Underground mining truck operation method and electronic device

Abstract

This application provides a method and electronic device for operating an underground mining trolley, which can be applied to the field of advanced control technology. The method includes: positioning the mining trolley at a preset operating position in the mine tunnel; responding to an operator controlling the robotic arm of the mining trolley to sequentially move to each designed hole position at the preset operating position, forming an initial teaching trajectory containing joint values ​​and joint motion state markers for each joint, the joint motion state markers indicating the joint combinations that actually move in the current teaching frame; adjusting the initial teaching trajectory to ensure that the adjusted optimized trajectory can drive the robotic arm to sequentially reach each designed hole position at the target operating position while the robotic arm remains in a safe and feasible state throughout the process, and outputting the optimized trajectory; based on the optimized trajectory, determining the joint combinations to be driven according to the joint motion state markers, and driving the corresponding joint movements according to the joint values ​​of each joint in the optimized trajectory, so that the end of the robotic arm reaches the designed hole position to trigger the drilling process.

Description

Technical Field

[0001] This application relates to the field of advanced control, specifically to a method, apparatus, equipment, medium, and program product for operating underground mining trolleys. Background Technology

[0002] Mining trolleys are core equipment in underground mining. Their operating sites are typically dimly lit, high-humidity, confined spaces with variable working conditions in tunnels or stopes. These harsh and restrictive environments severely limit equipment layout and mobility. Furthermore, mining trolley operations are characterized by high repetitiveness, strong vibrations, long continuous operating times, high risk, and inefficient personnel handover. Therefore, improving operator safety, reducing labor intensity, increasing operational efficiency, and enhancing equipment safety have become key research areas for the intelligent upgrading of mining equipment.

[0003] To address these needs, existing technological solutions primarily focus on improving operator safety. For example, they utilize ground-based remote control systems to remotely operate and monitor mining rigs, thereby reducing the time operators spend working in the harsh underground environment. However, while these solutions remove operators from the underground site, they still rely on continuous manual attention to issue control commands. They cannot automate the entire operation, nor do they offer unmanned or remotely monitored operation capabilities, thus having limited effectiveness in reducing labor intensity.

[0004] In addition, the existing solutions have obvious shortcomings in terms of control access management and handling of abnormal working conditions: they fail to design a refined access control mechanism that takes into account the working conditions of multiple working devices working together on the downhole drilling rig, and lack automatic and reliable emergency response and safety assurance capabilities when communication is interrupted, sensors fail or safety alarms occur. Summary of the Invention

[0005] In view of the above problems, this application provides an underground mining trolley operation method and electronic equipment to improve the automation level and remote collaborative operation capability of mining trolley operations.

[0006] According to a first aspect of this application, a method for operating an underground mining trolley is provided, applied to a linkage system consisting of a remote control console and a mining trolley. The method includes: positioning the mining trolley at a preset operating position in the mine tunnel; in manual teaching mode, responding to an operator controlling the robotic arm of the mining trolley to sequentially move to each designed hole position at the preset operating position, recording sensor data of each joint of the robotic arm, and forming an original teaching trajectory including joint values ​​and joint motion state markers for each joint, wherein the joint motion state markers are used to indicate the joint groups that actually move in the current teaching frame. In the operation mode, using the original teaching trajectory as the initial value, the original teaching trajectory is adjusted so that the adjusted optimized trajectory can drive the robotic arm to sequentially reach each designed hole position of the target operation position while the robotic arm is in a safe and feasible state throughout the process. The optimized trajectory is output, and the safe and feasible state indicates that the robotic arm can pass through each designed hole position without collision. Based on the optimized trajectory, the joint combination to be driven is determined according to the joint motion state mark, and the corresponding joint action is driven according to the joint value of each joint in the optimized trajectory so that the end of the robotic arm reaches the designed hole position to trigger the drilling process.

[0007] According to an embodiment of this application, in the manual teaching mode, in response to the operator controlling the robotic arm of the mining trolley to move to each designed hole position at a preset working position, recording the sensor data of each joint of the robotic arm to form an original teaching trajectory including the joint values ​​and joint motion state markers of each joint includes: during the process of the operator controlling the robotic arm to move from the current hole position to the next designed hole position, calculating in real time the difference between the sensor data of each joint of the robotic arm at adjacent moments as the joint motion amount; when the joint motion amount of any joint exceeds a preset threshold, collecting and storing the sensor data of each joint at the current moment as a frame of teaching data, the teaching data including the joint values ​​and joint motion state markers of each joint, the joint motion state markers being used to indicate the joint combination whose joint motion amount exceeds the preset threshold in the current teaching frame; combining the teaching data frames according to the collection time sequence to generate the original teaching trajectory.

[0008] According to an embodiment of this application, the method further includes: during the process of the operator controlling the robotic arm to move from the current hole position to the next designed hole position, setting the hole position flag of each frame of teaching data collected to a first state, wherein the first state indicates that the current frame is an intermediate transition point in the movement process; when the robotic arm moves to the next designed hole position, switching the hole position flag of the teaching data collected when reaching the next designed hole position from the first state to a second state, so as to indicate that the trajectory teaching of the robotic arm moving from the current hole position to the next designed hole position is completed, wherein the second state indicates that the current frame is the trajectory endpoint of moving from the current hole position to the next designed hole position.

[0009] According to an embodiment of this application, the method further includes: if an abnormal interruption occurs during the process of the operator controlling the robotic arm to move from the current hole position to the next designed hole position, and the hole position flag of the teaching data of the next designed hole position is in the first state, determining that the trajectory teaching of the next designed hole position is not completed; in response to the determination result that the trajectory teaching is not completed, controlling the robotic arm to automatically return to the current hole position, and clearing the teaching data collected during the process of the robotic arm moving from the current hole position to the next designed hole position, so as to restore the pending teaching state from the current hole position to the next designed hole position.

