Coal mine intelligent robot cluster cooperative control system

Abstract

The invention relates to the field of robot cluster cooperative control, in particular to a coal mine intelligent robot cluster cooperative control system which comprises a man-machine interaction module, a sensor data acquisition module, a safety module and a robot cooperative control module. The robot cooperative control module analyzes the task load completion progress of the coal mining robot, the transportation robot and the supporting robot, the safety module establishes a safety cooperative mechanism and carries out safety measure processing when potential safety hazards are found, and the man-machine interaction module confirms the identity of a worker according to a face recognition unit and carries out human-computer interaction according to the face recognition unit. According to the coal transportation scheduling system and method, intelligent scheduling of the transportation link is achieved, the coal transportation efficiency is effectively improved, and the influence of transportation delay on the whole production progress is avoided.

Description

Technical Field

[0001] The present invention relates to the field of robot cluster collaborative control, and in particular to a coal mine intelligent robot cluster collaborative control system. Background Art

[0002] In the field of coal mining, with the continuous advancement of science and technology, traditional mining methods are gradually shifting towards intelligentization. Traditional manual mining faces many problems. In order to improve this situation, the application of intelligent robots in coal mines has gradually emerged. In actual application, the functions of a single robot are limited and cannot meet the collaborative needs of diversified tasks in the entire mining process. For example, the coal mining robot is responsible for mining coal, but the transport robot is required to transport the mined coal in time. At the same time, the support robot must ensure the safety of the roof of the coal mining operation face. If there is a lack of effective coordination mechanism between the robots, problems such as poor operation connection and low efficiency are likely to occur.

[0003] The underground environment of coal mines is complex and changeable. Robots need to obtain accurate coal seam information, equipment status information, and environmental information in real time in order to make reasonable action decisions. However, there are still many technical challenges in these areas, such as accurate judgment of coal seam hardness, effective monitoring and response to harmful gases such as gas, etc. The present invention aims to solve the above problems, improve the intelligence level of coal mining and overall operation efficiency, and ensure the safety and stability of coal mine production. Summary of the invention

[0004] In order to solve the technical problems raised by the above-mentioned background technology, the present invention provides a coal mine intelligent robot cluster collaborative control system.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] The present invention is a coal mine intelligent robot cluster collaborative control system, comprising a human-computer interaction module, a sensor data acquisition module, a robot collaborative control module, a safety module and a database.

[0007] The human-machine interaction module confirms the identity of the staff member based on the face recognition unit and starts the machine control display screen. The specific process is as follows:

[0008] A face recognition unit and a start unit are set in the human-machine interaction module, and a machine control display screen is installed in the ground control center. The face recognition unit recognizes the facial information of the current staff member according to the high-definition camera of the machine control display screen, and matches the facial information with the preset facial images of each staff member. If successful, the staff member's name and work number are displayed, and a pairing signal is generated and sent to the start unit. If failed, the unauthorized person is displayed on the machine control display screen and an alarm is issued;

[0009] The starting unit establishes a machine control interface, which includes an overall status overview area of ​​the robot cluster, a task management area, an alarm and notification area, and a sensor data panel. When the starting unit receives a matching signal and determines that the current staff member is successfully matched, it enters the corresponding machine control interface for operation.

[0010] The sensor data acquisition module collects data information in real time and sends it to each module according to the installation of various types of sensors on various types of robots. The specific process is as follows:

[0011] The sensor data acquisition module is provided with an acquisition unit and a transmission unit. Various types of sensors are installed on various types of robots. Various types of robots include coal mining robots, transport robots and support robots. Various types of sensors include visual cameras, pressure sensors, positioning sensors, laser radars and weight sensors. Coal mining images are acquired in real time through visual cameras to obtain various coal mining images. Coal weight is acquired in real time through weight sensors to obtain the current coal collection weight.

[0012] The output end of the sending unit is connected to the input end of the robot collaborative control module, and the obtained coal mining images and coal collection weight are sent to the robot collaborative control module.

