A humanoid robot for mining used in raw material sorting scenarios

Abstract

The present invention discloses a humanoid robot for mining in a raw material sorting scenario, comprising: a robot body, wherein the robot body comprises a moving part and an operating part, wherein the moving part is used to move the position and adjust the posture of the robot body, and the operating part is used to grab ore raw materials; a sensor system, wherein the sensor system comprises an environmental sensor, a visual sensor, a tactile sensor and a position sensor, wherein the visual sensor is used to provide a current environmental field of view, the tactile sensor is used to sense the surface characteristics of the ore raw materials, and the position sensor is used to monitor the position and posture of the robot body; and a control system, wherein the control system is used to receive signals from the sensor system and control the robot body to move and operate. The robot of the present invention can significantly improve the efficiency of sorting raw materials in mining, reduce manual participation, reduce labor intensity, and at the same time improve the accuracy of sorting to ensure product quality.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a humanoid robot for mining used in raw material sorting scenarios. Background Art

[0002] In the scene of raw material sorting in mines, it used to rely mainly on manual sorting or simple mechanical devices for operation. Manual sorting is not only inefficient, but also labor-intensive, and workers are exposed to safety hazards when working in harsh mining environments. Although some mechanical devices can improve sorting efficiency to a certain extent, they are often difficult to adapt to the complex environment of mines and the diverse characteristics of raw materials. For example, traditional mechanical sorting equipment may not be able to accurately identify and sort mine materials with irregular shapes or special properties, resulting in unsatisfactory sorting results. Summary of the invention

[0003] In order to solve the deficiencies in the prior art, the present invention provides a humanoid robot for mining for raw material sorting scenarios, which can significantly improve the efficiency of raw material sorting in mines, reduce manual participation, reduce labor intensity, and at the same time improve the accuracy of sorting, ensure product quality, and can operate stably in the complex and harsh environment of mines, without being affected by factors such as dust and humidity, reduce the occurrence of equipment failures, reduce maintenance costs, reduce the safety risks of workers in the process of sorting raw materials in mines, protect the health of workers, and can flexibly adapt to the shapes, sizes and properties of various mine raw materials, thereby improving the flexibility and adaptability of sorting.

[0004] To achieve the above object, the present invention adopts the following technical solution: The present invention provides a humanoid robot for mining used in raw material sorting scenarios, comprising: A robot body, the robot body comprising a moving part and an operating part, the moving part is used to move the position and adjust the posture of the robot body, and the operating part is used to grab the ore raw material; A sensor system, wherein the sensor system includes an environmental sensor, a visual sensor, a tactile sensor and a position sensor. The visual sensor is used to provide a current environmental field of view, the tactile sensor is used to sense the surface characteristics of the ore raw material, and the position sensor is used to monitor the position and posture of the robot body. A control system is used to receive signals from the sensor system and control the robot body to move and operate.

[0005] The control system and the sensor system are both arranged on the robot body.

[0006] The humanoid robot for mining used in the raw material sorting scene of the present invention, after the robot is started, first performs a system self-check to ensure that each component is working properly. At the same time, the environmental sensor of the sensor system monitors the environmental parameters of the mine. The visual sensor begins to scan the surrounding environment to obtain information such as the position, shape, color, etc. of the mine raw materials. The control system formulates the optimal sorting path and grasping method based on the information fed back by the sensor system. The robot body moves to the ore raw material position according to the planned path, and accurately grasps the raw materials through the action of the operating unit. During the grasping process, the tactile sensor will feedback the information of the raw materials in real time to ensure the stability and accuracy of the grasping. After grasping the mine raw materials, the robot will carry the raw materials to the designated position for placement according to the preset sorting requirements. During the handling process, the position sensor will monitor the position of the robot in real time to avoid collision with other objects. After completing the sorting task of a batch of ore raw materials, the robot returns to the initial position and waits for instructions for the next batch of tasks.