[0010] According to an embodiment of this application, in the operation mode, the original teaching trajectory is used as the initial value, and the original teaching trajectory is adjusted so that the adjusted optimized trajectory can drive the robotic arm to sequentially reach each designed hole position of the target operation position while the robotic arm is in a safe and feasible state throughout the process. The output of the optimized trajectory includes: determining whether the spatial pose of the robotic arm corresponding to each frame of teaching data in the original teaching trajectory contacts the boundary of the mine channel; determining whether each joint value corresponding to each frame of teaching data is within the corresponding mechanical limit range; determining whether the end position of the robotic arm corresponding to each frame of teaching data can reach the corresponding designed hole position of the target operation position; adjusting each frame of teaching data sequentially according to the above determination results so that the robotic arm reaches the safe and feasible state, the safe and feasible state includes that the robotic arm does not contact the boundary of the mine channel, each joint value is within the corresponding mechanical limit range, and the end position can reach the corresponding designed hole position; and generating an optimized trajectory based on the corrected teaching data of each frame.

[0011] According to an embodiment of this application, determining whether the spatial pose of the robotic arm corresponding to each frame of teaching data in the original teaching trajectory contacts the boundary of the mine tunnel includes: acquiring the contour point cloud data of the mine tunnel at the target working position; determining the surface point cloud data of the robotic arm corresponding to each frame of teaching data based on the structural parameters of the robotic arm and the joint values ​​in each frame of teaching data; calculating the spatial distance between the surface point cloud data of the robotic arm and the contour point cloud data of the target working position; if the spatial distance is less than a preset safety distance threshold, then determining that the spatial pose of the robotic arm corresponding to the teaching data contacts the boundary of the mine tunnel.

[0012] According to an embodiment of this application, determining whether the joint values ​​corresponding to each frame of teaching data are within the corresponding mechanical limit range includes: obtaining a preset mechanical limit range for each joint of the robotic arm, wherein the preset mechanical limit range includes a minimum limit value and a maximum limit value for each joint; comparing each joint value in each frame of teaching data with the corresponding minimum limit value and the maximum limit value; if any joint value is less than the corresponding minimum limit value or greater than the corresponding maximum limit value, then determining that the joint value exceeds the corresponding mechanical limit range.

[0013] According to an embodiment of this application, determining whether the end position of the robotic arm corresponding to each frame of teaching data can reach the corresponding design hole of the target working position includes: calculating the actual position of the end of the robotic arm in each frame of teaching data based on the joint values ​​in each frame of teaching data; matching the actual position with the coordinates of the corresponding design hole to determine whether the end position of the robotic arm corresponding to the frame of teaching data can reach the corresponding design hole of the target working position.

[0014] According to an embodiment of this application, the method further includes: in response to the failure of the optimized trajectory output, reducing the safety distance threshold between the spatial pose of the robotic arm and the boundary of the mine channel, and re-optimizing the trajectory based on the reduced safety distance threshold; if the optimized trajectory still fails to output after re-execution, reducing the matching accuracy requirement between the end position and the corresponding designed hole position coordinates, and re-optimizing the trajectory based on the reduced matching accuracy requirement; if the optimized trajectory still fails to output after re-execution, backtracking the current frame teaching data to the corresponding historical value in the original teaching trajectory, and re-optimizing the trajectory.

[0015] According to an embodiment of this application, the step of determining the joint combination to be driven based on the optimized trajectory and the joint motion state markers, and driving the corresponding joint actions according to the joint values ​​of each joint in the optimized trajectory, so that the end of the robotic arm reaches the designed hole position to trigger the support and drilling process, includes: extracting the joint values, joint motion state markers, and hole position markers of each frame of teaching data in the optimized trajectory; reading the joint motion state markers in frame order, and determining the joint combination to be driven in the current frame according to the joint motion state markers; reading the joint values ​​in frame order, driving the joint actions of each joint in the joint combination, so that the end of the robotic arm moves along the optimized trajectory; and stopping the joint actions and triggering the drilling process when a frame with the hole position marker in the second state is read.

[0016] According to an embodiment of this application, before switching from the manual teaching mode to the operation mode, the method further includes: controlling the robotic arm to move to the starting position corresponding to the first frame of teaching data in the optimized trajectory; comparing the current sensor values ​​of each joint of the robotic arm at the starting position with the joint values ​​in the first frame of teaching data; and switching to the operation mode when the difference between the current sensor values ​​and the joint values ​​in the first frame of teaching data meets the operation requirements.

[0017] According to an embodiment of this application, positioning the mining trolley at a preset working position in the mine tunnel includes: centering the mining trolley by cooperating with a centering device on the mining trolley and a positioning reference mark on the mine tunnel; and positioning the mining trolley at the preset working position by having laser projection devices on both sides of the mining trolley correspond to the wiring marks on both sides of the mine tunnel.

[0018] According to an embodiment of this application, the method further includes: in response to the completion of the operation at the target work position, correcting the chassis angle of the mining trolley to match the angle of the steering wheel of the remote control console controlling the mining trolley; and controlling the mining trolley to move to the next target work position via the remote control console.

[0019] According to an embodiment of this application, the method further includes: stopping operations and sending an alarm signal to a remote control console when personnel are detected entering a preset safe distance range or when the mining trolley malfunctions.

[0020] According to a second aspect of this application, an electronic device is provided, comprising: one or more processors; and a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the method as described in any of the first aspects. Attached Figure Description

[0021] The above-mentioned contents, other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0022] Figure 1 A schematic diagram of an underground mining trolley according to an embodiment of this application is shown;

[0023] Figure 2 A schematic diagram of a remote console according to an embodiment of this application is shown;

[0024] Figure 3 This schematically illustrates an overall flowchart of an underground mining trolley operation method according to an embodiment of this application;

[0025] Figure 4A detailed flowchart illustrating an underground mining trolley operation method according to an embodiment of this application is shown schematically.

