A path planning method and system for a mining shotcrete robot

Abstract

This invention provides a path planning method and system for a mining shotcrete robot, relating to the field of robot path planning technology. The method includes the following steps: acquiring and parsing the user's shotcrete operation plan, and determining the shotcrete operation location parameters and shotcrete usage based on the parsed shotcrete operation plan; constructing a three-dimensional simulation model of the shotcrete operation area and a simulation motion model of the mining shotcrete robot, while simultaneously establishing a path planning model, and using the simulation motion model and the shotcrete operation environment simulation model to perform simulation operations and determine the planned path; and determining the optimal operation path based on the planned path. This invention avoids resource waste or poor operation results caused by improper setting of operation parameters.

Description

Technical Field

[0001] This invention relates to the field of robot path planning technology, and more specifically to a path planning method and system for a mining shotcrete robot. Background Technology

[0002] Currently, shotcreting in coal mine roadway construction is typically carried out manually or using a combination of manual and mechanical methods. Roadway construction presents challenges such as harsh environments and high workloads; therefore, the application of automated shotcreting robots for mining is a crucial way to achieve efficient and safe shotcreting construction in coal mine roadways. Due to the complex underground environment of coal mines, shotcreting robots require pre-planned, relatively reasonable paths before operation, which is essential for improving the robot's work efficiency.

[0003] However, despite extensive research on path planning for mine shotcrete robots, the accuracy of path planning remains low, which affects the working efficiency of these robots.

[0004] Therefore, how to provide a path planning method for mining shotcrete robots that can solve the above problems is a problem that urgently needs to be solved by those skilled in the art. 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 resource waste or poor operation results caused by improper setting of operation parameters; at the same time, by using a three-dimensional simulation model and a simulated motion model for simulation operation, the motion trajectory and shotcrete effect of the shotcrete robot can be simulated in advance, thereby discovering and solving potential problems before actual operation, and improving operation efficiency and accuracy.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

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

[0008] The system acquires and parses the user's shotcrete operation plan, and determines the shotcrete operation location parameters and shotcrete usage based on the parsed shotcrete operation plan.

[0009] A three-dimensional simulation model of the shotcrete operation area and a simulation motion model of the mine shotcrete robot are constructed. At the same time, a path planning model is established, and the simulation operation is carried out using the simulation motion model and the shotcrete operation environment simulation model to determine the planned path.

[0010] Determine the optimal operation path based on the planned path;

[0011] Mining shotcrete robots complete shotcrete operations according to the optimal working path.

[0012] Preferred options also include:

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

[0014] Preferably, the specific process for determining the optimal work path includes:

[0015] Geological parameters, three-dimensional image information, and environmental condition parameters of the shotcrete operation location are obtained, and a three-dimensional simulation model of the shotcrete operation area is constructed based on 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] The geological parameters, three-dimensional image information and environmental condition parameters are preprocessed, and the path planning constraints, preprocessing results and shotcrete usage are input into the path planning model to obtain the planned path.

[0018] The planned path and the simulated motion model are used to simulate the shotcrete operation in the three-dimensional simulation model of the shotcrete operation area, and the corresponding operation results are recorded.

[0019] The optimal planning path is determined based on the results of the operation.

[0020] Preferably, the specific process of determining the optimal planning path based on the operation results includes:

[0021] When there is only one planned path, the historical environmental mutation factor of the shotcrete operation location is obtained to determine whether the shotcrete operation location will experience an environmental mutation. 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 optimal planning path based on the operation results further includes:

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

[0024] The optimal planning path is determined based on the path planning constraints and simulation results.

[0025] Preferred options also include:

[0026] The three-dimensional simulation model and path planning model are optimized and adjusted using the adjusted optimal operation path.

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

[0028] The acquisition module is used to acquire and parse the user's shotcrete operation plan, and determine the shotcrete operation location parameters and shotcrete usage based on the parsed shotcrete operation plan;

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

[0030] The second determining module is used to determine the optimal operation path based on the planned path;

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

[0032] As can be seen from the above technical solution, 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 shotcrete usage based on the parsed shotcrete operation plan; constructing a three-dimensional simulation model of the shotcrete operation area at the shotcrete operation position and a simulation motion model of the mining shotcrete robot, and simultaneously establishing a path planning model, and using the simulation motion model and the shotcrete operation environment simulation model to perform simulation operations and determine the planned path; and completing the shotcrete operation after determining the optimal operation path based on the planned path.

[0033] This invention acquires and analyzes the user's shotcrete operation plan to determine the specific shotcrete operation location parameters and usage, ensuring that the shotcrete operation is executed according to the predetermined requirements. It can simulate the motion trajectory and shotcrete effect of the shotcrete robot in advance, thereby discovering and solving potential problems before actual operation, improving operation efficiency and accuracy, and further enhancing the efficiency and effect of shotcrete operation. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

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

[0036] Figure 2 The present invention provides a structural principle block diagram of a path planning system for a mining shotcrete robot. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0039] Obtain and parse the user's shotcrete operation plan, and determine the shotcrete operation location parameters and shotcrete usage based on the parsed shotcrete operation plan;

[0040] A three-dimensional simulation model of the shotcrete operation area and a simulation motion model of the mine shotcrete robot are constructed. At the same time, a path planning model is established, and the simulation operation is carried out using the simulation motion model and the shotcrete operation environment simulation model to determine the planned path.