[0007] The robot of the present invention can significantly improve the efficiency of sorting raw materials in mines, reduce manual participation, reduce labor intensity, and at the same time improve the accuracy of sorting, ensure product quality, and can stably operate in the complex and harsh environment of mines, without being affected by factors such as dust and humidity, reduce the occurrence of equipment failures, reduce maintenance costs, reduce the safety risks of workers in the process of sorting raw materials in mines, protect the health of workers, and can flexibly adapt to the shapes, sizes and properties of various mine raw materials, thereby improving the flexibility and adaptability of sorting.

[0008] In a further technical solution, the moving part is an anti-skid and shock-absorbing crawler-type motion component.

[0009] The mining environment is complex, and the use of anti-skid and shock-absorbing crawler motion components can ensure that the robot body can move stably and efficiently in complex environments.

[0010] In a further technical solution, the operating part is a robotic arm, the robotic arm includes multiple degrees of freedom, and the robotic arm includes a grasping component.

[0011] Through the multi-degree-of-freedom robotic arm and grasping components, it is possible to grasp ore raw materials in a variety of postures, ensuring that the robot can successfully complete complex working conditions.

[0012] In a further technical solution, the visual sensor includes multiple laser radars, millimeter wave radars, infrared sensors and / or depth cameras, and the tactile sensor is arranged at the end of the grasping component of the robotic arm.

[0013] Through barrier-free scanning by laser, millimeter wave and infrared, and visual scanning by depth camera, multiple visual scanning methods can obtain more accurate and clear on-site conditions. The tactile sensor at the end of the grasping component ensures that it can contact the surface of the ore raw materials at the first time and detect the surface characteristics of the ore raw materials in time.

[0014] In a further technical solution, the control system also includes an algorithm module, which includes a path planning algorithm and a grasping algorithm. The path planning algorithm is used to plan the motion path of the robot body, and the grasping algorithm is used to plan the grasping method of the ore raw material based on the surface characteristics of the ore.

[0015] The path planning algorithm is conducive to improving the safety and efficiency of movement, and the grasping algorithm ensures that the robot body can grasp the ore raw materials stably, quickly and energy-efficiently.

[0016] In a further technical solution, the environmental sensor includes a temperature sensor, a humidity sensor, an environmental dust concentration sensor and a hazardous gas sensor.

[0017] The environment in the mining area is complex. Monitoring multiple environmental parameters through a variety of environmental sensors can effectively ensure the safety of work. For some emergencies, real-time dynamic monitoring can also serve as an early warning, which is safer.

[0018] In a further technical solution, the control system also includes a monitoring component, which is used to monitor the mining environment and the status of the robot body. When the mining environment or the status of the robot body reaches a threshold, an alarm is sent to the control center and the robot body is controlled to evacuate.

[0019] In addition to environmental monitoring, the monitoring component also includes monitoring of the robot's temperature, humidity, endurance and other parameters, ensuring the stability of the robot's working state and further improving the safety of sorting.

[0020] The beneficial effects are: 1. The robot of the present invention can significantly improve the efficiency of sorting raw materials in mines, reduce manual participation, reduce labor intensity, and at the same time improve the accuracy of sorting, ensure product quality, and can stably operate in the complex and harsh environment of mines, without being affected by factors such as dust and humidity, reduce the occurrence of equipment failures, reduce maintenance costs, reduce the safety risks of workers in the process of sorting raw materials in mines, and protect the health of workers. It can flexibly adapt to the shapes, sizes and properties of various mine raw materials, and improve the flexibility and adaptability of sorting.

[0021] 2. The mining environment is complex, and the use of anti-skid and shock-absorbing crawler motion components can ensure that the robot body can move stably and efficiently in complex environments.

[0022] 3. Through multi-degree-of-freedom robotic arms and grasping components, it is able to grasp ore raw materials in a variety of postures, ensuring that the robot can successfully complete complex working conditions.

[0023] 4. Through barrier-free scanning by laser, millimeter wave and infrared, and visual scanning by depth camera, multiple visual scanning methods can obtain more accurate and clear on-site conditions. The tactile sensor at the end of the grabbing component ensures that it can contact the surface of the ore raw materials in the first time and detect the surface characteristics of the ore raw materials in time.