[0026] Figure 5 A block diagram schematically illustrates an electronic device suitable for implementing an underground mining trolley operation method according to an embodiment of this application. Detailed Implementation

[0027] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be implemented without these specific details. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0028] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0029] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0030] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0031] This application provides a method for operating an underground mining trolley, applied to a linkage system consisting of a remote control console and a mining trolley. The remote control console is located above ground (such as a surface control center or safe area), while the underground mining trolley is located in an underground roadway or mining area. A bidirectional data link is established between the two via a wired or wireless communication network to enable the issuance of control commands and the uploading of sensor data and video images. Operators can manually teach, remotely monitor, and intervene in anomalies using the remote control console. They can also switch to an automatic operation mode, allowing the mining trolley to autonomously complete drilling and jacking operations based on an optimized teaching trajectory.

[0032] Figure 1 A schematic diagram of an underground mining trolley according to an embodiment of this application is shown.

[0033] like Figure 1 As shown, the on-board hardware system of the underground mining trolley includes key components such as an industrial computer 1, a controller 2, a wheel speed sensor 3, a centering zoom camera 4, a centering target 5, a line laser 6, a lidar 7, an IP network intercom terminal 8, a pan-tilt camera 9, an IMU (inertial measurement unit) 10, a gateway 11, a radar 12, a 360-degree camera 13, and a chassis angle sensor 14.

[0034] The system comprises the following components: Industrial Computer 1, installed in the cab, serves as the core computing and data processing unit for the vehicle-mounted system, housing the local control system of the intelligent mining rig; Controller 2, installed in the boom control cabinet, receives control commands from Industrial Computer 1 and drives the joints of the robotic arm; Wheel speed sensors 3, mounted on the tire axles, collect real-time data on the rig's speed and mileage to assist in positioning and navigation during relocation; Centering zoom camera 4, mounted in the center of the rear top of the cab, and centering target 5, fixed on the centerline of the tunnel, together forming a visual centering system for precise positioning and centering of the rig at preset work locations; Linear lasers 6, symmetrically mounted on both sides of the rig, project laser lines onto both sides of the tunnel to assist in rig angle correction using line markings; and LiDAR 7 and IMU 10, mounted in the front top of the cab. LiDAR 7 collects tunnel contour point cloud data to construct a working environment map and assist in obstacle avoidance, while IMU 10 detects the rig's attitude information (including roll, pitch, and yaw angles) in real time. The IP network intercom terminal 8 is installed next to the computer in the driver's cab, enabling two-way voice communication between the vehicle-mounted terminal and the ground remote control console. The PTZ camera 9 is installed on the right front side of the driver's cab, used for multi-angle video acquisition of the robotic arm's working area and the environment ahead of the tunnel. The gateway 11 is installed in the right electrical control cabinet, serving as the data communication hub between the vehicle-mounted terminal and the ground remote control console, enabling two-way transmission of control commands, sensor data, and video images. The radar 12 and 360-degree camera 13 are installed around the vehicle body, used for all-around perception of the trolley's surrounding environment, detecting obstacles and personnel approach, providing a perception basis for safe driving and operation. The chassis angle sensor 14 is installed at the hinge in the middle of the vehicle body, used for real-time detection of the chassis hinge angle, providing data support for trolley chassis attitude correction.

[0035] Figure 2 A schematic diagram of a remote console according to an embodiment of this application is shown.

[0036] like Figure 2As shown, the ground-based remote control console maps the control and operation functions of the local cab. Its hardware system includes a central processing unit 201, a boom operation unit 202, a trolley travel control unit 203, a video display unit 204, an operation unit 205, an intercom unit 206, and a personnel identification unit 207. The central processing unit 201, as the core control host on the ground, is equipped with a remote control system for the intelligent mining rig. It is responsible for processing and analyzing the sensor data and video images uploaded from the vehicle-mounted terminal, optimizing the trajectory algorithm, and issuing control commands. The boom operation unit 202 includes operating handles and corresponding buttons for operators to control the movement of each joint of the robotic arm in either manual teaching or manual intervention mode. The trolley travel control unit 203 includes a steering wheel, accelerator, and brake pedal for remotely controlling the trolley's movement and relocation within the tunnel. The video display unit 204 includes multiple display screens for real-time display of images from various cameras (including images from the PTZ camera 9 and the 360-degree camera 13) and key equipment status parameters transmitted from the vehicle-mounted terminal. The operation unit 205 includes various function buttons, switches, and a touch panel for switching work modes, setting parameters, and issuing commands. The intercom unit 206 enables voice communication between surface operators and personnel in the mine. The personnel identification unit 207 verifies the identity of operators through biometric identification (such as facial recognition or fingerprint recognition) to ensure the security of system operation permissions.

[0037] Figure 3 A flowchart illustrating an underground mining trolley operation method according to an embodiment of this application is shown schematically.

[0038] like Figure 3 As shown, the underground mining trolley operation in this embodiment includes operations S310 to S340, and the underground mining trolley operation method can be executed sequentially.

[0039] When operating S210, the mining trolley is positioned at the preset working position in the mine tunnel.

[0040] The preset working position refers to the fixed stopping position required for the mining trolley to perform drilling operations in the current work cycle. This position is determined by the cross-sectional dimensions of the mine roadway, the designed hole layout, and the working space of the robotic arm. The trolley must meet two positioning conditions at this position: first, the centerline of the trolley body must be aligned with the centerline of the roadway; second, the longitudinal position of the trolley body must match the designed hole spacing.

[0041] When operating the S220 in manual teaching mode, the robotic arm of the mining trolley moves sequentially to the designed holes at the preset working positions in response to the operator's control. The sensor data of each joint of the robotic arm is recorded to form an original teaching trajectory that includes the joint values ​​and joint motion status markers of each joint.

