Temporary support robot control method, temporary support robot and control device

Abstract

The invention discloses a control method of a temporary support robot, the temporary support robot and a control device. The control device obtains real-time pose information and target pose information of a movable platform of the temporary support robot under a current operation roadway; wherein the target pose information represents the pose information of the movable platform adapted to the working condition of the top plate in the current working roadway; based on pose deviation information between the current pose information and the target pose information, determining a first expansion amount of a supporting branch chain of the temporary supporting robot; wherein the temporary support robot comprises a plurality of support branch chains which are respectively used for supporting the movable platform in different directions; based on the first expansion and contraction amount, controlling expansion and contraction of a pose adjusting mechanism in the supporting branch chain to drive the movable platform, and enabling the position of the movable platform to accord with the roof working condition of the current operation roadway.

Description

Technical Field

[0001] This application relates to the field of mining engineering equipment technology, specifically to a control method for a temporary support robot, the temporary support robot, and a control device. Background Technology

[0002] In underground engineering projects such as mines and tunnels, temporary support needs to be provided promptly after tunnel excavation to prevent the collapse of the roof and surrounding rock. Traditional temporary support equipment mostly uses fixed support structures, which cannot dynamically adjust the support position according to the actual working conditions of the tunnel roof (such as vertical deformation, front-to-back tilt, and left-to-right tilt), resulting in uneven distribution of support force and poor roof fit. Summary of the Invention

[0003] This application provides a control method, a temporary support robot, and a control device, which can adapt to the complex and varied roof conditions in the working roadway, provide stable and uniform support for the roof under different working conditions, have good fit with the roof in the working roadway, and effectively improve the intelligence of the temporary support robot.

[0004] To achieve the above objectives, this application provides the following technical solution: In a first aspect, this application provides a control method for a temporary support robot, comprising: Acquire the real-time pose information and target pose information of the moving platform of the temporary support robot in the current working roadway; wherein, the target pose information represents the pose information of the moving platform that is adapted to the roof working condition in the current working roadway. Based on the pose deviation information between the current pose information and the target pose information, the first extension amount of the support chain of the temporary support robot is determined; wherein, the temporary support robot includes multiple support chains, which are used to support the moving platform in different directions respectively. The extension and retraction of the position adjustment mechanism in the support chain is controlled by the first extension amount to drive the moving platform so that the position of the moving platform conforms to the current working conditions of the roof of the working roadway.

[0005] Secondly, this application provides a temporary support robot, comprising: The moving platform is used to provide support force to the roof of the current working roadway in response to the support of multiple support chains in different directions; Multiple support chains are used to extend and retract the posture adjustment mechanism in response to the control device based on the first extension amount, so as to drive the moving platform and make the position of the moving platform conform to the roof condition of the current working roadway; wherein, the first extension amount is determined by the control device based on the posture deviation information between the current posture information and the target posture information of the moving platform, and the target posture information represents the posture information of the moving platform that is adapted to the roof condition in the current working roadway.

[0006] Thirdly, this application provides a control device, including a processor and a memory storing processor-executable instructions; when the instructions are executed by the processor, the control method of the temporary support robot of the first aspect is implemented.

[0007] Compared with the prior art, this application has at least the following beneficial effects: through theoretical modeling, control system design and experimental verification, the system has been proven that the proposed posture control system can effectively overcome the defects of traditional support equipment in terms of dynamic response lag and insufficient posture adjustment accuracy. Attached Figure Description

[0008] To illustrate the prior art and this application more intuitively, several exemplary figures are provided below.

[0009] Figure 1 A schematic diagram illustrating the implementation process of the control method for the temporary support robot provided in this application; Figure 2 The following are schematic diagrams illustrating the working conditions of the temporary support robot provided in this application: Figure (a) is a schematic diagram of vertical deformation; Figure (b) is a schematic diagram of deformation in the tunneling direction; Figure (c) is a schematic diagram of horizontal deformation to the left; Figure (d) is a schematic diagram of horizontal deformation to the right; Figure (e) is a schematic diagram of the tunnel tilting in a single direction; and Figure (f) is a schematic diagram of the tunnel undergoing complex deformation. Figure 3 A schematic diagram of the coordinate system for the parallel structure of the temporary support robot provided in this application; Figure 4 This is a schematic diagram of the forward solution process for the parallel structure of the temporary support robot provided in this application; Figure 5 This is a schematic diagram of the single-motor dual-closed-loop PID control provided in this application; Figure 6 A schematic diagram illustrating the adaptive control of the temporary support robot for supporting the roof slab provided in this application; Figure 7 A schematic diagram of the temporary support robot experimental platform provided in this application; Figure 8 A schematic diagram of the workflow of the temporary support robot experimental platform provided in this application; Figure 9 The step response experimental results provided in this application are as follows: Figures (a)-(d) show the experimental results of the extension and retraction of the support electric cylinders 1-4, respectively; Figure (e) shows the experimental results of the X-axis angle of the moving platform; and Figure (f) shows the experimental results of the Y-axis angle of the moving platform. Figure 10The typical signal parameter following control experimental results provided in this application are shown in the following figures: Figures (a)-(d) are the experimental results of the extension and retraction of the support electric cylinders 1-4, respectively; Figure (e) is the experimental result of the X-axis angle of the moving platform; and Figure (f) is the experimental result of the Y-axis angle of the moving platform. Figure 11 The experimental results of the adaptive control of the random top plate parameter pose provided in this application are as follows: Figures (a)-(d) show the experimental results of the extension and retraction of the support electric cylinders 1-4, respectively; Figure (e) shows the experimental results of the X-axis angle of the moving platform; and Figure (f) shows the experimental results of the Y-axis angle of the moving platform. Figure 12 A schematic diagram of the composition of the temporary support robot provided in this application; Figure 13 A schematic diagram of the composition of the control device provided in this application. Attached image description: Frame body 1, moving platform 2, multiple support chains 3, walking tracks 4, first connecting mechanism 5, second connecting mechanism 6, control device 10, processor 11, memory 12, communication interface 13, bus 14. Detailed Implementation Implementation

[0011] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0012] Coal, as a primary energy source, is not only a crucial foundation for national economic development but also a core raw material supporting the industrial system. Currently, intelligent coal mining has become a key element in promoting high-quality energy development. However, under deep mining conditions, roof deformation is complex and variable. Existing temporary support equipment still faces challenges such as lag in dynamic response, inability to match the tunneling machine's advance speed, and low attitude adjustment precision, making it difficult to adapt to deep, complex deformations. Therefore, developing temporary support robots with high stability and adaptive adjustment capabilities has become a critical need for the industry to overcome.