[0013] The robot collaborative control module analyzes the completion progress of the tasks of the coal mining robot, transport robot and support robot, and obtains the specific process as follows:

[0014] P001: The input end of the robot collaborative control module is connected to the output end of the database, and a coal mining robot, two transport robots and a support robot are bound. The two transport robots include a transport robot and a spare transport robot to construct a robot cluster unit for collaborative operation. Thus, various types of robots are bound to obtain each robot cluster unit and number them, m=1, 2....g, m represents the number of each robot cluster unit, g represents the total number of each robot cluster unit, and the robot collaborative control module is provided with a coal mining robot control unit, a transport robot control unit and a support robot control unit;

[0015] The coal mining robot control unit obtains the coal seam thickness in real time through the coal mining robot laser radar, obtains the real-time coal seam thickness GQ, obtains the sound frequency of the current coal seam mining, the higher the sound frequency, the harder the coal seam hardness, obtains the real-time mining sound frequency GY, obtains the vibration amplitude value of the coal mining equipment when the current coal seam is cut in real time, obtains the vibration amplitude value GT of the equipment, the harder the coal seam, the stronger the vibration amplitude value of the corresponding coal mining equipment;

[0016] The obtained real-time coal seam thickness, vibration amplitude value, and real-time mining sound frequency are normalized and substituted into the formula for calculation The real-time coal seam hardness coefficient GE is obtained, where C1, C2 and C3 are weight coefficients corresponding to the real-time coal seam thickness, vibration amplitude value and real-time mining sound frequency;

[0017] Extract the preset coal seam hardness coefficient of the data center, subtract the real-time coal seam hardness coefficient from the preset coal seam hardness coefficient to obtain the coal seam hardness correction value, send the coal seam hardness correction value to the coal mining robot, the coal mining robot adjusts the cutting speed according to the coal seam hardness correction value, and obtains the current mining time based on the cutting speed and the total number of tasks according to the total number of tasks in the database, and sends the mining time to the transport robot control unit; obtain the current coal collection weight, and when the real-time collection weight of the coal mining robot is equal to the total task mining weight, generate a completion signal and send it to the transport robot;

[0018] P002: The transport robot control unit receives the mining time, obtains the current coal collection weight, and then obtains the current total task mining volume. The current coal weight is divided by the total task mining weight to obtain the current mining progress value, and then obtains the transportation efficiency of each transport robot, extracts the preset transportation efficiency in the database, and subtracts the transportation efficiency from the preset transportation efficiency to obtain the transportation efficiency difference. Based on the transportation efficiency difference, the mining time and the mining progress value, the mining efficiency coefficient of each robot cluster unit is obtained, and the preset mining coefficient threshold in the database is extracted. The mining efficiency coefficient is compared with the preset mining coefficient threshold. If the mining efficiency coefficient is less than the preset mining coefficient threshold, a speed-up signal is generated and sent to the transport robot and the coal mining robot. The transport robot and the coal mining robot receive the speed-up signal and increase the efficiency to 30%;

[0019] The transport robot receives the completion signal, obtains the current position and the unloading location through the positioning sensor, connects the current position and the unloading location to obtain the transport route distance, obtains the current transport robot transport speed, obtains the estimated arrival time according to the transport route distance and the transport speed, and sends the estimated arrival time to the standby transport robot;

[0020] When the transport robot completes the unloading operation, it generates an unloading signal and sends it to the machine control interface;

[0021] P003: The support robot control unit obtains the working position and progress of the coal mining robot in real time. The support robot obtains the movement distance of the coal mining robot in real time and intelligently moves to the corresponding position to perform support operations according to the support spacing and support strength preset in the database;

[0022] During mining, the support robot monitors the pressure value of the roof in real time based on the pressure sensor, and sends the pressure value to the machine control interface in real time. The machine control interface adjusts the support strength according to the pressure value.