[0042] Manual teaching mode refers to a working mode in which an operator manually guides the robotic arm along a desired path using a remote control handle, while the system passively records the motion data. Joint values ​​refer to the position feedback values ​​of each joint of the robotic arm, including the angle values ​​of rotary joints and / or the displacement values ​​of translational joints. Joint motion status markers are used to indicate the joint combinations that actually move in the current teaching frame. The original teaching trajectory refers to a collection of teaching data frames organized in a time sequence, with each frame containing the joint values ​​of each joint and the corresponding joint motion status markers.

[0043] Due to the irregular cross-sectional shape of underground mine tunnels and the differences in tunnel contours at different working locations, coupled with the unavoidable repositioning deviation of the mining trolley's chassis posture relative to the tunnel coordinate system after each positioning, it is impossible to directly generate a robotic arm motion trajectory applicable to all working locations through offline programming or preset templates. By having operators manually manipulate the robotic arm sequentially to each designed hole position under on-site or remote visual guidance, the system records the motion data of each joint during actual operation, obtaining an original trajectory that meets the end-effector position requirements and path feasibility at the teaching moment. This original trajectory not only includes the target joint configuration at each designed hole position but also the operator's intention to avoid obstacles and mechanical limitations during movement. Simultaneously, the system adds joint motion status markers to each frame of data during recording, distinguishing between joints actually participating in movement and those remaining stationary, providing an adjustable initial reference for subsequently reproducing this trajectory at target working locations with different hole layouts and tunnel contours.

[0044] When operating S230 in operation mode, the original teaching trajectory is used as the initial value. The original teaching trajectory is adjusted so that the adjusted optimized trajectory can drive the robotic arm to reach each designed hole of the target operation position in sequence and the robotic arm is in a safe and feasible state throughout the process. The optimized trajectory is output. The safe and feasible state indicates that the robotic arm can pass through each designed hole without collision.

[0045] The operating mode refers to the working mode in which the system automatically performs drilling operations based on the trajectory recorded during the teaching phase. In the operating mode, the system does not require real-time operation by a human operator, but instead autonomously controls the robotic arm to complete the drilling tasks for each designed hole location in sequence according to the pre-recorded teaching trajectory.

[0046] Because the positioning of the mining trolley varies at different work locations (including lateral offset, angular deviation, and longitudinal positional deviation of the trolley chassis relative to the roadway centerline), and the roadway cross-sectional profiles differ at different work locations, the original trajectory recorded during the teaching phase cannot be directly reproduced at the current target work location. Directly applying the original trajectory to a new location would result in the end effector deviating from the designed borehole position or the robotic arm colliding with the roadway wall. Therefore, it is necessary to use the original teaching trajectory as an initial reference and locally adjust the joint values ​​in each frame of teaching data using numerical optimization methods.

[0047] The optimization uses the end target position at each designed hole position as a hard constraint, that is, the end of the robot arm must accurately reach the coordinates of the designed hole position at the key frame; the safety constraint is that the minimum distance between the robot arm body and the roadway contour is greater than the safety threshold and that each joint value is within the mechanical limit range; the objective function is to minimize the change of each frame joint value relative to the original taught trajectory, and to solve the optimal joint trajectory that satisfies all constraints while maintaining the original motion intention.

[0048] This enables the original teaching trajectory to be transferred to different work positions. That is, while maintaining the path planning intentions formed by the operator during the teaching process (such as joint movement sequence, obstacle avoidance strategy, and joint coordination method), the same teaching trajectory can be applied to target work positions with different hole layouts and roadway contours by adaptively adjusting the joint values. This avoids repeated manual teaching for each work position and improves work efficiency.

[0049] During operation of S240, based on the optimized trajectory, the combination of joints to be driven is determined according to the joint motion state markers, and the corresponding joint actions are driven according to the joint values ​​of each joint in the optimized trajectory, so that the end of the robotic arm reaches the designed hole position to trigger the drilling process.

[0050] When executing the optimized trajectory, the joint motion state markers in each frame are read sequentially. Based on these markers, the joint combinations that need to be driven in the current frame are determined, and drive commands are output only for each joint in that combination according to its joint value. For joints in the current frame whose joint motion state markers indicate that no motion has occurred, no drive commands are applied to them, allowing them to maintain their current posture.

[0051] The optimized trajectory data is transformed into the actual physical motion of the robotic arm, enabling the end effector to sequentially reach each designed hole according to the path sequence determined during the teaching phase, thus achieving the final closed loop from manual teaching to automated operation. By selectively driving corresponding joints based on joint motion state markers, rather than driving all joints, unnecessary malfunctions caused by minor adjustments to static joint values ​​during optimization are avoided. This ensures that the robotic arm's motion behavior when executing the optimized trajectory is consistent with the joint motion expected by the operator during the teaching phase, guaranteeing the fidelity of trajectory reproduction and the safety of the operation process.

[0052] Figure 4 A detailed flowchart illustrating an underground mining trolley operation method according to an embodiment of this application is shown schematically.

[0053] like Figure 4 As shown, the underground mining trolley operation method of this application embodiment includes S410~460.

[0054] Step S410 is the trolley positioning operation, which positions the mining trolley at a preset working position in the mine tunnel.

[0055] In some embodiments, S410 includes S411 to S412.

[0056] When operating S411, the mining trolley is aligned by using an alignment device on the mining trolley in conjunction with a positioning reference mark in the mine tunnel.

[0057] The operator remotely controls the mining trolley to travel to the vicinity of the target work area via the trolley travel control unit 203 on the ground remote control console. Then, the trolley positioning program is started: the centering zoom camera 4 set on the mining trolley captures images of the centering target 5 fixed on the center line of the roadway, and the lateral and angular deviations of the trolley relative to the center line of the roadway are calculated by the visual algorithm. The industrial computer 1 issues adjustment commands to the travel drive mechanism according to the calculation results to center the trolley.