[0013] To address the problem of adapting to the complex and ever-changing roof conditions in coal mine working roads, this application provides a control method, temporary support, and control device for a temporary support robot. The control device, through closed-loop logic of pose perception, deviation mapping, and extension control, enables the temporary support robot to accurately adapt to the roof conditions of the roadway. On the one hand, the target pose information is directly related to the actual working conditions of the roof of the current working roadway (such as tilt angle and vertical deformation), avoiding the fitting gap or local overpressure problems caused by traditional fixed support. By directionally calculating the first extension of the support chain through pose deviation information, it ensures that multiple chains adjust in coordination in different directions, enabling the moving platform to adapt to the complex shape of the roof (such as forward and backward tilting, left and right rolling), and the support force distribution is more uniform, significantly reducing the safety risks of roof collapse and subsidence, thereby achieving dynamic and precise fitting between the moving platform and the roof working conditions. On the other hand, the control device uses pose deviation as the control core to establish a direct mapping relationship between pose state and chain extension. Compared with coarse control without clear pose feedback, it can accurately quantify the extension that the chain needs to adjust, avoiding pose overshoot caused by excessive or insufficient chain extension. At the same time, the coordinated support design of multiple support chains can maintain structural balance when the moving platform is adjusted, preventing the moving platform from overturning or shaking, ensuring the stability and reliability of the support operation, thereby improving the controllability and stability of the support pose adjustment.

[0014] This application provides a control method for a temporary support robot, applied to a control device, such as... Figure 1 As shown, the control method for the temporary support robot of the control device may include the following steps: Step 101: Obtain the real-time pose information and target pose information of the moving platform of the temporary support robot in the current working roadway; wherein, the target pose information represents the pose information of the moving platform that is adapted to the roof condition in the current working roadway.

[0015] Furthermore, the control device can first acquire the real-time pose information and target pose information of the moving platform of the temporary support robot in the current working roadway; wherein, the target pose information represents the pose information of the moving platform that is adapted to the roof working condition in the current working roadway.

[0016] Furthermore, the control device is the core decision-making and execution unit for the temporary support robot to achieve precise posture control. Its hardware can be in the form of a programmable logic controller (PLC), an embedded controller, or other equipment with data processing and instruction output capabilities.

[0017] Furthermore, the control device can first acquire the real-time pose information of the moving platform (such as data collected by tilt sensors and height sensors) and the target pose information (the pose adapted to the roof condition) through a preset control program. Then, it calculates the pose deviation information based on the two types of pose information, and determines the first extension amount of each support chain through kinematic modeling (such as the pseudo-inverse of the Jacobian matrix and forward and inverse kinematics solutions). Finally, it generates drive commands to control the extension and retraction of the pose adjustment mechanism in the support chain. The entire process uses closed-loop logic to ensure that the pose of the moving platform dynamically adapts to the roof condition of the current working roadway. It is a key hub connecting the perception layer and execution layer of the temporary support robot.

[0018] Furthermore, the current working roadway refers to a specific section of underground engineering (such as mining roadways and tunnel excavation roadways) where a temporary support robot is carrying out roof support and protection operations. This section has clear spatial boundaries and roof conditions (including roof lithology, vertical deformation, forward and backward tilt angles, left and right roll angles, and surrounding rock pressure distribution), and is the direct target and environmental benchmark for the temporary support robot's moving platform posture adjustment. The roof condition parameters need to be collected in real time by sensors (such as tilt sensors and pressure sensors) mounted on the temporary support robot to directly determine the target posture information setting of the moving platform. This ensures that the extension and retraction adjustment of the temporary support robot's support chain can be specifically adapted to the roof shape and stability requirements of the current section, avoiding problems such as insufficient support fit or overpressure damage due to environmental differences in different roadway sections (such as roof flatness and pressure magnitude).

[0019] Furthermore, a temporary support robot is a robot that provides temporary support within the current working roadway.

[0020] Furthermore, the moving platform can be understood as the support execution component of the temporary support robot, which directly contacts the roof of the roadway to provide support force; it can adjust its own posture (such as pitch angle, roll angle, and height) through the extension and retraction of the support chain.

[0021] Furthermore, real-time pose information can be understood as the current spatial state information of the moving platform, including pose angle information and height information; among which, pose angle information can include pitch angle and roll angle, the pitch angle is the forward and backward tilt angle of the moving platform, and the left and right tilt angle of the moving platform; the height information can be the vertical distance between the moving platform and the frame body.

[0022] Furthermore, the target pose information can be understood as the ideal state information of the moving platform determined based on the current working conditions of the roof of the working roadway (such as roof flatness and pressure distribution), which can adapt to the current working conditions of the roof in the working roadway, ensuring that the moving platform is fully in contact with the roof and the support force is uniform.

[0023] Furthermore, the control device can acquire the position angle information of the moving platform collected in real time by the tilt sensor of the temporary support robot in the current working roadway, as well as the height information of the moving platform collected in real time by the height sensor of the temporary support robot; wherein, the position angle information includes pitch angle information and roll angle information; and then determine the real-time position information based on the position angle information and height information.

[0024] For example, the tilt sensor of the temporary support robot can read the current pose angle of the moving platform. The height sensor can obtain the current height information Z of the moving platform.

[0025] It is understandable that the target pose information may include the target pose angle and target height of the moving platform.

[0026] Step 102: Based on the pose deviation information between the current pose information and the target pose information, determine the first extension amount of the support chain of the temporary support robot; wherein, the temporary support robot includes multiple support chains, which are used to support the moving platform in different directions.

[0027] Furthermore, after acquiring the real-time pose information and target pose information of the moving platform of the temporary support robot in the current working roadway, the control device can determine the first extension amount of the support chain of the temporary support robot based on the pose deviation information between the current pose information and the target pose information; wherein, the temporary support robot includes multiple support chains, which are used to support the moving platform in different directions.

[0028] Furthermore, pose deviation information can characterize the degree of deviation between the current state of the moving platform and the ideal state (e.g., pitch angle deviation of 0.3°, height deviation of 20mm). Pose deviation information can be represented in vector form. The deviation vector of the pose angle in the pose deviation information can be expressed by the following formula: (1); in, The target pitch angle is part of the target pose information. The target roll angle is part of the target pose information. The pitch angle of the moving platform is measured in real time by the tilt sensor. The roll angle of the moving platform is measured in real time by the tilt sensor.

[0029] Furthermore, the support chain is a supporting component that connects the frame body and the moving platform. There can be multiple chains, and this application does not specify a particular number. For example, there can be four chains, which provide support forces in different directions. Each support chain includes a posture adjustment mechanism (support electric cylinder), a servo motor, etc., which drives the moving platform to adjust its posture through telescopic movement.

[0030] Furthermore, the first extension amount represents the length value that the support chain needs to be extended or shortened. It is the core execution parameter for controlling the extension and retraction of the posture adjustment mechanism and can be obtained from the posture deviation information through kinematic modeling and proportional-integral-derivative (PID) processing.

