A method for detecting and controlling the straightness of the working surface of a pneumatic robot.
By equipping an inertial navigation module on a pneumatic robot and performing self-north finding and zero-speed correction, combined with winch control, the accuracy of working surface straightness detection was improved, the vibration interference and inertial navigation drift problems of the LASC system were solved, and the cost of high-precision inertial navigation was reduced.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CCTEG COAL MINING RES INST
- Filing Date
- 2026-02-03
- Publication Date
- 2026-06-02
AI Technical Summary
Existing LASC systems suffer from vibration interference, inertial navigation drift, and high cost of high-precision inertial navigation in the detection of straightness of working surfaces, resulting in poor detection performance.
By employing a pneumatic robot equipped with an inertial navigation module, and combining the methods of self-north finding, zero-speed correction, and inertial navigation data acquisition with a winch device to control the movement of the pneumatic robot for inertial navigation correction, the detection accuracy is improved.
It improves the accuracy of working surface straightness detection, solves the vibration interference and inertial navigation drift problems of the LASC system, and reduces the cost requirements of high-precision inertial navigation.
Smart Images
Figure CN122125685A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of working surface straightness detection technology, and in particular to a working surface straightness detection control method, device, equipment and storage medium based on a pneumatic robot. Background Technology
[0002] In related technologies, the straightness detection of the working face usually adopts the LASC (Longwall Automation Steering Committee) system. However, due to the problems of strong vibration interference, inertial navigation drift, inability to monitor in real time, and high cost of high-precision inertial navigation, the actual application effect of the LASC system is poor. Summary of the Invention
[0003] This application aims to at least partially address one of the technical problems in the related art.
[0004] In a first aspect, this application proposes a method for detecting and controlling the straightness of a working face based on a pneumatic robot. The method includes: controlling an inertial navigation module to perform self-north finding, the inertial navigation module being mounted on a pneumatic robot, and the pneumatic robot being deployed in a flexible pipe on a scraper conveyor's mudguard; in response to the coal machine completing oblique cutting feed, controlling the inertial navigation module to perform zero-speed correction; in response to the inertial module completing zero-speed correction, starting inertial navigation data acquisition; controlling the pneumatic robot to sequentially move to at least one first target position, and controlling the inertial navigation module to perform zero-speed correction at each first target position; controlling the pneumatic robot to move to a second target position, ending inertial navigation data acquisition; and controlling the inertial module to perform zero-speed correction.
[0005] In one implementation, the pneumatic robot is connected to a winch device. Controlling the pneumatic robot to sequentially move to at least one first target position and controlling the inertial navigation module to perform zero-speed correction at each first target position includes: for each first target position, controlling the winch device to rewind to move the pneumatic robot to the first target position; for each first target position, in response to the pneumatic robot having moved to the first target position, controlling the winch device to stop rewinding and controlling the inertial navigation module to perform zero-speed correction.
[0006] In one implementation, controlling the inertial navigation module to perform self-north finding includes: sending a self-north finding command to the inertial navigation module; the method further includes: generating a first prompt message in response to not receiving self-north finding completion information within a first preset time period.
[0007] In one implementation, controlling the inertial navigation module to perform zero-velocity correction includes: sending a zero-velocity correction command to the inertial navigation module; the method further includes: generating a second prompt message in response to not receiving zero-velocity correction completion information within a second preset time period.
[0008] In one implementation, the method further includes: generating straightness data of the fully mechanized mining face based on the acquired inertial navigation data.
[0009] Secondly, this application proposes a working face straightness detection and control device based on a pneumatic robot. The device includes: a first processing module for controlling an inertial navigation module to perform self-north finding, the inertial navigation module being mounted on a pneumatic robot, and the pneumatic robot being deployed in a flexible pipe on the mudguard of a scraper conveyor; a second processing module for controlling the inertial navigation module to perform zero-speed correction in response to the coal machine completing oblique cutting feed; a third processing module for starting inertial navigation data acquisition in response to the inertial navigation module completing zero-speed correction; a fourth processing module for controlling the pneumatic robot to move sequentially to at least one first target position, and controlling the inertial navigation module to perform zero-speed correction at each first target position; a fifth processing module for controlling the pneumatic robot to move to a second target position and ending inertial navigation data acquisition; and a sixth processing module for controlling the inertial navigation module to perform zero-speed correction.
[0010] In one implementation, the pneumatic robot is connected to a winch device, and the fourth processing module is specifically used to: control the winch device to rewind for each first target position, so as to move the pneumatic robot to the first target position; and for each first target position, in response to the pneumatic robot having moved to the first target position, control the winch device to stop rewinding and control the inertial navigation module to perform zero-speed correction.