[0058] When operating S412, the mining trolley is positioned at the preset working position by using laser projection devices on both sides of the mining trolley to correspond with the line markings on both sides of the mine roadway.

[0059] After the trolley is aligned, the six lasers on both sides of the trolley project laser lines into both sides of the tunnel. The operator or the automatic control system will match the laser lines with the pre-set markings on both sides of the tunnel to further correct the angle and longitudinal position of the trolley, so that the trolley is precisely positioned in the preset working position.

[0060] During the trolley positioning process, wheel speed sensor 3 provides real-time feedback of mileage data, and IMU 10 provides real-time feedback of trolley attitude data to assist the positioning system in precise control. LiDAR 7 simultaneously collects point cloud data of the tunnel contour to construct a 3D environmental model of the tunnel at the current working location.

[0061] Step S420 is a manual teaching operation. In manual teaching mode, the operator controls the robotic arm of the mining trolley to move sequentially to each designed hole position at the current working location through the boom operation unit 202 of the ground remote control console.

[0062] In some embodiments, S420 includes S421 to S423.

[0063] During operation S421, as the operator controls the robotic arm to move from the current hole position to the next designed hole position, the difference in sensor data of each joint of the robotic arm at adjacent moments is calculated in real time as the joint motion amount.

[0064] Industrial computer 1 reads sensor data (such as joint angle or displacement values ​​collected by rotary encoders or displacement sensors) from each joint at a fixed sampling period (e.g., sampling frequency ≥ 50Hz), and calculates the difference between the sensor data read at the current moment and the sensor data read at the previous adjacent moment to obtain the joint motion amount of each joint. The joint motion amount reflects the actual movement amplitude of each joint between adjacent sampling moments.

[0065] In operation S422, when the joint motion of any joint exceeds a preset threshold, the sensor data of each joint at the current moment is collected and stored as a frame of teaching data. The teaching data includes the joint value and joint motion state marker of each joint. The joint motion state marker is used to indicate the joint combination in the current teaching frame whose joint motion exceeds the preset threshold.

[0066] A preset threshold is a baseline value used to determine whether a joint has actually moved. This threshold distinguishes between intentional joint movement and meaningless fluctuations caused by measurement noise or system jitter. For example, for a rotary joint, the preset threshold can be set to a joint angular displacement ≥ 0.5°, meaning that the joint is considered to have moved effectively when its actual rotation exceeds 0.5°. For a translational joint, the preset threshold can be set to a hydraulic cylinder stroke change ≥ 1mm, meaning that the joint is considered to have moved effectively when the cylinder extension or retraction exceeds 1mm. When the joint movement of any joint exceeds the preset threshold, it indicates that the robotic arm has undergone a meaningful posture change at that moment. The industrial computer 1 collects the sensor data of all joints at the current moment as a frame of teaching data and generates corresponding joint motion state labels. Joints with movement exceeding the threshold are labeled as "moving", and joints with movement not exceeding the threshold are labeled as "not moving".

[0067] Furthermore, throughout the entire process of the operator controlling the robotic arm to move from the current hole position to the next designed hole position, the industrial computer 1 forcibly collects and stores a frame of sensor data as a transition teaching frame every fixed time period (e.g., ≤100ms) to ensure the continuity of the trajectory. The transition teaching frame also contains the joint values ​​and joint motion state markers of each joint, and the method for generating the joint motion state markers is the same as the threshold-triggered method described above.

[0068] In some embodiments, during the process of the operator controlling the robotic arm to move from the current hole position to the next designed hole position, the hole position flag of each frame of teaching data collected is set to a first state, the first state indicating that the current frame is an intermediate transition point in the movement process; when the robotic arm moves to the next designed hole position, the hole position flag of the teaching data collected when reaching the next designed hole position is switched from the first state to the second state to indicate that the trajectory teaching of the robotic arm moving from the current hole position to the next designed hole position is completed, the second state indicating that the current frame is the endpoint of the trajectory moving from the current hole position to the next designed hole position.

[0069] When operating S423, the teaching data of each frame is combined according to the acquisition time sequence to generate the original teaching trajectory.

[0070] In some embodiments, if an abnormal interruption occurs during the process of the operator controlling the robotic arm to move from the current hole position to the next designed hole position, and the hole position flag of the teaching data of the next designed hole position is in the first state, it is determined that the trajectory teaching of the next designed hole position is not completed; in response to the determination that the trajectory teaching is not completed, the robotic arm is controlled to automatically return to the current hole position, and the teaching data collected during the process of the robotic arm moving from the current hole position to the next designed hole position is cleared, so as to restore the teaching state from the current hole position to the next designed hole position.

[0071] "Abnormal interruption" refers to the interruption of the teaching process due to abnormal reasons, including but not limited to: interruption of the communication link between the vehicle-mounted terminal and the ground remote control console, loss or over-threshold abnormality of joint sensor signals, overload or overheating of the drive mechanism triggering protection, and operator triggering the emergency stop button. All of the above abnormal situations will cause control commands to fail to be issued normally or the robot arm's movement status to be unable to be effectively sensed, thus preventing the current teaching action from continuing.

[0072] When an abnormal interruption occurs, Industrial Computer 1 first reads the hole position flag corresponding to the teaching data of the current target hole position (i.e., the next design hole position that is being taught but has not yet been reached). The hole position flag is used to characterize the position semantics of the current frame in the trajectory. The first state represents an intermediate transition point, and the second state represents the end point of the trajectory. If the hole position flag is in the first state, it means that the robotic arm has not yet reached the current target hole position, that is, the end frame of this trajectory segment has not been recorded. Based on this, Industrial Computer 1 determines that the trajectory teaching of the target hole position is not complete. In response to this determination, Industrial Computer 1 controls the robotic arm to automatically retract to the current hole position, that is, the starting position of this teaching movement, through Controller 2. At the same time, Industrial Computer 1 clears all teaching data (including keyframes collected based on threshold triggers and transition frames collected based on fixed time periods) collected during the robotic arm's movement from the current hole position to the target hole position. The system automatically reverts to the previous known, safe, and completed teaching position, and clears all invalid data in that segment of the trajectory. This prevents the generated original teaching trajectory from having breaks or jumps due to incomplete data, ensuring that each segment of the final generated original teaching trajectory has a complete start-process-end point structure. At the same time, it avoids manual reverting and data clearing operations, improving teaching efficiency and system usability.