[0031] Furthermore, when determining the first extension amount of the support branch of the temporary support robot based on the pose deviation information between the current pose information and the target pose information, the control device can perform a Jacobian matrix pseudo-inverse transformation on the pose deviation information to obtain extension amount compensation information. Among them, the extension amount compensation information represents the length information of the support branch that needs to be extended or retracted when the motion platform adjusts from the real-time pose to the target pose. Then, based on the current predicted position information of the support branch and the extension compensation information, the target predicted position information of the support branch is determined. The first extension amount is determined based on the target predicted position information and the current measured position information of the support branch.

[0032] Furthermore, the pseudo-inverse transformation of the Jacobian matrix is ​​a pseudo-inverse operation based on the Jacobian matrix (the matrix that establishes the mapping relationship between the pose change rate of the moving platform and the branch extension rate). It is used to convert pose deviation information into extension compensation information, thereby achieving a precise mapping from pose deviation to branch extension.

[0033] Furthermore, the stretch compensation information represents the theoretically required stretch length of each support chain when the dynamic platform adjusts from the real-time pose to the target pose, and is a key intermediate quantity for calculating the target's inferred position information.

[0034] Furthermore, the temporary support robot also includes a frame body; the control device can perform inverse kinematics based on the pose relationship between the moving platform and the frame body to obtain the current inferred position information.

[0035] Furthermore, the frame body is the load-bearing reference component of the temporary support robot, which can also be understood as a static platform; it can be used to install all core components such as walking tracks, support chains, sensors, and control systems, providing a fixed reference for the posture adjustment of the moving platform.

[0036] For example, the moving coordinate system of the moving platform Fixed coordinate system relative to the frame body The rotation transformation matrix can be expressed as the following formula: (2); where, Let X represent the rotation angle around the X-axis, and its corresponding rotation matrix is ​​expressed as follows (3). Let represent the rotation angle around the Y-axis, and its corresponding rotation matrix is ​​expressed as follows (4). Let represent the rotation angle around the Z-axis, and its corresponding rotation matrix is ​​expressed as follows (5): (3); (4); (5).

[0037] Based on the pose relationship equation between the moving platform and the i-th support pose adjustment structure, the pose matrix of the i-th support pose adjustment structure can be expressed as the following formula: (6); among which, This indicates that the center point of the moving platform is in a fixed coordinate system. Position vector in; Represents the i-th hinge point on the moving platform. In the moving coordinate system Position vector in; Describing the driven coordinate system to a fixed coordinate system The rotation transformation matrix; Indicates the fixed platform (framework body) In a fixed coordinate system The position vector in the middle.

[0038] The modulus is the length of the first support posture adjustment structure, which can be expressed by the following formula: (7); among which, Representing vectors respectively In a fixed coordinate system Below, the components along the X, Y, and Z coordinate axes.

[0039] Furthermore, the Jacobian matrix can reflect the mapping relationship between the moving platform and each branch; therefore, based on the motion speed of the moving platform, the speed of each active branch of the robot at the hinge point can be known through this mapping relationship, and the position of the moving platform can be obtained by using the Jacobian matrix, that is, the current predicted position information can be obtained.

[0040] Furthermore, when determining the first extension amount based on the target's predicted position information and the current measured position information of the support branch, the control device can determine the position deviation information between the target's predicted position information and the current measured position information; based on the branch stroke limit constraint determined by the inverse kinematics solution, position loop proportional-integral-derivative (PID) control is performed on the position deviation information to obtain the target speed; wherein, the branch stroke limit constraint is used to constrain the branch extension action corresponding to the target speed to be within a preset range; the speed difference is determined based on the target speed and the motor's current speed; based on speed feedforward compensation, speed loop proportional-integral-derivative control is performed on the speed difference to determine the first extension amount; wherein, speed feedforward compensation represents the process of compensating for the speed by mapping the pose change rate of the moving platform using the Jacobian matrix to obtain the matching speed value.

[0041] Furthermore, the branch stroke limit constraint can be understood as the support branch extension and retraction limit range (such as minimum length Lmin, maximum length Lmax) determined based on inverse kinematics, used to constrain the PID output to not exceed the mechanically permissible extension and retraction stroke, thus preventing branch damage. The position loop proportional-integral-derivative (PID) control can be understood as a control loop that takes position deviation information as input and outputs the target rotational speed through proportional (P), integral (I), and derivative (D) calculations. Its core function is to stabilize the position accuracy of the branch.

[0042] Furthermore, the speed loop proportional-integral-derivative (PID) control can be understood as a control loop that takes the speed difference as input, performs PID calculations, and ultimately outputs a value to drive the motor and control the extension and retraction of the support cylinder. Its core function is to stabilize the motor speed and improve the dynamic response of the support extension and retraction. Speed ​​feedforward compensation can correct the speed in advance to reduce the adjustment lag of the speed loop PID and optimize the control response speed.

[0043] Furthermore, the control device can also perform forward kinematics on the current measured position information based on the Newton-Raphson iterative method to obtain the predicted pose information of the moving platform; determine the error information between the predicted pose information and the measured pose information of the moving platform; if the error information is greater than a preset error threshold, correct the current inferred position information to obtain the corrected current position information, and execute the process of determining the first extension amount based on the corrected current position information.

[0044] Furthermore, the Newton-Raphson iterative method can be used for forward kinematics solutions. Taking the current measured position information of the support branch as input, it constructs a system of nonlinear equations and solves iteratively to back-propel the predicted pose information of the platform, thereby realizing the mutual verification between the measured length and pose.

[0045] Step 103: Based on the first extension amount, control the extension and retraction of the position adjustment mechanism in the support chain to drive the moving platform so that the position of the moving platform conforms to the current working conditions of the roof of the working roadway.

[0046] Furthermore, after determining the first extension amount of the support chain of the temporary support robot based on the pose deviation information between the current pose information and the target pose information, the control device can control the extension and retraction of the pose adjustment mechanism in the support chain based on the first extension amount, so as to drive the moving platform and make the position of the moving platform conform to the roof condition of the current working roadway.

[0047] Furthermore, when the control device controls the extension and retraction of the posture adjustment mechanism in the support branch chain based on the first extension and retraction amount to drive the moving platform and make the position of the moving platform conform to the current working conditions of the roof of the working roadway, it can determine multiple first pulse width modulation signals according to the first extension and retraction amount of each of the multiple posture adjustment mechanisms; then send the multiple first pulse width modulation signals to the servo drivers in the multiple support branches respectively, so that the multiple servo drivers can drive their respective servo motors to drive the posture adjustment mechanism to extend and retract, so that the position of the moving platform conforms to the working conditions of the roof.

