the shotcrete operation location and a simulated motion model of the mine shotcrete robot. At the same time, establish a path planning model, and use the simulated motion model and the shotcrete operation environment simulation model to perform simulation operations and determine the planned path.

[0010] Determine the best operation path according to the planned path;

[0011] The mining shotcrete robot completes the shotcrete operation according to the optimal operation path.

[0012] Preferably, it also includes:

[0013] The optimal operation path is adjusted according to the actual operation environment conditions at the shotcrete operation location.

[0014] Preferably, the specific process of determining the best operation path includes:

[0015] Acquire geological parameters, three-dimensional image information and environmental condition parameters of the shotcrete operation location, and construct a three-dimensional simulation model of the shotcrete operation area according to the geological parameters, the three-dimensional image information and the environmental condition parameters;

[0016] Construct a path planning model and determine the corresponding path planning constraints;

[0017] Preprocessing the geological parameters, three-dimensional image information and environmental condition parameters, and inputting the path planning constraints, preprocessing results and shotcrete usage into the path planning model to obtain a planned path;

[0018] Performing a simulated shotcrete operation in a three-dimensional simulation model of the shotcrete operation area using the planned path and the simulated motion model, and recording corresponding operation results;

[0019] An optimal planning path is determined according to the operation results.

[0020] Preferably, the specific process of determining the best planning path according to the operation result includes:

[0021] When there is only one planned path, the historical environmental mutation factor of the shotcrete operation location is obtained to determine whether an environmental mutation will occur at the shotcrete operation location. When the probability of an environmental mutation is lower than a preset threshold, the planned path is the optimal planned path.

[0022] Preferably, the specific process of determining the best planning path according to the operation result also includes:

[0023] When the number of the planned paths is multiple, the historical environmental mutation factors of the shotcrete operation location are obtained, and the historical environmental mutation factors are applied to the three-dimensional simulation model of the shotcrete operation area, and the simulation operation is performed again;

[0024] The optimal planned path is determined according to the path planning constraints and the simulation operation results.

[0025] Preferably, it also includes:

[0026] The adjusted optimal operation path is used to optimize and adjust the three-dimensional simulation model and the path planning model.

[0027] The present invention also provides a path planning system for a mining shotcrete robot, comprising:

[0028] An acquisition module is used to acquire and analyze the user's shotcrete operation plan, and determine the shotcrete operation position parameters and the amount of shotcrete used according to the analyzed shotcrete operation plan;

[0029] The first determination module is used to construct a three-dimensional simulation model of the shotcrete operation area of ​​the shotcrete operation location and a simulated motion model of the mining shotcrete robot, and at the same time establish a path planning model, and use the simulated motion model and the shotcrete operation environment simulation model to perform simulation operations and determine the planned path;

[0030] A second determination module, used to determine the best operation path according to the planned path;

[0031] The operation module is used for the mining shotcrete robot to complete the shotcrete operation according to the optimal operation path.

[0032] It can be seen from the above technical solution that, compared with the prior art, the present invention discloses a path planning method and system for a mining shotcrete robot, which has the following beneficial effects: by acquiring and parsing the user's shotcrete operation plan, and determining the shotcrete operation position parameters and the amount of shotcrete used according to the parsed shotcrete operation plan; constructing a three-dimensional simulation model of the shotcrete operation area of ​​the shotcrete operation position and a simulated motion model of the mining shotcrete robot, and at the same time establishing a path planning model, and using the simulated motion model and the shotcrete operation environment simulation model to perform simulation operations to determine the planned path; and completing the shotcrete operation after determining the optimal operation path according to the planned path.