[0073] Step S430 is a mode switching verification operation. A mode switching verification is required before switching from manual teaching mode to work mode.

[0074] S430 includes S431 to S433.

[0075] In operation S431, the robotic arm is controlled to move to the starting position corresponding to the first frame of teaching data in the optimized trajectory.

[0076] In operation S432, the current sensor values ​​of each joint of the robotic arm at the starting position are compared with the joint values ​​in the first frame of teaching data.

[0077] When operating S433, if the difference between the current sensor value and the joint value in the first frame of teaching data meets the operation requirements, switch to operation mode.

[0078] For example, industrial computer 1 controls the robotic arm to move to the starting position corresponding to the first frame of teaching data in the optimized trajectory. Then, it compares the current sensor values ​​of each joint of the robotic arm at the starting position with the joint values ​​in the first frame of teaching data. When the angle deviation of each joint is ≤ ±0.5°, it is determined that the joint comparison requirement is met. At the same time, the real-time pose of the mining trolley chassis in the global coordinate system of the mine roadway is obtained by LiDAR 7 or total station. When the deviation between the real-time pose of the chassis and the preset positioning pose (x, y directions ≤ ±20mm, heading angle ≤ ±0.5°) meets the operation requirements, industrial computer 1 determines that the mode switching condition is met and switches to the operation mode.

[0079] Step S440 is a work mode operation. S440 includes S441 to S445.

[0080] In operation S441, it is determined whether the spatial pose of the robotic arm corresponding to each frame of teaching data in the original teaching trajectory is in contact with the boundary of the mine channel.

[0081] The original teaching trajectory is recorded under the roadway profile conditions at the teaching work position (i.e., the work position when the manual teaching is first performed). However, the shape and size of the roadway cross-section at the current target work position may differ from those at the teaching position (such as roadway convergence deformation, local collapse, or design differences between different cross-sections). If the original trajectory is executed directly without collision detection, the robotic arm may physically collide with the roadway wall at the current target work position, resulting in equipment damage or work interruption.

[0082] In some embodiments, the contour point cloud data of the mine tunnel at the target working position is acquired; the surface point cloud data of the robotic arm corresponding to each frame of teaching data is determined according to the structural parameters of the robotic arm and the joint values ​​in each frame of teaching data; the spatial distance between the surface point cloud data of the robotic arm and the contour point cloud data of the target working position is calculated; if the spatial distance is less than a preset safe distance threshold, it is determined that the spatial pose of the robotic arm corresponding to the teaching data is in contact with the boundary of the mine tunnel.

[0083] In operation S442, it is determined whether the joint values ​​corresponding to each frame of teaching data are within the corresponding mechanical limit range.

[0084] During trajectory optimization, the system may adjust the joint values ​​in each frame to meet end-effector position requirements and collision avoidance conditions. However, if the adjusted joint values ​​exceed the physical limits of the robotic arm's joints, the mechanism will fail to execute or may be damaged. Therefore, it is necessary to continuously verify whether the joint values ​​in each frame are within the preset mechanical limits of each joint during the optimization process to ensure that the optimization results are within the physically feasible domain of the mechanical structure.

[0085] In some embodiments, the preset mechanical limit range of each joint of the robotic arm is obtained, the preset mechanical limit range includes the minimum limit value and the maximum limit value of each joint; each joint value in each frame of teaching data is compared with the corresponding minimum limit value and the maximum limit value respectively; if any joint value is less than the corresponding minimum limit value or greater than the corresponding maximum limit value, it is determined that the joint value exceeds the corresponding mechanical limit range.

[0086] In operation S443, it is determined whether the end position of the robotic arm corresponding to each frame of teaching data can reach the corresponding designed hole position of the target working position.

[0087] The original teaching trajectory is recorded under the designed hole layout at the teaching work position. However, the position of the designed hole coordinates at the target work position relative to the robot arm's base coordinate system may change due to trolley positioning deviation or changes in the hole layout. The joint values ​​recorded in each frame of the original teaching trajectory can only guarantee that the end effector reaches the hole position at the teaching position during teaching, but cannot guarantee that the same set of joint values ​​will still enable the end effector to accurately reach the new hole coordinates at the target work position.

[0088] In some embodiments, the actual position of the end effector of the robotic arm in each frame of teaching data is calculated based on the joint values ​​in each frame of teaching data; the actual position is matched with the corresponding design hole coordinates to determine whether the end effector position of the robotic arm corresponding to the frame of teaching data can reach the corresponding design hole of the target working position.

[0089] During operation S444, the teaching data of each frame is adjusted sequentially according to the above judgment results so that the robotic arm reaches a safe and feasible state. The safe and feasible state includes the robotic arm not contacting the boundary of the mine channel, each joint value being within the corresponding mechanical limit range, and the end effector being able to reach the corresponding designed hole position.

[0090] S441 to S443, as described above, evaluated each frame of teaching data from three dimensions: collision safety, mechanical restraint, and end-effector accessibility. For frames that did not meet any of these conditions, the joint values ​​needed to be adjusted to simultaneously satisfy all safety constraints. The essence of the adjustment was to modify the joint configuration of local frames while maintaining the overall motion intent of the original teaching trajectory, so that the entire trajectory was physically feasible at the current target working position.