[0048] This application provides a control method for a temporary support robot. The control device acquires real-time pose information and target pose information of the moving platform of the temporary support robot in the current working roadway. The target pose information represents the pose information of the moving platform that is adapted to the roof condition in the current working roadway. Based on the pose deviation information between the current pose information and the target pose information, a first extension amount of the support chain of the temporary support robot is determined. The temporary support robot includes multiple support chains, which are used to support the moving platform in different directions. The extension and retraction of the pose adjustment mechanism in the support chain is controlled based on the first extension amount to drive the moving platform so that the position of the moving platform conforms to the roof condition of the current working roadway. Therefore, the target pose information is directly related to the actual working conditions of the roof of the current working roadway, such as the tilt angle and vertical deformation, avoiding the fitting gap or local overpressure problems caused by traditional fixed support. By using pose deviation information to directionally calculate the first extension of the support chain, it ensures that multiple chains adjust collaboratively in different directions, enabling the moving platform to adapt to the complex shape of the roof, such as forward and backward tilting and left and right rolling. This results in a more uniform distribution of support force, significantly reducing the safety risks of roof collapse and subsidence, thus achieving dynamic and precise fitting between the moving platform and the roof working conditions. On the other hand, the control device uses pose deviation as the control core, establishing a direct mapping relationship between pose state and chain extension, compared to systems without clear pose feedback. The coarse control allows for precise quantification of the required extension and retraction of the support chains, preventing overshoot caused by excessive or insufficient extension and retraction. Simultaneously, the collaborative support design of multiple support chains maintains structural balance during platform adjustments, preventing platform overturning or swaying and ensuring the stability and reliability of support operations. This enhances the controllability and stability of support posture adjustments. In other words, through closed-loop logic of posture perception, deviation mapping, and extension / retraction control, the control device can adapt to the complex and varied roof conditions within the working roadway, enabling the temporary support robot to accurately adapt to the roadway roof conditions and provide stable support for the roof under different conditions, significantly improving the intelligence of the temporary support robot.

[0049] Based on the above embodiments, in another embodiment of this application, in response to the need to improve the efficiency and safety of temporary support in coal mine roadway excavation, this embodiment focuses on the posture adaptive control technology of a gantry tracked temporary support robot. By analyzing the structural composition of the temporary support robot and the complex working conditions it faces, a kinematic model based on the 4UPU-PU-RRU parallel mechanism is constructed. Here, U is a Hooke joint, which can realize two rotational degrees of freedom (such as rotation around the X and Y axes) and is used to transmit motion and adapt to multi-directional angle changes; P is a prismatic joint, such as the telescopic structure of the support cylinder, which only realizes one linear movement degree of freedom (such as vertical extension along the Z axis) and is the active driving unit for mechanism posture adjustment; R is a revolute joint, also known as a hinge, which only realizes one rotational degree of freedom (such as rotation around a specific axis) and is used to limit redundant degrees of freedom and improve mechanism stability. The design incorporates a closed-loop control system with a PLC, servo motors, and multiple sensors. A dual-closed-loop PID control algorithm based on position and velocity loops is introduced to achieve independent adjustment of the extension and retraction of the four support cylinders and coordinated adaptive control of the overall posture. The aim is to overcome the technical bottlenecks of traditional support equipment in dynamic response and posture adjustment accuracy through the organic combination of theoretical modeling, control system design, and experimental verification. This provides a safe, efficient, and adaptive temporary support solution for coal mine roadway excavation, contributing to the realization of intelligent and safe coal mine construction goals.

[0050] Furthermore, the main structure of the gantry-type tracked temporary support robot mainly includes a gantry frame body, a support roof plate (moving platform), a support posture adjustment mechanism (support electric cylinder), walking tracks, a roof plate vertical guide PU connection mechanism (first connection structure), and a roof plate anti-deflection RRU connection mechanism (second connection mechanism). To achieve continuous support for unfavorable roofs, the support roof plate has multiple sets of arranged rollers to achieve point-to-line contact with the roof, distributing the pressure of the roof to the base and other support devices. During support, the support roof plate provides a certain supporting force to the roadway roof, maintaining its stability. The support electric cylinder adjusts its extension and retraction according to the angle and height of the support roof, providing a stable working space for the tunneling machine and ensuring the safety of the machine and operators.

[0051] Furthermore, the working conditions of the temporary support robot are analyzed. Assuming the tunnel is excavated along the floor and the tunnel floor remains horizontal, the working conditions faced by the temporary support robot can be mainly divided into the following categories: changes in the vertical direction, along the excavation direction, in the horizontal direction, and a combination of these three directions; such as... Figure 2As shown in (a)-(f), the deformation includes: Vertical deformation: When the tunnel roof is subjected to downward pressure, it will undergo vertical subsidence deformation. This deformation may lead to gaps between the roof and the support roof, thus affecting the stability of the support. Tilt along the tunneling direction: During tunneling, the tunnel roof may tilt forward or backward due to changes in geological conditions ahead or uneven rock properties. This tilt may cause uneven stress on the tunneling machine, affecting tunneling efficiency and safety. Tilt along the horizontal direction: The tunnel roof may tilt left or right in the horizontal direction. This may be caused by factors such as geological structure, lateral stress, or the influence of nearby mining. Tilt may cause the roof rock to slide to one side, threatening the stability of the tunnel and operational safety. Complex deformation: In actual tunneling, the tunnel roof often exhibits complex deformation simultaneously, including vertical deformation, tilt along the tunneling direction, and tilt along the horizontal direction. This complex deformation situation places higher demands on the adaptability and stability of the temporary support robot. The robot needs to use multi-sensor information fusion and real-time control algorithms to precisely adjust the extension and retraction of the four support electric cylinders to adapt to the complex deformation of the roof, ensuring that the support roof always maintains the best contact state with the roadway roof and provides reliable and stable support force.

[0052] Furthermore, for temporary support robots, establish, for example... Figure 3 The coordinate system shown, wherein, coordinate system Fixed to the static platform (frame body), coordinate system The stationary platform is fixedly connected to the moving platform. The stationary and moving platforms are connected via four identical electric cylinders. The connecting and supporting joints consist of U, P, U and connecting rods. The moving platform is connected to PU mechanisms as guide chains, restricting the movement of the moving platform along... shaft and Axial movement, and the RRU mechanism restricting the moving platform to rotate The axis rotates, thus causing the moving platform to only have the ability to rotate along the axis. axial movement and rotation It has three degrees of freedom in rotation.

[0053] The inverse kinematics of a temporary support robot is the foundation for subsequent robot control. The goal of the inverse kinematics of a parallel robot is to determine the lengths of each branch given the pose of the moving platform's coordinate system relative to the stationary platform at the end of the mechanism. This paper employs the geometric vector method for this solution. (The moving coordinate system of the support top plate is shown.) Fixed coordinate system relative to the frame body The rotation transformation matrix can be expressed as the aforementioned formula (2); according to the pose relationship equation between the moving platform and the i-th support pose adjustment structure, the pose matrix of the i-th support pose adjustment structure, that is, the relationship between the i-th support pose adjustment structure and other support pose adjustment structures, can be expressed by the aforementioned formula (6). The modulus is the length of the first support posture adjustment structure, i.e., the aforementioned formula (7).