[0011] In one implementation, the first processing module can be used to: send a self-north-finding command to the inertial navigation module; the method further includes: generating a first prompt message in response to not receiving self-north-finding completion information within a first preset time period.
[0012] In one implementation, the second processing module can be used to: send a zero-velocity correction command to the inertial navigation module; the method further includes: generating a second prompt message in response to not receiving zero-velocity correction completion information within a second preset time period.
[0013] In one implementation, the device further includes a seventh processing module for: generating straightness data of the fully mechanized mining face based on the acquired inertial navigation data.
[0014] Thirdly, this application proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the pneumatic robot-based working surface straightness detection and control method as described in the first aspect.
[0015] Fourthly, this application proposes a storage medium storing instructions that, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect.
[0016] Fifthly, this application proposes a program product comprising at least one of a program and instructions, wherein when the program and instructions are executed by an electronic device, they implement the steps of the method described in the first aspect.
[0017] The method, apparatus, equipment, and storage medium for detecting and controlling the straightness of a working surface based on a pneumatic robot provided in this application can improve the accuracy of working surface straightness detection.
[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0019] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:
[0020] Figure 1 This is a flowchart illustrating a method for detecting and controlling the straightness of a working surface based on a pneumatic robot, as provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of a pneumatic robot control system for detecting the straightness of a working surface, provided in an embodiment of this application. Figure 3 This is a schematic diagram of the structure of a pneumatic robot-based working surface straightness detection and control device provided in an embodiment of this application; Figure 4 This is a schematic diagram of another pneumatic robot-based working surface straightness detection and control device provided in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0021] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.
[0022] The following describes, with reference to the accompanying drawings, a method and apparatus for detecting and controlling the straightness of a working surface based on a pneumatic robot, according to embodiments of this application.
[0023] It should be noted that the pneumatic robot-based working surface straightness detection and control method provided in this application embodiment can be applied to a host computer or PLC controller.
[0024] Figure 1 This is a flowchart illustrating a method for detecting and controlling the straightness of a working surface based on a pneumatic robot, as provided in an embodiment of this application. Figure 1 As shown, the method may include, but is not limited to, the following steps: S101: Controls the inertial navigation module to perform self-north finding.
[0025] In one embodiment of this application, the inertial navigation module is mounted on a pneumatic robot, which is deployed in a flexible pipe on the mudguard of a scraper conveyor.
[0026] For example, the inertial navigation module is sequentially sent with an inertial navigation system power supply command and a self-north-finding command so that the inertial navigation system can perform self-north-finding.
[0027] In some embodiments, after the inertial navigation module completes the self-north finding, it will return a self-north finding completion message. The PLC controller and the host computer software can then display a prompt box on the interactive interface to confirm the completion of the self-north finding.
[0028] In some embodiments, a first prompt message is generated in response to not receiving self-north finding completion information within a first preset time period.
[0029] For example, if the self-north-finding completion information returned by the inertial navigation module is not obtained within the first preset time after the self-north-finding command is sent, a first prompt message is generated and provided through the interactive interface to remind relevant personnel that the self-north-finding has not been completed.
[0030] S102: In response to the coal mining machine completing the oblique cutting feed, control the inertial navigation module to perform zero-speed correction.
[0031] For example, in response to receiving a coal mining machine oblique cutting feed command sent by an external device, a zero-speed correction command is sent to the inertial navigation module so that the inertial navigation module performs zero-speed correction.
[0032] In some embodiments, the method further includes: generating a second prompt message in response to not receiving zero-speed calibration completion information within a second preset time period.
[0033] For example, if the zero-speed calibration completion information returned by the inertial navigation module is not obtained within the second preset time after the zero-speed calibration command is sent, a second prompt message is generated and provided through the interactive interface to remind relevant personnel that the zero-speed calibration has not been completed.
[0034] S103: In response to the inertial navigation module completing zero-velocity correction, inertial navigation data is acquired based on the inertial navigation module.
[0035] For example, in response to receiving zero-velocity correction completion information returned by the inertial navigation module, recording of inertial navigation data returned by the inertial navigation module begins.
[0036] S104: Control the pneumatic robot to move sequentially to at least one first target position, and control the inertial navigation module to perform zero-speed correction at each first target position.
[0037] For example, the pneumatic robot is controlled to move from the starting position to the first target position and stop. Then, a zero-speed correction command is sent to the inertial navigation module to make the inertial navigation module perform zero-speed correction. After obtaining the zero-speed correction completion information returned by the inertial navigation module, the pneumatic robot is controlled to move to the next first target position and the above process is repeated. In this way, the pneumatic robot is controlled to move to at least one first target position in sequence, and the inertial navigation module is controlled to perform zero-speed correction at each first target position.