[0033] The present invention obtains and analyzes the user's shotcrete operation plan, determines the specific shotcrete operation position parameters and usage, and can ensure that the shotcrete operation is performed according to predetermined requirements. The motion trajectory and shotcrete effect of the shotcrete robot can be simulated in advance, so as to discover and solve potential problems before actual operation, improve operation efficiency and accuracy, and further improve the efficiency and effect of the shotcrete operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0035] Figure 1 An overall flow chart of a path planning method for a mining shotcrete robot provided by the present invention;

[0036] Figure 2 A structural principle block diagram of a path planning system for a mining shotcrete robot provided by the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1 As shown, an embodiment of the present invention discloses a path planning method for a mining shotcrete robot, comprising the following steps:

[0039] Obtain and analyze the user's shotcrete operation plan, and determine the shotcrete operation location parameters and shotcrete usage according to the analyzed shotcrete operation plan;

[0040] Construct a three-dimensional simulation model of the shotcrete operation area at the shotcrete operation location and a simulated motion model of the mine shotcrete robot. At the same time, establish a path planning model, and use the simulated motion model and the shotcrete operation environment simulation model to perform simulation operations and determine the planned path.

[0041] Determine the best operation path based on the planned path;

[0042] The mining shotcrete robot completes the shotcrete operation according to the optimal operation path.

[0043] In a specific embodiment, it also includes:

[0044] The optimal operation path is adjusted according to the actual working environment conditions at the shotcrete operation location.

[0045] Specifically, after obstacle recognition is performed on the three-dimensional image information of the shotcrete operation location, it is added to the three-dimensional simulation model of the shotcrete operation area according to the recognition result. At the same time, the optimal operation path is adjusted in combination with the historical best path and obstacle recognition results and the actual working environment conditions to improve the work efficiency of the robot.

[0046] In a specific embodiment, the specific process of determining the optimal operation path includes:

[0047] Obtaining geological parameters, three-dimensional image information and environmental condition parameters of the shotcrete operation location, and constructing a three-dimensional simulation model of the shotcrete operation area based on the geological parameters, three-dimensional image information and environmental condition parameters;

[0048] Construct a path planning model and determine corresponding path planning constraints, where the path planning constraints may include: optimal use time of the shotcrete usage, optimal operation speed and shotcrete thickness. The path planning model may be implemented by a PRM algorithm;

[0049] Preprocessing geological parameters, three-dimensional image information and environmental condition parameters, and inputting path planning constraints, preprocessing results and shotcrete usage into the path planning model to obtain a planned path;

[0050] Use the planned path and simulated motion model to simulate the shotcrete operation in the three-dimensional simulation model of the shotcrete operation area, and record the corresponding operation results;

[0051] Determine the best planning path based on the operation results.

[0052] In a specific embodiment, the specific process of determining the best planning path according to the operation result includes:

[0053] When there is only one planned path, the historical environmental mutation factor of the shotcrete operation location is obtained to determine whether an environmental mutation will occur at the shotcrete operation location. When the probability of an environmental mutation is lower than a preset threshold, the planned path is the optimal planned path.

[0054] Specifically, the historical environmental mutation factor can be a mutation environmental parameter, which may be caused by changes in geological conditions, climate conditions and other issues. The mutation probability is obtained based on the historical mutation environmental parameters combined with the prediction model. If it is lower than the threshold, it means that the possibility of mutation in the entire path process is low and can be ignored.

[0055] In a specific embodiment, the specific process of determining the best planning path according to the operation result also includes:

[0056] When the number of planned paths is multiple, the historical environmental mutation factors of the shotcrete operation location are obtained, and the historical environmental mutation factors are applied to the three-dimensional simulation model of the shotcrete operation area, and the simulation operation is performed again;

[0057] Determine the optimal planning path based on path planning constraints and simulation results.

[0058] In a specific embodiment, it also includes:

[0059] The adjusted optimal working path is used to optimize the three-dimensional simulation model and the path planning model.