[0054] Furthermore, for temporary support robots, the Jacobian matrix can reflect the mapping relationship between the moving platform and each branch. Based on the motion speed of the moving platform, the velocity of each active branch of the temporary support robot at the hinge point can be determined through this mapping relationship, and the forward position of the moving platform can be obtained using the Jacobian matrix.

[0055] According to the inverse equation, the length of the i-th support electric cylinder can be expressed as the following formula: (8); in, Let represent the vector at the i-th hinge point on the frame body; taking the time derivative of the above equation yields the following formula: (9); in, This represents the extension speed of the i-th support cylinder; Represents the unit vector along the axis of the i-th support electric cylinder; This indicates the velocity of point OB on the moving platform; Indicates the angular velocity of the moving platform; Representing the hinge point The vector.

[0056] The extension speed of the i-th support electric cylinder can be represented by a matrix as follows: (10); in, Represents the identity matrix. express antisymmetric matrix, Let be the column matrix representing the position of the length of the i-th support electric cylinder in a fixed coordinate system; The unit vector along the axial direction of the i-th support electric cylinder In a fixed coordinate system, the upper position matrix is ​​used; where, , The speed of point B on the moving platform angular velocity of the moving platform The upper column matrix in a fixed coordinate system can be expressed as the following formula (11). This indicates that the generalized velocity of the moving platform is mapped to the i-th hinge point. The geometric transformation moment of the linear velocity can be expressed as the following formula (12): (11); (12); Since the temporary support robot has a 4-link structure, the extension velocity of the 4 links can be expressed in column matrix form as follows: (13); The Jacobian matrix of the temporary support robot can be expressed by the following formula: (14); because It is a matrix with more rows than columns, therefore There is a left inverse, as shown in the following formula: (15); Solving forward kinematics problems differs from solving inverse kinematics problems. Forward kinematics involves knowing the branch variables of the temporary support robot and then determining the pose of the moving end-effector relative to the stationary end-effector. There are many methods for forward kinematics studies of parallel mechanisms; this study employs the Newton-Raphson iterative method from numerical methods. Adaptive processing is applied to the velocity-level forward kinematics equations of the parallel mechanism of the temporary support robot, for example, by multiplying both sides of the equations by... The following formula can be obtained: (16); in, This represents the correction vector for the pose of the moving platform. Representing the Jacobian matrix The false rebellion, The error vector represents the branch length.

[0057] Therefore, the Newton-Raphson iterative method yields the following formula: (17); in, Target branch length, This represents the branch length at the k-th iteration. Let k be the pose of the moving platform.

[0058] use This represents the convergence precision in the positive solution. Four variables are defined. , A vector matrix consisting of variables. During the calculation process, matrices are used. Let represent the support pose of the temporary support robot supporting the roof at this time. The process of finding the correct solution is as follows: Figure 4 As shown: Step 1. First, obtain the initial length of each branch. At this time, the initial pose of the moving platform is And begin iterating, record Step 2. From Inverse solution and ,if If it is established, then If it meets the requirements, otherwise proceed to the next step; Step 3. According to Calculate pose correction value Step 4. , Proceed to step 2 for iteration.

[0059] The control system of the temporary support robot can be a closed-loop control system consisting of a PLC, a servo controller, an AC servo motor, a synchronous belt, and a lead screw. The PLC generates a PWM signal to drive the servo controller, which outputs a drive voltage to the motor. The motor drives the lead screw through the synchronous belt (transmission ratio), converting the rotational motion into a linear displacement x of the load. The system aims to achieve high-precision position tracking through feedback control.

[0060] The relationship between the duty cycle of the PWM control module and the voltage can be expressed by the following formula: (18); in, Duty cycle, This is the power supply voltage. This is the actual output voltage of the servo driver.

[0061] The transfer function of the PWM control module can be simplified to a proportional element, which yields the following formula: (19); in, This represents the transfer function of the PWM control module. This indicates the gain of the PWM module.

[0062] Since the switching frequency is much higher than the system bandwidth, the high-frequency delay effect is ignored.

[0063] Assuming the electromagnetic dynamic characteristics of the motor (armature inductance) are ignored If the servo motor is approximated as a first-order inertial element, then the transfer function of the servo motor can be expressed as the following formula: (20); in, This indicates the output angular velocity of the servo motor. K represents the input voltage of the servo motor, and K represents the speed gain of the motor. Let represent the time constant, and s represent the Laplace operator.

[0064] Synchronous belt drive ratio is The lead of the lead screw is linear displacement The relationship between the motor speed and the speed can be expressed by the following formula: (twenty one); in, This indicates the angular velocity of the servo motor. This indicates the transmission ratio of the synchronous belt pulley.

[0065] The encoder will displace When converted into an electrical signal, typically a proportional element, the transfer function of the encoder's measurement element can be expressed as follows: (twenty two); in, The resolution of the encoder built into the rear of the servo motor. For encoder gain, By combining the PWM module, motor model, and transmission relationship, the open-loop transfer function is obtained as follows: (twenty three); in, This is the output signal of the PID controller.

[0066] Based on the principle of negative feedback, the closed-loop transfer function is obtained as follows: (twenty four); The closed-loop transfer function described above can be simplified to: (25); A single-support electric cylinder PID controller was designed for the adaptive posture control of a temporary support robot. The PID controller is a common feedback controller that uses proportional (P), integral (I), and derivative (D) parameters to perform control calculations based on the deviation between the setpoint and the actual output value, outputting a control signal to adjust the controlled object. In the robot's adaptive posture control, the PID controller adjusts the extension and retraction of the support electric cylinder in real time according to the deviation between the target posture and the robot's actual posture, thus achieving posture adjustment. Specifically, the controller first receives robot posture information from devices such as tilt sensors and converts it into a deviation signal corresponding to the target posture. Based on the magnitude and trend of the deviation signal, the PID control algorithm is used to calculate the corresponding control output value. This output value drives the servo motor, thereby controlling the extension and retraction of the support electric cylinder, gradually bringing the robot's actual posture closer to the target posture. In terms of programming implementation, the PLC programming logic uses Structured Text (ST) programming language to convert the PID control algorithm into an executable control program. The program defines various parameters of the PID controller, including the proportional coefficient, integral coefficient, and derivative coefficient, and adjusts them according to actual debugging conditions. Meanwhile, a control process was set up, including data acquisition, deviation calculation, PID calculation, output limiting, servo motor drive and other links, to ensure that the controller can operate stably and accurately.

[0067] Formula derivation for position loop PID control; let the target value of the position setpoint (target predicted position information) be... The actual location value (current measured location information) is: The position error can be expressed by the following formula: (26); (27); in, This shows the target length of the i-th electric cylinder at time t. This represents the initial or reference length of the i-th electric cylinder. This represents the length change based on the robot's overall pose adjustment requirements (calculated by the control device); This refers to the position error (position deviation information).