[0091] Joint value adjustments for each frame are achieved through inverse kinematics. For a target frame requiring adjustment, industrial computer 1 uses the joint values ​​to be adjusted as the initial solution, with the objective function being the minimum change in the original joint values ​​of that frame, and constrained by the aforementioned three safety conditions. Inverse kinematics iterative solutions are then performed to obtain the corrected joint value combination. During the iterative solution process, collision detection (S441), limit check (S442), and end-effector reachability judgment (S443) are used as convergence conditions. When the corrected joint values ​​simultaneously satisfy all three conditions, the adjustment for that frame is considered complete.

[0092] During operation of S445, an optimized trajectory is generated based on the corrected teaching data of each frame.

[0093] For frames that fail to converge during the iteration process, the industrial computer 1 marks the frame as an abnormal frame and processes it separately in the subsequent multi-level degradation process represented by S450.

[0094] Step S450 includes S451 to S453.

[0095] In operation S451, in response to the failure of the optimized trajectory output, the safety distance threshold between the robot arm's spatial pose and the boundary of the mine channel is reduced, and the steps in S440 are executed based on the reduced safety distance threshold.

[0096] When an optimal trajectory satisfying all constraints cannot be found within the preset safety distance threshold, the feasible solution space is increased by appropriately relaxing the collision safety margin. The reduction in the safety distance threshold can be set according to the actual working conditions, for example, from 100mm to 50mm, but it should be ensured that the adjusted threshold still covers the positioning error of the robotic arm and the measurement error of the tunnel contour, avoiding the introduction of actual collision risks due to excessive relaxation. After adjustment, Industrial Computer 1 re-executes the collision detection, limit verification, end-effector accessibility judgment, and frame adjustment steps in S440 based on the reduced safety distance threshold.

[0097] In operation S452, if the optimized trajectory still fails to output after re-execution, the matching accuracy requirement between the end position and the corresponding design hole position coordinates is reduced, and the steps in S440 are executed based on the reduced matching accuracy requirement.

[0098] If a feasible trajectory still cannot be determined after relaxing the safety distance threshold, it indicates that the contradiction between the reachability of the trajectory frame at the current position and the collision constraint is relatively prominent. Appropriately reducing the end-position accuracy requirement can further increase the flexibility of joint value adjustment. The reduction in matching accuracy can be set according to the actual working conditions, for example, from 10mm to 20mm, but it should be ensured that the reduced accuracy still meets the process requirements for hole position deviation in drilling operations (i.e., the drilling position deviation does not exceed the maximum allowable error of the drilling process). After adjustment, industrial computer 1 re-executes the steps in S440 based on the reduced matching accuracy requirements.

[0099] In operation S453, if the optimized trajectory still fails to output after re-execution, the current frame teaching data is backtracked to the corresponding historical value in the original teaching trajectory, and the steps in S440 are executed.

[0100] If a solution still cannot be found after two levels of adjustment—relaxing the safety distance and reducing the matching accuracy—it indicates that the current frame has deviated too far from the original trajectory during the optimization process. The solution is restarted by retracing back to the original historical values ​​to avoid divergence due to accumulated deviations. Specifically, industrial computer 1 resets the joint values ​​of the current frame to the historical joint values ​​at the corresponding moments in the original taught trajectory, and re-executes the collision detection, limit check, end-effector reachability judgment, and frame adjustment steps in S440 using these historical values ​​as initial values.

[0101] If the optimized trajectory still fails to output after re-execution, a system error will be triggered, and an alarm signal will be sent to the ground remote control console through gateway 11. The current position of the robotic arm will remain unchanged, waiting for the operator to manually intervene.

[0102] Step S460 is the action execution operation.

[0103] In some embodiments, the industrial computer 1 extracts the joint values, joint motion state markers, and hole position markers from each frame of teaching data in the optimized trajectory. The joint motion state markers are read sequentially frame by frame, and the joint combination to be driven in the current frame is determined based on these markers. The joint values ​​are read sequentially frame by frame, and the joints in the joint combination are driven to move, causing the end effector of the robotic arm to move along the optimized trajectory. When the industrial computer 1 reads a frame where the hole position marker is in the second state (i.e., the trajectory end point marker), it stops driving the joint movements and triggers the drilling process, i.e., controls the working tool (such as a drill bit) at the end effector of the robotic arm to perform the drilling operation.

[0104] After drilling is completed, the industrial computer 1 continues to read the data of the next segment of the trajectory frame by frame, and drives the robotic arm to move from the current hole position to the next designed hole position. This cycle continues until all designed holes at the current working position have been drilled.

[0105] In some embodiments, in response to the completion of work at the target work location, the industrial computer 1 corrects the chassis angle of the mining trolley to match the angle of the steering wheel on the remote control console, based on the current chassis hinge angle fed back by the chassis angle sensor 14. Mining trolleys typically employ an articulated chassis structure, where the vehicle body is divided into front and rear parts connected by a hinge point. The chassis angle sensor 14 is installed at the hinge point to detect the relative rotation angle between the front and rear vehicle bodies in real time. During automated operation, to ensure the positioning accuracy of the robotic arm's end effector relative to the trolley's base coordinate system, the trolley chassis needs to maintain a stable posture. At this time, the chassis angle may deflect due to uneven ground or braking deviation. When the trolley is moving between sites, the operator controls the trolley's steering via the steering wheel on the remote control console. The steering wheel's rotation angle must correspond to the chassis hinge angle. If the actual chassis hinge angle does not match the steering wheel angle, it will lead to inaccurate steering control, causing the trolley's trajectory to deviate from the expected path.

[0106] Before the transfer, the industrial computer 1 reads the current value of the chassis angle sensor 14 and adjusts the relative angle between the front and rear vehicle bodies through the walking drive mechanism to make the chassis hinge angle consistent with the actual angle of the steering wheel of the remote control console, thereby eliminating the deviation between the chassis posture and the control input, and ensuring the steering accuracy and driving safety of subsequent remote control driving.

[0107] After calibration, the operator controls the mining trolley to move to the next target work position via the trolley travel control unit 203 on the ground remote control console, and returns to step S410 to re-execute the trolley positioning and subsequent steps.