[0023] The security module establishes a security coordination mechanism and takes security measures when potential security risks are found. The specific process is as follows:

[0024] The output end of the safety module is connected to the input end of the human-machine interaction module. Gas sensors are installed on various types of robots to monitor the gas concentration parameter values ​​of coal seams in real time and divide them into three levels for early warning. The three levels include the first-level early warning state, the second-level early warning state and the third-level early warning state. The first-level early warning state is specifically when various types of robots monitor the current gas concentration parameter value between 0-8m 3 / t, generates a ventilation signal and sends it to the ventilation device, which ventilates the current area;

[0025] The second-level warning state is that if the robot detects that the current gas concentration parameter value in a certain area is between 8-16m 3 / t, generates a moderate gas signal and sends it to other robots and ventilation devices, increasing the ventilation device by 40%, and turning on the alarm device of various types of robots;

[0026] The third-level warning state is that each type of robot detects that the current gas concentration parameter value is within 16m 3 / t or above, a heavy gas signal is generated and sent to each personnel’s mobile phone terminal and nearby fire center, and the ventilation device is turned on to the maximum value.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: the coal mining robot control unit uses laser radar to obtain multi-source data such as coal seam thickness, sound frequency and vibration amplitude value of coal mining equipment, calculates the real-time coal seam hardness coefficient through normalization processing and substitutes it into a specific formula, and then compares it with the preset coal seam hardness coefficient to obtain a correction value, thereby accurately adjusting the cutting speed of the coal mining machine to meet the mining needs of coal seams with different hardnesses, improving coal mining efficiency while reducing equipment loss and extending the service life of coal mining equipment.

[0028] The transport robot control unit calculates the mining efficiency coefficient based on factors such as mining time, coal collection weight, total task mining volume and transportation efficiency, and compares it with the preset threshold. When the efficiency coefficient is lower than the threshold, it promptly sends acceleration signals to the coal mining robot and the transport robot to prompt them to improve their work efficiency. After completing the loading, the transport robot can calculate the estimated arrival time based on the positioning information and send it to the standby transport robot, which facilitates the reasonable arrangement of transportation tasks, realizes the intelligent scheduling of the transportation link, effectively improves the efficiency of coal transportation, and avoids the impact of transportation delays on the overall production progress. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. The following drawings are not intentionally scaled to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0030] Figure 1 It is a principle block diagram of the present invention. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work also fall within the scope of protection of the present invention.

[0032] Please refer to Figure 1 As shown, the present invention is a coal mine intelligent robot cluster collaborative control system, including a human-computer interaction module, a sensor data acquisition module, a robot collaborative control module, a security module and a database.

[0033] The human-machine interaction module confirms the identity of the staff member based on the face recognition unit and starts the machine control display screen. The specific process is as follows:

[0034] The output end of the human-machine interaction module is connected to the input end of the database. A face recognition unit and a start unit are set in the human-machine interaction module. A machine control display screen is installed in the ground control center. The face recognition unit recognizes the facial information of the current staff member according to the high-definition camera of the machine control display screen, and matches the facial information with the preset facial images of each staff member. If successful, the staff member's name and work number are displayed, and a pairing signal is generated and sent to the start unit. If failed, the unauthorized person is displayed on the machine control display screen and an alarm is issued;

[0035] The starting unit establishes a machine control interface, which includes an overall status overview area of ​​the robot cluster, a task management area, an alarm and notification area, and a sensor data panel. When the starting unit receives a matching signal and determines that the current staff member is successfully matched, it enters the corresponding machine control interface for operation.

[0036] The sensor data acquisition module collects data information in real time and sends it to each module according to the installation of various types of sensors on various types of robots. The specific process is as follows:

[0037] The sensor data acquisition module is provided with an acquisition unit and a transmission unit. Various types of sensors are installed on various types of robots. Various types of robots include coal mining robots, transport robots and support robots. Various types of sensors include visual cameras, pressure sensors, positioning sensors, laser radars and weight sensors. Coal mining images are acquired in real time through visual cameras to obtain various coal mining images. Coal weight is acquired in real time through weight sensors to obtain the current coal collection weight.

[0038] The output end of the sending unit is connected to the input end of the robot collaborative control module, and the obtained coal mining images and coal collection weight are sent to the robot collaborative control module.