[0068] Output of position loop PID controller This can be expressed by the following formula: (28); in, This is the position ring proportionality coefficient. These are the integral coefficients of the position loop. For the position ring differential coefficients.

[0069] Output of speed loop PID controller It can be used to control motors, and its expression can be represented by the following formula: (29); in, This is the speed loop proportional coefficient. For the velocity loop integral coefficient, For the velocity ring differential coefficients.

[0070] The speed setpoint (target speed) can be determined by the output of the position loop PID controller, denoted as The actual speed value (current rotational speed) is Then the speed error (speed difference) is .

[0071] The single-motor dual-closed-loop PID control process can be as follows: Figure 5 As shown, after the control processing of the position loop PID and the speed loop PID, the first extension amount that is finally used to control the extension and retraction of the support electric cylinder can be obtained.

[0072] For example, the control flow could be: the PLC sets the target position of a single electric cylinder. and current location The input is fed into the position loop PID controller corresponding to the support electric cylinder; then, the output of the position loop PID controller... The target speed of the electric cylinder is then used as the target speed, and the current speed of the electric cylinder is then compared with this target speed. The input is fed into the speed loop PID controller of the electric cylinder; then, the speed loop PID controller outputs... Ultimately, this is converted into an actual control signal that acts on the servo driver of the electric cylinder, driving the servo motor, and then adjusting the extension and retraction of the electric cylinder through the transmission mechanism to reach the target position.

[0073] Furthermore, based on the control of a single support electric cylinder, it is necessary to coordinate the control of four support electric cylinders to achieve adaptive adjustment of the pose of the entire temporary support robot's moving platform. Overall pose control is achieved by combining the aforementioned kinematic analysis, control system, and dual closed-loop PID controller to realize adaptive overall pose control of the temporary support robot. Target position (target predicted position information) Adding the corresponding compensation amount to the current position can be expressed as the following formula: (30); For example, the control process of the top plate support structure posture control system may include: the tilt sensor reading the current posture angle of the moving platform. The current height Z is obtained by a height sensor (or by forward spectroscopy / electric cylinder displacement calculation); then the pose and height deviation vectors are calculated, where the pose angle deviation vector can be as shown in the aforementioned formula (1); then target decomposition is performed, using the Jacobian pseudo-inverse The pose deviation information is converted into compensation for the extension and retraction of the four support electric cylinders. This can be expressed as the following formula: (31); in, That is, the pseudo-inverse of the Jacobian matrix. This is the length compensation amount for the i-th support electric cylinder. This represents the minute angular change that the moving platform needs to adjust around the Y-axis. The indicative platform needs to be adjusted by a tiny angular change around the X-axis.

[0074] Next, a new target displacement can be calculated for each support electric cylinder. The target displacement is the target measured position information; then the control is executed, and the target displacement and its current displacement (current measured position information) of each electric cylinder are input into their respective single electric cylinder dual closed-loop PID controllers; the PLC controls and drives its corresponding servo motor and electric cylinder through the input PWM signal, driving each single support electric cylinder controller to work independently to reach the target position; it can continue to return to the first step of the control flow to continue executing the process, so as to continuously realize the dynamic tracking of the target pose and position by the moving platform.

[0075] Furthermore, such as Figure 6The diagram shows the adaptive control principle of the gantry tracked temporary support robot for roof support. The PLC controller can perform attitude inverse solving based on the target position of the moving platform to determine the extension and retraction of each of the four support chains and drive them separately, so that the support of the roof, i.e. the moving platform, can match the current working conditions of roof deformation in the working roadway and achieve a good roof support effect.

[0076] Furthermore, to verify the feasibility of adaptive pose adjustment for the temporary support robot, a prototype experimental platform for a gantry-tracked temporary support robot was developed at a 1:5 scale. Using this platform, based on closed-loop control using position and velocity loops, the temporary support process was simulated, control system software was developed, and adaptive pose adjustment experiments were conducted. Figure 7 The image shows an experimental platform for a gantry-type tracked temporary support robot. The following table shows the parameters of the experimental platform:

[0077] The hardware components of the gantry tracked temporary support robot control system include a host computer, robot body, PLC controller, servo driver and motor, various sensors, etc. The components are connected to each other through an Ethernet network to work together to complete the robot's control tasks.

[0078] The PLC controller, as the core, receives signals from displacement and tilt sensors. These sensors monitor the extension and retraction of the support cylinders and the robot's pose changes, providing real-time data support for control decisions. Servo drives and motors convert the PLC commands into mechanical motion, driving the support cylinders and the walking tracks. The control flow follows closed-loop control logic. Operators send commands via a host computer, and the PLC plans the robot's trajectory and support actions based on these commands and sensor feedback. During the pose control phase, the PLC sends signals to the servo drives, precisely controlling the extension and retraction of the support cylinders. Simultaneously, displacement and tilt sensors monitor and provide real-time data feedback, ensuring the supported roof accurately reaches the predetermined position, allowing the robot to adapt to changes in the roadway and maintain stable support.

[0079] In actual operation, the control system senses the robot's status in real time through sensors, and the PLC quickly processes and makes decisions to accurately control the actions of each component of the robot, ensuring its stable and flexible operation in complex coal mine roadways and providing reliable support.

[0080] For example, such as Figure 8As shown, for the workflow of the experimental platform for adaptive posture control of a gantry tracked temporary support robot, the PLC can receive parameters from sensors such as tilt angle or displacement, perform inverse kinematics solution to obtain the target position of the support electric cylinder, and then determine the adjustment amount of the extension and retraction adjustment of the support electric cylinder through a dual closed-loop PID controller to control the posture adjustment of the support top plate, thereby realizing the adaptive posture adjustment of the support top plate. Moreover, this control process can be continuously carried out during operation, and the posture adjustment of the moving platform can be continuously performed by continuously receiving relevant parameters from displacement sensors and tilt angle sensors.

[0081] Furthermore, this application also includes a step response experiment; the target angle is set as (0.4°, 0.4°), the initial pose of the temporary support robot's moving platform is (0°, 0°), and the pose adaptation program is started. The step response experiment results are as follows: Figure 9 As shown, where, Figure 9 (a)-(f) are comparison charts of the extension and retraction of each support electric cylinder and the target height. The calculation shows that the maximum overshoot of the support electric cylinder is 0.36mm and the maximum adjustment time is 1098ms. Figure 9 (e)-(f) Comparison of the X-axis and Y-axis angles of the temporary support robot's moving platform with the target angle. The calculated maximum overshoot angle of the X-axis is 0.024° and the maximum overshoot angle of the Y-axis is 0.036°. The final overall response time is approximately 1.1s. The experiment verifies that under the dual closed-loop PID control algorithm, the temporary support robot can respond to the target position quickly and accurately. Table 2 below is an analysis table of the step response experimental results.