[0038] In some embodiments, the pneumatic robot is connected to a winch device, and the pneumatic robot is controlled to move sequentially to at least one first target position, and the inertial navigation module is controlled to perform zero-speed correction at each first target position, including: for each first target position, controlling the winch device to rewind to drive the pneumatic robot to move to the first target position; for each first target position, in response to the pneumatic robot having moved to the first target position, controlling the winch device to stop rewinding, and controlling the inertial navigation module to perform zero-speed correction.
[0039] For example, when it is necessary to control the movement of the pneumatic robot, power is supplied to the first electric ball valve of the winch to activate the first electric ball valve, causing the pneumatic winch to start winding the air pipe and cable, driving the pneumatic inspection robot to move. After the pneumatic robot moves to a target position, the power supply to the first electric ball valve is stopped, thereby closing the first electric ball valve, causing the pneumatic winch to stop winding the air pipe and cable, and the pneumatic inspection robot to stop moving.
[0040] S105: Control the pneumatic robot to move to the second target position and end the inertial navigation data acquisition.
[0041] For example, after the inertial navigation module completes zero-speed correction at the last position, the pneumatic robot is controlled to move to the second target position, and the recording of the inertial navigation data returned by the inertial navigation module is stopped after the pneumatic robot moves to the second target position.
[0042] S106: Control the inertial navigation module to perform zero-speed correction.
[0043] For example, a zero-velocity correction command is sent to the inertial navigation module to enable the inertial navigation module to perform zero-velocity correction, and after obtaining the zero-velocity correction completion information returned by the inertial navigation module, it is determined that the straight line detection is complete.
[0044] The accuracy of working surface straightness detection can be improved through the embodiments of this application.
[0045] In some embodiments, the method further includes generating straightness data of the fully mechanized mining face based on the acquired inertial navigation data.
[0046] As an example, please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a pneumatic robot control system for detecting the straightness of a working surface, provided in an embodiment of this application. Figure 2 As shown, the system includes an inertial navigator and rotary encoder (1), a 485 to Ethernet port (2), a switch (3), a 4G wireless communication module (4), an optical fiber (5), a computer (6), a PLC controller (7), a pressure transmitter (8), a display screen (9), a proximity switch (10), a solenoid valve 1 (11) for reel retraction, and a solenoid valve 2 (12) for robot forward control. The computer (6) can use the pneumatic robot-based working surface straightness detection and control method provided in any embodiment of this application to control other components in the system.
[0047] Please see Figure 3 , Figure 3 This is a schematic diagram of a pneumatic robot-based working surface straightness detection and control device provided in an embodiment of this application. Figure 3As shown, the device 300 includes: a first processing module 301, used to control the inertial navigation module to perform self-north finding, the inertial navigation module being mounted on a pneumatic robot, the pneumatic robot being deployed in a flexible pipe on the mudguard of a scraper conveyor; a second processing module 302, used to control the inertial navigation module to perform zero-speed correction in response to the coal machine completing oblique cutting feed; a third processing module 303, used to start inertial navigation data acquisition in response to the inertial navigation module completing zero-speed correction; a fourth processing module 304, used to control the pneumatic robot to move sequentially to at least one first target position, and control the inertial navigation module to perform zero-speed correction at each first target position; a fifth processing module 305, used to control the pneumatic robot to move to a second target position and end inertial navigation data acquisition; and a sixth processing module 306, used to control the inertial navigation module to perform zero-speed correction.
[0048] In one implementation, the pneumatic robot is connected to a winch, and the fourth processing module 304 is specifically used to: control the winch to rewind for each first target position to move the pneumatic robot to the first target position; and for each first target position, in response to the pneumatic robot having moved to the first target position, control the winch to stop rewinding and control the inertial navigation module to perform zero-speed correction.
[0049] In one implementation, the first processing module 301 can be used to: send a self-north-finding command to the inertial navigation module; the method further includes: generating a first prompt message in response to not receiving self-north-finding completion information within a first preset time period.
[0050] In one implementation, the second processing module 302 can be used to: send a zero-velocity correction command to the inertial navigation module; the method further includes: generating a second prompt message in response to not receiving zero-velocity correction completion information within a second preset time period.
[0051] In one implementation, the apparatus further includes a seventh processing module. See, as an example, [link to example]. Figure 4 , Figure 4 This is a schematic diagram of another pneumatic robot-based working surface straightness detection and control device provided in an embodiment of this application. Figure 4 As shown, the device also includes a seventh processing module 407, used to: generate straightness data of the fully mechanized mining face based on the acquired inertial navigation data. Among other things, Figure 4 Modules 401-406 in Figure 3 Modules 301-306 in the series have the same structure and function.