[0024] 5. The path planning algorithm is conducive to improving the safety and efficiency of movement, and the grasping algorithm ensures that the robot body can grasp the ore raw materials stably, quickly and energy-savingly.

[0025] 6. The environment in the mining area is complex. Monitoring multiple environmental parameters through a variety of environmental sensors can effectively ensure the safety of work. For some emergencies, real-time dynamic monitoring can also serve as an early warning, which is safer.

[0026] 7. In addition to environmental monitoring, the monitoring component also includes monitoring of the robot's temperature, humidity, endurance and other parameters, ensuring the stability of the robot's working state and further improving the safety of sorting. DETAILED DESCRIPTION

[0027] The present invention will be further described below: Example

[0028] A humanoid robot for mining used in raw material sorting scenarios, comprising: A robot body, the robot body comprising a moving part and an operating part, the moving part is used to move the position and adjust the posture of the robot body, and the operating part is used to grab the ore raw material; A sensor system, wherein the sensor system includes an environmental sensor, a visual sensor, a tactile sensor and a position sensor. The visual sensor is used to provide a current environmental field of view, the tactile sensor is used to sense the surface characteristics of the ore raw material, and the position sensor is used to monitor the position and posture of the robot body. A control system is used to receive signals from the sensor system and control the robot body to move and operate.

[0029] The control system and the sensor system are both arranged on the robot body.

[0030] It also includes a power system, which includes a battery pack and a motor. In this embodiment, the overall driving form of the robot is electric drive.

[0031] The humanoid robot for mining used in the raw material sorting scene of the present invention, after the robot is started, first performs a system self-check to ensure that each component is working properly. At the same time, the environmental sensor of the sensor system monitors the environmental parameters of the mine. The visual sensor begins to scan the surrounding environment to obtain information such as the position, shape, color, etc. of the mine raw materials. The control system formulates the optimal sorting path and grasping method based on the information fed back by the sensor system. The robot body moves to the ore raw material position according to the planned path, and accurately grasps the raw materials through the action of the operating unit. During the grasping process, the tactile sensor will feedback the information of the raw materials in real time to ensure the stability and accuracy of the grasping. After grasping the mine raw materials, the robot will carry the raw materials to the designated position for placement according to the preset sorting requirements. During the handling process, the position sensor will monitor the position of the robot in real time to avoid collision with other objects. After completing the sorting task of a batch of ore raw materials, the robot returns to the initial position and waits for instructions for the next batch of tasks.

[0032] The robot of the present invention can significantly improve the efficiency of sorting raw materials in mines, reduce manual participation, reduce labor intensity, and at the same time improve the accuracy of sorting, ensure product quality, and can stably operate in the complex and harsh environment of mines, without being affected by factors such as dust and humidity, reduce the occurrence of equipment failures, reduce maintenance costs, reduce the safety risks of workers in the process of sorting raw materials in mines, protect the health of workers, and can flexibly adapt to the shapes, sizes and properties of various mine raw materials, thereby improving the flexibility and adaptability of sorting.

[0033] In another embodiment, the robot body includes a main body, a head, arms and legs, the moving part is arranged on the legs of the robot body, the action part is arranged on the arms of the robot body, some sensors of the sensor system are arranged on the head of the robot body, and a control system is arranged inside the main body of the robot body.

[0034] In this embodiment, the robot body is also equipped with mining lighting equipment to provide lighting for the visual sensor.

[0035] The humanoid robot body has the ability to perform more actions, further improving the robot body's ability to operate in complex mining environments.

[0036] In another embodiment, the moving part is an anti-skid and shock-absorbing track-type motion component.

[0037] The mining environment is complex, and the use of anti-skid and shock-absorbing crawler motion components can ensure that the robot body can move stably and efficiently in complex environments.

[0038] In another embodiment, the robot body is made of high-strength, corrosion-resistant material and has good protective performance, capable of resisting impact, wear and corrosion in a mining environment.

[0039] In another embodiment, the working part is a robotic arm, the robotic arm includes multiple degrees of freedom, and the robotic arm includes a grasping component.