[0039] The robot collaborative control module analyzes the completion progress of the tasks of the coal mining robot, transport robot and support robot, and obtains the specific process as follows:

[0040] P001: The input end of the robot collaborative control module is connected to the output end of the database, and a coal mining robot, two transport robots and a support robot are bound. The two transport robots include a transport robot and a spare transport robot to construct a robot cluster unit for collaborative operation. Thus, various types of robots are bound to obtain each robot cluster unit and number them, m=1, 2....g, m represents the number of each robot cluster unit, g represents the total number of each robot cluster unit, and the robot collaborative control module is provided with a coal mining robot control unit, a transport robot control unit and a support robot control unit;

[0041] The coal mining robot control unit obtains the coal seam thickness in real time through the coal mining robot laser radar, obtains the real-time coal seam thickness GQ, obtains the sound frequency of the current coal seam mining, the higher the sound frequency, the harder the coal seam hardness, obtains the real-time mining sound frequency GY, obtains the vibration amplitude value of the coal mining equipment when the current coal seam is cut in real time, obtains the vibration amplitude value GT of the equipment, the harder the coal seam, the stronger the vibration amplitude value of the corresponding coal mining equipment;

[0042] The obtained real-time coal seam thickness, vibration amplitude value, and real-time mining sound frequency are normalized and substituted into the formula for calculation The real-time coal seam hardness coefficient GE is obtained, where C1, C2 and C3 are weight coefficients corresponding to the real-time coal seam thickness, vibration amplitude value and real-time mining sound frequency;

[0043] Extract the preset coal seam hardness coefficient of the data center, subtract the real-time coal seam hardness coefficient from the preset coal seam hardness coefficient to obtain the coal seam hardness correction value, send the coal seam hardness correction value to the coal mining robot, the coal mining robot adjusts the cutting speed according to the coal seam hardness correction value, and obtains the current mining time based on the cutting speed and the total number of tasks according to the total number of tasks in the database, and sends the mining time to the transport robot control unit; obtain the current coal collection weight, and when the real-time collection weight of the coal mining robot is equal to the total task mining weight, generate a completion signal and send it to the transport robot;

[0044] P002: The transport robot control unit receives the mining time, obtains the current coal collection weight, and then obtains the current total task mining volume. The current coal weight is divided by the total task mining weight to obtain the current mining progress value, and then obtains the transportation efficiency of each transport robot, extracts the preset transportation efficiency in the database, and subtracts the transportation efficiency from the preset transportation efficiency to obtain the transportation efficiency difference. Based on the transportation efficiency difference, the mining time and the mining progress value, the mining efficiency coefficient of each robot cluster unit is obtained, and the preset mining coefficient threshold in the database is extracted. The mining efficiency coefficient is compared with the preset mining coefficient threshold. If the mining efficiency coefficient is less than the preset mining coefficient threshold, a speed-up signal is generated and sent to the transport robot and the coal mining robot. The transport robot and the coal mining robot receive the speed-up signal and increase the efficiency to 30%;

[0045] The transport robot receives the completion signal, obtains the current position and the unloading location through the positioning sensor, connects the current position and the unloading location to obtain the transport route distance, obtains the current transport robot transport speed, obtains the estimated arrival time according to the transport route distance and the transport speed, and sends the estimated arrival time to the standby transport robot;

[0046] When the transport robot completes the unloading operation, it generates an unloading signal and sends it to the machine control interface;

[0047] P003: The support robot control unit obtains the working position and progress of the coal mining robot in real time. The support robot obtains the movement distance of the coal mining robot in real time and intelligently moves to the corresponding position to perform support operations according to the support spacing and support strength preset in the database;

[0048] During mining, the support robot monitors the pressure value of the roof in real time based on the pressure sensor, and sends the pressure value to the machine control interface in real time. The machine control interface adjusts the support strength according to the pressure value.