[0082]

[0083] Furthermore, in actual coal mine roadway operations, the roof often exhibits periodic fluctuations or localized continuous deformation, rather than instantaneous step changes. To simulate the impact of such regular roof changes on the temporary support robot, a typical signal parameter following control experiment was designed. The trajectory tracking accuracy and coordination consistency of each branch under continuous dynamic commands were examined, thereby verifying the control algorithm's adaptability and suppression capability against regular roof disturbances. The target X-axis was set to undergo periodic sinusoidal changes, and the target Y-axis to undergo periodic cosine changes. A dual-closed-loop PID algorithm was used to control the temporary support robot in a fixed pose change following experiment. The experimental results are as follows: Figure 10 As shown, where, Figure 10 (a)-(d) show the adjustment of each support electric cylinder under the dual closed-loop PID algorithm control. The analysis shows that the maximum error is 4.84mm, the maximum average absolute error is 1.19mm, and the maximum root mean square error is 1.37mm. Figure 10(e)-(f) represent the X-axis and Y-axis angles of the temporary support robot's moving platform under dual-closed-loop PID algorithm control. The calculated maximum error for the X-axis is 0.27°, the maximum mean absolute error is 0.09°, and the maximum root mean square error is 0.11°; the maximum error for the Y-axis is 0.25°, the maximum mean absolute error is 0.11°, and the maximum root mean square error is 0.13°. The system exhibits strong adaptability to regular roof deformation. Under continuous changing posture conditions, the system did not show oscillation instability, verifying the dual-closed-loop control system's ability to suppress nonlinear disturbances. Table 3 below shows the analysis results of the typical signal parameter following control experiment for the roof.

[0084]

[0085] To further verify the adaptability of the developed temporary support robot to the "sudden, nonlinear, and complex deformation" conditions of real roadways, a random roof parameter pose adaptive control experiment was designed. This experiment simulates complex disturbances suddenly occurring in the roof during the tunnel boring machine's advance by generating roof posture commands with random amplitude, frequency, and direction in real time. The dynamic response speed and maximum tracking error of the control system were examined, providing performance data for the safe and continuous operation of the temporary support robot under unknown roof disturbances.

[0086] A dynamic pose adaptation experiment was conducted using a dual closed-loop PID algorithm to control a temporary support robot. The maximum angle on the X-axis was 1.7814°, the minimum angle was -0.59°, and the span was 2.37°. The maximum angle on the Y-axis was 1.08°, the minimum angle was -1.7538°, and the span was 2.83°.

[0087] like Figure 11 As shown in (a)-(d), the adjustment of each support electric cylinder under the control of the dual closed-loop PID algorithm is shown. The analysis shows that the maximum error is 6.03mm, the maximum average absolute error is 2.33mm, and the maximum root mean square error is 2.55mm. It can be seen that the support electric cylinder based on the dual closed-loop PID algorithm control can basically meet the requirements of safe operation, and the error and error fluctuation are not too large. Figure 11(e)-(f) represent the X-axis and Y-axis angles of the temporary support robot's moving platform under the control of the dual-closed-loop PID algorithm. The calculated maximum error value for the X-axis is 0.89°, the maximum mean absolute error is 0.26°, and the maximum root mean square error is 0.32°; the maximum error value for the Y-axis is 1.00°, the maximum mean absolute error is 0.26°, and the maximum root mean square error is 0.33°. Therefore, the dual-closed-loop PID control algorithm demonstrates high control accuracy for the temporary support robot's pose adaptive control, effectively suppressing error fluctuations and ensuring real-time, close contact between the temporary support robot's roof support mechanism and the roadway roof. Table 4 below shows the experimental results analysis of the random roof parameter pose adaptive control.

[0088]

[0089] In summary, firstly, addressing the unstructured characteristics of roof deformation, forward and backward tilting, left and right tilting, and combined changes under complex geological conditions in coal mine roadways, this application proposes a temporary support robot scheme with a 4UPU-PU-RRU parallel mechanism, and constructs a 1:5 scale gantry tracked temporary support robot prototype experimental platform. By establishing a kinematic model of the roof support pose and the extension / retraction of the support cylinders, the mathematical expressions for the rotational transformation relationship between the moving and stationary platforms and the length of each support cylinder are derived, enabling rapid calculation of the roof support pose to the extension / retraction of each support cylinder, providing a theoretical basis for the robot to quickly adapt to changes in roadway geological conditions. Secondly, a PLC-based control system scheme is proposed, including a host computer, robot body, PLC controller, servo drivers and motors, and various sensors. For a single electric cylinder, a dual closed-loop PID control strategy with position and velocity loops is adopted. The target pose is decomposed into independent target positions for each electric cylinder using a PLC. The extension and retraction of the electric cylinders are adjusted in real time based on feedback signals from displacement and tilt sensors, coordinating the actions of the four support electric cylinders. This achieves adaptive adjustment of the roof support pose, effectively solving the strong coupling problem of multi-input, multi-output systems and improving the mechanism's response speed and anti-interference capability. Furthermore, under simulated different deformation conditions of the tunnel roof, the robot can quickly respond to pose changes by adjusting the extension and retraction of the electric cylinders. Step response experiments show that the system can quickly converge to the target pose (maximum overshoot angle: X-axis 0.024°, Y-axis 0.036°; maximum adjustment time approximately 1.1s). Fixed pose change experiments and dynamic pose change experiments demonstrate that the system possesses good dynamic tracking capabilities. In the dynamic experiment, the maximum tracking error of the pose angle was controlled within 1.0° (0.89° on the X-axis and 1.00° on the Y-axis), and the root mean square error was less than 0.33° (0.32° on the X-axis and 0.33° on the Y-axis). Simultaneously, the tracking error of the extension and retraction of the support electric cylinder was also within a controllable range. The experimental results show that the constructed prototype and control system can quickly and accurately simulate the temporary support process.

[0090] Another embodiment of this application provides a temporary support robot, such as Figure 12 As shown, the temporary support robot may include a frame body 1, a moving platform 2, multiple support chains 3, a walking track 4, a first connecting mechanism 5, and a second connecting mechanism 6. The moving platform can provide supporting force to the roof of the currently operating roadway in response to the support of the multiple support chains in different directions.

[0091] Multiple support chains can be used to extend and retract the posture adjustment mechanism in response to the control device based on the first extension amount, so as to drive the moving platform and make the position of the moving platform conform to the roof condition of the current working roadway; wherein, the first extension amount is determined by the control device based on the posture deviation information between the current posture information and the target posture information of the moving platform, and the target posture information represents the posture information of the moving platform that is adapted to the roof condition in the current working roadway.

[0092] The frame body can be used to support the various parts of the robot.

[0093] The walking track can be used to drive the robot to move within the current working channel.

[0094] The first connecting mechanism can be used to connect the frame body, the support chain, and the moving platform, and supports the rotation and displacement of the support chain.

[0095] The second connecting mechanism can be used to connect the frame body and the moving platform, and to restrict the horizontal offset degree of freedom of the moving platform.