[0060] See also Figure 2 As shown, an embodiment of the present invention further provides a system for the path planning method of a mining shotcrete robot using any one of the above embodiments, comprising:

[0061] An acquisition module is used to acquire and analyze the user's shotcrete operation plan, and determine the shotcrete operation position parameters and the amount of shotcrete used according to the analyzed shotcrete operation plan;

[0062] The first determination module is used to construct a three-dimensional simulation model of the shotcrete operation area of ​​the shotcrete operation location and a simulated motion model of the mining shotcrete robot, and at the same time establish a path planning model, and use the simulated motion model and the shotcrete operation environment simulation model to perform simulation operations and determine the planned path;

[0063] A second determination module is used to determine the best operation path according to the planned path;

[0064] The operation module is used for the mining shotcrete robot to complete the shotcrete operation according to the optimal operation path.

[0065] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0066] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A path planning method for a mining shotcrete robot, characterized in that: The following steps are involved: Acquire and analyze the user's shotcrete operation plan, and determine the shotcrete operation position parameters and the amount of shotcrete used according to the analyzed shotcrete operation plan; Construct a three-dimensional simulation model of the shotcrete operation area at the shotcrete operation location and a simulated motion model of the mine shotcrete robot. At the same time, establish a path planning model, and use the simulated motion model and the shotcrete operation environment simulation model to perform simulation operations and determine the planned path. Determine the best operation path according to the planned path; The mining shotcrete robot completes the shotcrete operation according to the optimal operation path.

2. A path planning method for a mining shotcrete robot according to claim 1, characterized in that: Also includes: The optimal operation path is adjusted according to the actual operation environment conditions at the shotcrete operation location.

3. A path planning method for a mining shotcrete robot according to claim 1, characterized in that: The specific process of determining the best operation path includes: Acquire geological parameters, three-dimensional image information and environmental condition parameters of the shotcrete operation location, and construct a three-dimensional simulation model of the shotcrete operation area according to the geological parameters, the three-dimensional image information and the environmental condition parameters; Construct a path planning model and determine the corresponding path planning constraints; Preprocessing the geological parameters, three-dimensional image information and environmental condition parameters, and inputting the path planning constraints, preprocessing results and shotcrete usage into the path planning model to obtain a planned path; Performing a simulated shotcrete operation in a three-dimensional simulation model of the shotcrete operation area using the planned path and the simulated motion model, and recording corresponding operation results; An optimal planning path is determined according to the operation results.

4. A path planning method for a mining shotcrete robot according to claim 3, characterized in that: The specific process of determining the best planning path according to the operation results includes: When there is only one planned path, the historical environmental mutation factor of the shotcrete operation location is obtained to determine whether an environmental mutation will occur at the shotcrete operation location. When the probability of an environmental mutation is lower than a preset threshold, the planned path is the optimal planned path.

5. A path planning method for a mining shotcrete robot according to claim 4, characterized in that: The specific process of determining the best planning path according to the operation results also includes: When the number of the planned paths is multiple, the historical environmental mutation factors of the shotcrete operation location are obtained, and the historical environmental mutation factors are applied to the three-dimensional simulation model of the shotcrete operation area, and the simulation operation is performed again; The optimal planned path is determined according to the path planning constraints and the simulation operation results.

6. A path planning method for a mining shotcrete robot according to claim 2, characterized in that: Also includes: The adjusted optimal operation path is used to optimize and adjust the three-dimensional simulation model and the path planning model.

7. A system using the path planning method of a mining shotcrete robot according to any one of claims 1 to 6, characterized in that: include: An acquisition module is used to acquire and analyze the user's shotcrete operation plan, and determine the shotcrete operation position parameters and the amount of shotcrete used according to the analyzed shotcrete operation plan; The first determination module is used to construct a three-dimensional simulation model of the shotcrete operation area of ​​the shotcrete operation location and a simulated motion model of the mining shotcrete robot, and at the same time establish a path planning model, and use the simulated motion model and the shotcrete operation environment simulation model to perform simulation operations and determine the planned path; A second determination module, used to determine the best operation path according to the planned path; The operation module is used for the mining shotcrete robot to complete the shotcrete operation according to the optimal operation path.

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