[0049] The security module establishes a security coordination mechanism and takes security measures when potential security risks are found. The specific process is as follows:

[0050] The output end of the safety module is connected to the input end of the human-machine interaction module. Gas sensors are installed on various types of robots to monitor the gas concentration parameter values ​​of coal seams in real time and divide them into three levels for early warning. The three levels include the first-level early warning state, the second-level early warning state and the third-level early warning state. The first-level early warning state is specifically when various types of robots monitor the current gas concentration parameter value between 0-8m 3 / t, generates a ventilation signal and sends it to the ventilation device, which ventilates the current area;

[0051] The second-level warning state is that if the robot detects that the current gas concentration parameter value in a certain area is between 8-16m3 / t, generates a moderate gas signal and sends it to other robots and ventilation devices, increasing the ventilation device by 40%, and turning on the alarm device of various types of robots;

[0052] The third-level warning state is that each type of robot detects that the current gas concentration parameter value is within 16m 3 / t or above, a heavy gas signal is generated and sent to each personnel’s mobile phone terminal and nearby fire center, and the ventilation device is turned on to the maximum value.

[0053] The above is an explanation of the present invention and should not be considered as a limitation thereof. Although several exemplary embodiments of the present invention have been described, it will be readily appreciated by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present invention. Therefore, all such modifications are intended to be included within the scope of the present invention as defined in the claims. It should be understood that the above is an explanation of the present invention and should not be considered as being limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present invention is defined by the claims and their equivalents.

Claims

1. A coal mine intelligent robot cluster collaborative control system, including a human-computer interaction module, a sensor data acquisition module, a security module and a database, characterized in that: It also includes a robot collaborative control module; The robot collaborative control module analyzes the progress of the task completion of the coal mining robot, the transport robot and the support robot. The input end of the robot collaborative control module is connected to the output end of the database to construct a robot cluster unit for collaborative operation. Thus, various types of robots are bound to obtain each robot cluster unit and number them. The robot collaborative control module is provided with a coal mining robot control unit, a transport robot control unit and a support robot control unit. The coal mining robot control unit obtains the coal seam thickness in real time through the coal mining robot laser radar, obtains the real-time coal seam thickness GQ, obtains the sound frequency of the current coal seam mining, obtains the real-time mining sound frequency GY, and obtains the vibration amplitude value of the coal mining equipment during the current coal seam cutting in real time, and obtains the vibration amplitude value GT of the equipment; The obtained real-time coal seam thickness, vibration amplitude value, and real-time mining sound frequency are normalized and substituted into the formula for calculation The real-time coal seam hardness coefficient GE is obtained, where C1, C2 and C3 are the weight coefficients corresponding to the real-time coal seam thickness, vibration amplitude value and real-time mining sound frequency; the preset coal seam hardness coefficient of the data center is extracted, and the real-time coal seam hardness coefficient is subtracted from the preset coal seam hardness coefficient to obtain the coal seam hardness correction value, and the coal seam hardness correction value is sent to the coal mining robot. The coal mining robot adjusts the cutting speed according to the coal seam hardness correction value, and according to the total number of tasks in the database, the current mining time is obtained based on the cutting speed and the total number of tasks, and the mining time is sent to the transport robot control unit; the current coal collection weight is obtained, and when the real-time collection weight of the coal mining robot is equal to the total task mining weight, a completion signal is generated and sent to the transport robot.

2. The intelligent coal mine robot cluster collaborative control system according to claim 1 is characterized in that: The robot collaborative control module also includes a transport robot control unit. The specific process is as follows: The transport robot control unit receives the mining time, obtains the current coal collection weight, and then obtains the current total task mining volume, divides the current coal weight by the total task mining weight to obtain the current mining progress value, and then obtains the transportation efficiency of each transport robot, extracts the preset transportation efficiency in the database, and subtracts the transportation efficiency from the preset transportation efficiency to obtain the transportation efficiency difference. Based on the transportation efficiency difference, the mining time and the mining progress value, the mining efficiency coefficient of each robot cluster unit is obtained, the preset mining coefficient threshold in the database is extracted, and the mining efficiency coefficient is compared with the preset mining coefficient threshold. If the mining efficiency coefficient is less than the preset mining coefficient threshold, a speed-up signal is generated and sent to the transport robot and the coal mining robot. The transport robot and the coal mining robot receive the speed-up signal and increase the efficiency to 30%; The transport robot receives the completion signal, obtains the current position and the unloading location through the positioning sensor, connects the current position and the unloading location to obtain the transport route distance, obtains the current transport robot transport speed, obtains the estimated arrival time according to the transport route distance and the transport speed, and sends the estimated arrival time to the standby transport robot; When the transport robot completes the unloading operation, an unloading signal is generated and sent to the machine control interface.