[0040] Through the multi-degree-of-freedom robotic arm and grasping components, it is possible to grasp ore raw materials in a variety of postures, ensuring that the robot can successfully complete complex working conditions.

[0041] In another embodiment, the visual sensor includes a plurality of laser radars, millimeter wave radars, infrared sensors and / or depth cameras, and the tactile sensor is disposed at the end of the grasping assembly of the robotic arm.

[0042] Through barrier-free scanning by laser, millimeter wave and infrared, and visual scanning by depth camera, multiple visual scanning methods can obtain more accurate and clear on-site conditions. The tactile sensor at the end of the grasping component ensures that it can contact the surface of the ore raw materials at the first time and detect the surface characteristics of the ore raw materials in time.

[0043] In another embodiment, the control system further includes an algorithm module, which includes a path planning algorithm and a grasping algorithm, wherein the path planning algorithm is used to plan the motion path of the robot body, and the grasping algorithm is used to plan the grasping method of the ore raw materials based on the surface characteristics of the ore.

[0044] The path planning algorithm is conducive to improving the safety and efficiency of movement, and the grasping algorithm ensures that the robot body can grasp the ore raw materials stably, quickly and energy-efficiently.

[0045] In another embodiment, the environmental sensor includes a temperature sensor, a humidity sensor, an environmental dust concentration sensor, and a hazardous gas sensor.

[0046] The environment in the mining area is complex. Monitoring multiple environmental parameters through a variety of environmental sensors can effectively ensure the safety of work. For some emergencies, real-time dynamic monitoring can also serve as an early warning, which is safer.

[0047] In another embodiment, the control system further comprises a monitoring component, and the monitoring component is used to monitor the mining environment and the status of the robot body. When the mining environment or the status of the robot body reaches a threshold, an alarm is sent to the control center and the robot body is controlled to evacuate.

[0048] In addition to environmental monitoring, the monitoring component also includes monitoring of the robot's temperature, humidity, endurance and other parameters, ensuring the stability of the robot's working state and further improving the safety of sorting.

[0049] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A humanoid robot for mining used in raw material sorting scenarios, characterized in that: include: A robot body, the robot body comprising a moving part and an operating part, the moving part is used to move the position and adjust the posture of the robot body, and the operating part is used to grab the ore raw material; A sensor system, wherein the sensor system includes an environmental sensor, a visual sensor, a tactile sensor and a position sensor. The visual sensor is used to provide a current environmental field of view, the tactile sensor is used to sense the surface characteristics of the ore raw material, and the position sensor is used to monitor the position and posture of the robot body. A control system is used to receive signals from the sensor system and control the robot body to move and operate.

2. The humanoid robot for mining used in raw material sorting scenarios according to claim 1, characterized in that: The moving part is an anti-skid and shock-absorbing crawler-type motion component.

3. The humanoid robot for mining used in raw material sorting scenarios according to claim 1, characterized in that: The working part is a robotic arm, the robotic arm includes multiple degrees of freedom, and the robotic arm includes a grasping component.

4. The humanoid robot for mining used in raw material sorting scenarios according to claim 3 is characterized in that: The visual sensor includes a plurality of laser radars, millimeter wave radars, infrared sensors and / or depth cameras, and the tactile sensor is arranged at the end of the grasping component of the robotic arm.

5. The humanoid robot for mining used in raw material sorting scenarios according to claim 1, characterized in that: The control system also includes an algorithm module, which includes a path planning algorithm and a grasping algorithm. The path planning algorithm is used to plan the motion path of the robot body, and the grasping algorithm is used to plan the grasping method of the ore raw material based on the surface characteristics of the ore.

6. The humanoid robot for mining used in raw material sorting scenarios according to claim 1, characterized in that: The environmental sensors include a temperature sensor, a humidity sensor, an environmental dust concentration sensor and a hazardous gas sensor.

7. The mining humanoid robot for raw material sorting according to claim 1, characterized in that: The control system also includes a monitoring component, which is used to monitor the mining environment and the status of the robot body. When the mining environment or the status of the robot body reaches a threshold, an alarm is sent to the control center and the robot body is controlled to evacuate.