[0096] Furthermore, such as Figure 13 As shown, the control device 10 proposed in this application embodiment may include a processor 11 and a memory 12 storing instructions executable by the processor 11; the control device 10 may also include a communication interface 13 and a bus 14 for connecting the processor 11, the memory 12 and the communication interface 13.

[0097] Furthermore, the processor 11 can be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), controller, microcontroller, or microprocessor. The memory 12 can be connected to the processor 11. The memory 12 stores executable program code, including computer operation instructions. The memory 12 may include high-speed RAM or non-volatile memory, such as at least two disk drives. The bus 14 connects the communication interface 13, the processor 11, and the memory 12 to enable communication between these devices.

[0098] Furthermore, memory 12 is used to store instructions and data. In practical applications, the aforementioned memory 12 can be volatile memory, such as random-access memory (RAM), or non-volatile memory; or a combination of the above types of memory, and provides instructions and data to processor 11.

[0099] In addition, in this embodiment, each functional module can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0100] Specifically, the program instructions corresponding to the control method of a temporary support robot in this embodiment can be stored on a storage medium such as an optical disc or a hard disk. When the program instructions corresponding to the control method of a temporary support robot in the storage medium are read or executed by a control device, the following steps are included: The system acquires real-time pose information and target pose information of the robot's moving platform in the current working roadway. The target pose information represents the pose information of the moving platform that is adapted to the roof conditions in the current working roadway. Based on the pose deviation information between the current pose information and the target pose information, the system determines the first extension amount of the robot's support chain. The robot includes multiple support chains, which are used to support the moving platform in different directions. Based on the first extension amount, the system controls the extension and retraction of the pose adjustment mechanism in the support chain to drive the moving platform so that the position of the moving platform conforms to the roof conditions of the current working roadway.

[0101] The above embodiments are merely preferred embodiments provided to fully illustrate this application, and the scope of protection of this application is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on this application are all within the scope of protection of this application.

Claims

1. A control method for a temporary support robot, characterized in that, The method includes: The real-time pose information and target pose information of the moving platform of the temporary support robot in the current working roadway are obtained; wherein, the target pose information represents the pose information of the moving platform that is adapted to the roof condition in the current working roadway. Based on the pose deviation information between the current pose information and the target pose information, the first extension amount of the support chain of the temporary support robot is determined; wherein, the temporary support robot includes multiple support chains, which are used to support the moving platform in different directions respectively; Based on the first extension amount, the extension and retraction of the position adjustment mechanism in the support chain is controlled to drive the moving platform so that the position of the moving platform conforms to the roof condition of the current working roadway.

2. The control method for the temporary support robot according to claim 1, characterized in that, The step of determining the first extension / retraction amount of the support branch of the temporary support robot based on the pose deviation information between the current pose information and the target pose information includes: The pose deviation information is subjected to a Jacobian matrix pseudo-inverse transformation to obtain the stretching compensation information; wherein, the stretching compensation information represents the length information of the support chain that needs to stretch when the moving platform adjusts from the real-time pose to the target pose; Based on the current estimated location information of the support branch and the expansion compensation information, the target estimated location information of the support branch is determined; The first expansion / contraction amount is determined based on the target's inferred location information and the current measured location information of the support branch.

3. The control method for the temporary support robot according to claim 2, characterized in that, Determining the first expansion / contraction amount based on the target's inferred location information and the current measured location information of the support chain includes: Determine the positional deviation information between the predicted target position information and the current measured position information; Based on the branch stroke limit constraint determined by the inverse kinematics solution, the position deviation information is subjected to position loop proportional-integral-derivative control to obtain the target rotational speed; wherein, the branch stroke limit constraint is used to constrain the branch extension and retraction action corresponding to the target rotational speed within a preset range; The speed difference is determined based on the target speed and the current speed of the motor; Based on speed feedforward compensation, speed loop proportional-integral-derivative control is performed on the speed difference to determine the first extension amount; wherein, the speed feedforward compensation represents the process of compensating for the speed by mapping the pose change rate of the moving platform using the Jacobian matrix to obtain the matching speed value.

4. The control method for the temporary support robot according to claim 3, characterized in that, The method further includes: The predicted pose information of the moving platform is obtained by performing forward kinematics on the current measured position information based on the Newton-Raphson iterative method. Determine the error information between the predicted pose information and the measured pose information of the moving platform; If the error information is greater than a preset error threshold, the current inferred position information is corrected to obtain the corrected current position information, and the process of determining the first expansion amount is executed based on the corrected current position information.

5. The control method for the temporary support robot according to claim 2, characterized in that, The temporary support robot also includes a frame body; the method further includes: Based on the pose relationship between the moving platform and the frame body, inverse kinematics is performed to obtain the current inferred position information.

6. The control method for the temporary support robot according to any one of claims 1 to 5, characterized in that, The method further includes: The system acquires the pose angle information of the moving platform collected in real time by the tilt sensor of the temporary support robot in the current working roadway, and the height information of the moving platform collected in real time by the height sensor of the temporary support robot; wherein, the pose angle information includes pitch angle information and roll angle information. The real-time pose information is determined based on the pose angle information and the height information.

7. The control method for the temporary support robot according to claim 6, characterized in that, The method of controlling the extension and retraction of the posture adjustment mechanism in the support chain based on the first extension and retraction amount to drive the moving platform and make the position of the moving platform conform to the roof condition of the current working roadway includes: Based on the first extension / retraction amount of each of the multiple pose adjustment mechanisms, a plurality of first pulse width modulation signals are determined; Multiple first pulse width modulation signals are sent to servo drivers in multiple support chains, so that the servo drivers can drive their respective servo motors to extend and retract the posture adjustment mechanism, so that the position of the moving platform conforms to the working conditions of the top plate.

8. A temporary support robot, characterized in that, include: The moving platform is used to provide support force to the roof of the current working roadway in response to the support of multiple support chains in different directions; Multiple support chains are used to extend and retract the pose adjustment mechanism in response to the control device based on a first extension amount, so as to drive the moving platform and make the position of the moving platform conform to the roof condition of the current working roadway; wherein, the first extension amount is determined by the control device based on the pose deviation information between the current pose information and the target pose information of the moving platform, and the target pose information represents the pose information of the moving platform that is adapted to the roof condition in the current working roadway.

9. The temporary support robot according to claim 8, characterized in that, The temporary support robot also includes: The frame body is used to support the various components of the temporary support robot; The walking tracks are used to drive the temporary support robot to move within the current working roadway; The first connecting mechanism is used to connect the frame body, the support chain, and the moving platform, and supports the rotation and displacement of the support chain; The second connecting mechanism is used to connect the frame body and the moving platform, and to restrict the horizontal offset degree of freedom of the moving platform.

10. A control device, characterized in that, The method includes a processor and a memory storing processor-executable instructions; when the instructions are executed by the processor, the method described in any one of claims 1 to 7 is implemented.

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