3. The intelligent coal mine robot cluster collaborative control system according to claim 1 is characterized in that: The robot collaborative control module also includes a support robot control unit. The specific process is as follows: The support robot control unit obtains the working position and progress of the coal mining robot in real time. The support robot obtains the movement distance of the coal mining robot in real time, and intelligently moves to the corresponding position to perform support operations according to the support spacing and support strength preset in the database; During mining, the support robot monitors the pressure value of the roof in real time based on the pressure sensor, and sends the pressure value to the machine control interface in real time. The machine control interface adjusts the support strength according to the pressure value.

4. The intelligent coal mine robot cluster collaborative control system according to claim 1 is characterized in that: The security module establishes a security coordination mechanism and takes security measures when potential security risks are found. The specific process is as follows: The output end of the safety module is connected to the input end of the human-machine interaction module. Gas sensors are installed on various types of robots to monitor the gas concentration parameter values ​​of coal seams in real time and divide them into three levels for early warning. The three levels include the first-level early warning state, the second-level early warning state and the third-level early warning state. The first-level early warning state is specifically when various types of robots monitor the current gas concentration parameter value between 0-8m 3 / t, generates a ventilation signal and sends it to the ventilation device, which ventilates the current area; The second-level warning state is that if the robot detects that the current gas concentration parameter value in a certain area is between 8-16m 3 / t, generates a moderate gas signal and sends it to other robots and ventilation devices, increasing the ventilation device by 40%, and turning on the alarm device of various types of robots; The third-level warning state is that each type of robot detects that the current gas concentration parameter value is within 16m 3 / t or above, a heavy gas signal is generated and sent to each personnel’s mobile phone terminal and nearby fire center, and the ventilation device is turned on to the maximum value.

5. The intelligent coal mine robot cluster collaborative control system according to claim 1 is characterized in that: The human-machine interaction module confirms the identity of the staff member based on the face recognition unit and starts the machine control display screen. The specific process is as follows: A face recognition unit and a start unit are set in the human-machine interaction module, and a machine control display screen is installed in the ground control center. The face recognition unit recognizes the facial information of the current staff member based on the high-definition camera of the machine control display screen, and matches the facial information with the preset facial images of each staff member. If successful, the staff member's name and work number are displayed, and a pairing signal is generated and sent to the start unit. If it fails, the unauthorized person is displayed on the machine control display screen and an alarm is issued.

6. The intelligent coal mine robot cluster collaborative control system according to claim 5 is characterized in that: The human-computer interaction module also includes a starting unit, which establishes a machine control interface. The machine control interface includes an overall status overview area of ​​the robot cluster, a task management area, an alarm and notification area, and a sensor data panel. When the starting unit receives a matching signal and determines that the current staff member is successfully matched, it enters the corresponding machine control interface for operation.

7. The intelligent coal mine robot cluster collaborative control system according to claim 1 is characterized in that: The sensor data acquisition module collects data information in real time and sends it to each module according to the installation of various types of sensors on various types of robots. The specific process is as follows: The sensor data acquisition module is provided with an acquisition unit and a sending unit. Various types of sensors are installed on various types of robots. Various types of robots include coal mining robots, transport robots and support robots. Various types of sensors include visual cameras, pressure sensors, positioning sensors, lidars and weight sensors. Coal mining images are acquired in real time through visual cameras to obtain various coal mining images. Coal weight is acquired in real time through weight sensors to obtain the current coal collection weight.

8. The intelligent coal mine robot cluster collaborative control system according to claim 7 is characterized in that: The sensor data acquisition module also includes a sending unit, the output end of the sending unit is connected to the input end of the robot collaborative control module, and the obtained coal mining images and coal collection weight are sent to the robot collaborative control module.

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