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

[0042] Mining shotcrete robots complete shotcrete operations according to the optimal working path.

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

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

[0045] Specifically, after obstacle identification is performed on the 3D image information of the shotcrete operation location, the results are added to the 3D simulation model of the shotcrete operation area. At the same time, the optimal operation path is adjusted by combining the historical best path, obstacle identification results and actual operation environment conditions to improve the robot's work efficiency.

[0046] In one specific embodiment, the process of determining the optimal job path includes:

[0047] Obtain geological parameters, 3D image information, and environmental condition parameters of the shotcrete operation location, and construct a 3D simulation model of the shotcrete operation area based on the geological parameters, 3D image information, and environmental condition parameters;

[0048] Construct a path planning model and determine the corresponding path planning constraints. The path planning constraints may include: the optimal time for shotcrete usage, the optimal operating speed, and the shotcrete thickness. The path planning model can be implemented using the PRM algorithm.

[0049] Geological parameters, 3D image information and environmental condition parameters are preprocessed, and path planning constraints, preprocessing results and shotcrete usage are input into the path planning model to obtain the planned path.

[0050] The shotcrete operation was simulated in a 3D simulation model of the shotcrete operation area using a planned path and a simulated motion model, and the corresponding operation results were recorded.

[0051] Determine the optimal planning path based on the results of the task.

[0052] In a specific embodiment, the process of determining the optimal planning path based on the task results includes:

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

[0054] Specifically, historical environmental mutation factors can be environmental parameters that can lead to mutations, such as changes in geological conditions or climate conditions. The mutation probability is obtained by combining historical mutation environmental parameters with a prediction model. If the probability is lower than the threshold, it means that the possibility of mutations occurring in the entire path process is low and can be ignored.

[0055] In one specific embodiment, the process of determining the optimal planning path based on the task results further includes:

[0056] When there are multiple planned paths, 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] The optimal planning path is determined based on the path planning constraints and simulation results.

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

[0059] The adjusted optimal work path is used to optimize and adjust the 3D simulation model and the path planning model.

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

[0061] The acquisition module is used to acquire and parse the user's shotcrete operation plan, and determine the shotcrete operation location parameters and shotcrete usage based on the parsed shotcrete operation plan;

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

[0063] The second determination module is used to determine the optimal operation path based on the planned path.

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

[0065] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0066] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded 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, Includes the following steps: The system acquires and parses the user's shotcrete operation plan, and determines the shotcrete operation location parameters and shotcrete usage based on the parsed shotcrete operation plan. A three-dimensional simulation model of the shotcrete operation area and a simulation motion model of the mine shotcrete robot are constructed. At the same time, a path planning model is established, and the simulation operation is carried out using the simulation motion model and the shotcrete operation environment simulation model to determine the planned path. The optimal operation path is determined based on the planned path, and the specific process includes: Geological parameters, three-dimensional image information, and environmental condition parameters of the shotcrete operation location are obtained, and a three-dimensional simulation model of the shotcrete operation area is constructed based on 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; The geological parameters, three-dimensional image information and environmental condition parameters are preprocessed, and the path planning constraints, preprocessing results and shotcrete usage are input into the path planning model to obtain the planned path. The planned path and the simulated motion model are used to simulate the shotcrete operation in the three-dimensional simulation model of the shotcrete operation area, and the corresponding operation results are recorded. The optimal planning path is determined based on the results of the aforementioned task. The specific process includes: When there is only one planned path, the historical environmental mutation factor of the shotcrete operation location is obtained to determine whether the shotcrete operation location will experience an environmental mutation. When the probability of an environmental mutation is lower than a preset threshold, the planned path is the optimal planned path. When there are multiple planned paths, the historical environmental mutation factor is applied to the three-dimensional simulation model of the shotcrete operation area, and the simulation operation is performed again. The optimal planning path is determined based on the path planning constraints and simulation results. Mining shotcrete robots complete shotcrete operations according to the optimal working path.

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

3. The path planning method for a mining shotcrete robot according to claim 2, characterized in that, Also includes: The three-dimensional simulation model and path planning model are optimized and adjusted using the adjusted optimal operation path.

4. A system utilizing the path planning method of the mining shotcrete robot according to any one of claims 1-3, characterized in that, include: The acquisition module is used to acquire and parse the user's shotcrete operation plan, and determine the shotcrete operation location parameters and shotcrete usage based on the parsed shotcrete operation plan; The first determination module is used to construct a three-dimensional simulation model of the shotcrete operation area and a simulation motion model of the mine shotcrete robot, and at the same time establish a path planning model. The simulation motion model and the shotcrete operation environment simulation model are used to conduct simulation operations and determine the planned path. The second determining module is used to determine the optimal operation path based on the planned path; The operation module is used by the mining shotcrete robot to complete the shotcrete operation according to the optimal operation path.

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