[0052] The apparatus described in this application embodiment can improve the accuracy of working surface straightness detection.
[0053] It should be noted that the foregoing explanation of the embodiment of the working surface straightness detection and control method based on pneumatic robot also applies to the working surface straightness detection and control device based on pneumatic robot in this embodiment, and will not be repeated here.
[0054] To implement the above embodiments, this application also proposes an electronic device. Please see [link to relevant documentation]. Figure 5 , Figure 5 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. For example... Figure 5 As shown, the electronic device 500 includes: a processor 501 and a memory 502 communicatively connected to the processor 501; the memory 502 stores computer-executable instructions; the processor 501 executes the computer-executable instructions stored in the memory to implement the method provided in the foregoing embodiments.
[0055] To implement the above embodiments, this application also proposes a storage medium storing instructions that, when executed on an electronic device, cause the electronic device to perform the methods provided in the foregoing embodiments.
[0056] To implement the above embodiments, this application also proposes a program product, including at least one of a program and instructions, wherein when the program and instructions are executed by an electronic device, they implement the steps of the method provided in the foregoing embodiments.
[0057] It should be noted that the acquisition, transmission, storage, use, and processing of data in this application comply with the relevant provisions of national laws and regulations and do not violate public order and good morals.
[0058] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.
[0059] It is worth noting that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, they do not mean that the applicant has used or necessarily used the solution.
[0060] In the description of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.
[0061] In the foregoing descriptions of the embodiments, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0063] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.
[0064] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.
[0065] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0066] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
[0067] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.
[0068] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.
Claims
1. A method for detecting and controlling the straightness of the working surface of a pneumatic robot, characterized in that, include: The inertial navigation module is controlled to perform self-north-finding. The inertial navigation module is mounted on a pneumatic robot, which is deployed in a flexible pipe on the mudguard of a scraper conveyor. In response to the coal mining machine completing the oblique cutting feed, the inertial navigation module is controlled to perform zero-speed correction; In response to the inertial navigation module completing zero-velocity correction, inertial navigation data acquisition begins. The pneumatic robot is controlled to move sequentially to at least one first target position, and the inertial navigation module is controlled to perform zero-speed correction at each first target position; Control the pneumatic robot to move to the second target position, and end the inertial navigation data acquisition; Control the inertial navigation module to perform zero-speed correction.
2. The method according to claim 1, characterized in that, The pneumatic robot is connected to a winch device. Controlling the pneumatic robot to sequentially move to at least one first target position and controlling the inertial navigation module to perform zero-speed correction at each first target position includes: For each of the first target positions, the hoisting device is controlled to rewind, thereby driving the pneumatic robot to move to the first target position; For each of the first target positions, in response to the pneumatic robot having moved to the first target position, the hoisting device is controlled to stop rewinding, and the inertial navigation module is controlled to perform zero-speed correction.
3. The method according to claim 1, characterized in that, The control inertial navigation module performs self-north finding, including: Send a self-north-finding command to the inertial navigation module; The method further includes: If the self-finding north completion information is not received within the first preset time period, a first prompt message is generated.
4. The method according to claim 1, characterized in that, The control of the inertial navigation module to perform zero-velocity correction includes: Send a zero-velocity correction command to the inertial navigation module; The method further includes: If zero-speed calibration completion information is not received within the second preset time period, a second prompt message is generated.
5. The method according to claim 1, characterized in that, The method further includes: Based on the acquired inertial navigation data, straightness data of the fully mechanized mining face is generated.
6. A working surface straightness detection and control device based on a pneumatic robot, characterized in that, include: The first processing module is used to control the inertial navigation module to perform self-north-finding. The inertial navigation module is mounted on a pneumatic robot, which is deployed in a flexible pipe on the mudguard of the scraper conveyor. The second processing module is used to control the inertial navigation module to perform zero-speed correction in response to the coal machine completing the oblique cutting feed. The third processing module is used to start inertial navigation data acquisition in response to the inertial navigation module completing zero-velocity correction. The fourth processing module is used to control the pneumatic robot to move sequentially to at least one first target position, and to control the inertial navigation module to perform zero-speed correction at each first target position; The fifth processing module is used to control the pneumatic robot to move to the second target position and end the inertial navigation data acquisition; The sixth processing module is used to control the inertial navigation module to perform zero-speed correction.
7. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 5.
8. A storage medium storing instructions, characterized in that, When the instructions are executed on an electronic device, the electronic device causes the electronic device to perform the method of any one of claims 1 to 5.
9. A program product comprising at least one of a program and instructions, characterized in that, When at least one of the program or instructions is executed by an electronic device, it implements the steps of the method according to any one of claims 1 to 5.