[0108] Throughout the automated operation, the industrial computer 1 continuously monitors various safety conditions.

[0109] Specifically, the surrounding environment of the mining trolley is perceived in real time by radar 12 and 360-degree cameras 13 installed around the vehicle body. Radar 12 is used to detect the distance between personnel or obstacles and the trolley, and 360-degree cameras 13 are used to collect panoramic images of the area around the trolley. Together, they form a multi-sensor fusion system for perceiving the surrounding environment. Industrial computer 1 processes the radar echo data and camera images in real time to identify and track personnel or obstacles that enter the preset safe distance range. The preset safe distance range refers to the spatial area centered on the mining trolley and with a preset safe distance as its radius. This distance can be set according to actual working conditions (e.g., 5m~10m) to ensure the safety of personnel and the safe operation of equipment.

[0110] Meanwhile, the industrial computer 1 monitors the operating status of each system of the mining trolley in real time, including but not limited to: whether the sensor signals of each joint are normal, whether the current and temperature of the drive mechanism (hydraulic cylinder or servo motor) are within the normal range, and whether the communication link between the controller and each actuator is unobstructed. When it detects that the sensor signal is lost or exceeds the threshold, the drive mechanism is overloaded or overheated, or the communication link is interrupted, the industrial computer 1 determines that the mining trolley has malfunctioned.

[0111] When industrial computer 1 detects personnel entering a preset safe distance or detects a malfunction in the mining trolley, it immediately stops all current operations (including stopping the robotic arm, drilling, and travel drive) and issues an audible and visual alarm signal. Simultaneously, it reports the abnormal status to the ground remote control console via gateway 11. The abnormal status information includes the type of abnormality (personnel intrusion or malfunction), the time of occurrence, and a summary of the current equipment status. The ground remote control console displays this alarm information via video display unit 204, alerting operators to intervene promptly.

[0112] The purpose of the above-mentioned operation status monitoring mechanism is to achieve real-time monitoring of personnel intrusion and equipment health status through multi-sensor fusion perception during automatic operation, so as to ensure that the system can automatically and quickly switch to a safe stop state when abnormal situations occur, prevent personnel injury or equipment damage, and ensure the continuous safe operation of the automatic operation process.

[0113] According to the method provided in the embodiments of this application, through a closed-loop operation mechanism that combines manual teaching with automatic reproduction, the operator only needs to perform teaching once during the first operation. The system can then optimize and apply the teaching trajectory to multiple operation positions with different hole layouts and roadway contours, thereby realizing the automated continuous execution of the entire row of drilling operations. This effectively reduces the operation time and labor intensity of operators in the harsh underground environment, avoids repetitive manual operation, and improves equipment utilization and operation efficiency.

[0114] This method records the teaching trajectory containing joint motion state markers. When executing the optimized trajectory, it selectively drives the joint combination that actually participates in the movement based on the markers. It also applies position closed-loop locking control to the joints that are stationary during the teaching phase. This ensures that the motion behavior of the optimized robotic arm is consistent with the operator's intention during the teaching phase, avoiding trajectory distortion or accidental collisions caused by erroneous movements of stationary joints due to optimization adjustments. This guarantees the safety and reliability of the automatic reproduction process.

[0115] This method achieves precise positioning of the mining trolley in narrow tunnels through visual alignment between the trolley alignment device and the tunnel centerline, angle correction between the laser projection device and the line markings, and fusion of multi-source information from wheel speed sensors and IMUs, providing an accurate starting benchmark for subsequent trajectory reproduction. Furthermore, by incorporating collision detection and adjustment during trajectory optimization, the taught trajectory can adapt to changes in tunnel cross-sections and trolley positioning deviations at different work locations, expanding the application scope of single-session teaching.

[0116] This method employs a three-tiered degradation mechanism—including relaxed safety distance thresholds, reduced matching accuracy, and trajectory frame backtracking—to provide a progressively progressive autonomous recovery path for trajectory optimization failures. Combined with mechanical limit checks and collision safety checks during the optimization process, it significantly reduces the probability of work stoppages due to abnormal conditions such as communication interruptions, sensor failures, or unsolvable algorithms. Furthermore, real-time monitoring of the work status based on radar and panoramic cameras enables autonomous emergency stops and alarms in the event of personnel intrusion or equipment malfunctions, effectively enhancing the system's security and maintainability.

[0117] Figure 5 A block diagram schematically illustrates an electronic device suitable for implementing an underground mining trolley operation method according to an embodiment of this application.

[0118] like Figure 5 As shown, an electronic device 500 according to an embodiment of this application includes a processor 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage portion 508 into a random access memory (RAM) 503. The processor 501 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 501 may also include onboard memory for caching purposes. The processor 501 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of this application.

[0119] RAM 503 stores various programs and data required for the operation of electronic device 500. Processor 501, ROM 502, and RAM 503 are interconnected via bus 504. Processor 501 executes various operations of the method flow according to embodiments of this application by executing programs in ROM 502 and / or RAM 503. It should be noted that the programs may also be stored in one or more memories other than ROM 502 and RAM 503. Processor 501 may also execute various operations of the method flow according to embodiments of this application by executing programs stored in said one or more memories.

[0120] According to embodiments of this application, the electronic device 500 may further include an input / output (I / O) interface 505, which is also connected to a bus 504. The electronic device 500 may also include one or more of the following components connected to the input / output (I / O) interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the input / output (I / O) interface 505 as needed. A removable medium 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 510 as needed so that computer programs read from it can be installed into the storage section 508 as needed.

[0121] This application also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of this application.

[0122] According to embodiments of this application, the computer-readable storage medium can be a non-volatile computer-readable storage medium, such as including but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this application, the computer-readable storage medium may include ROM 502 and / or RAM 503 and / or one or more memories other than ROM 502 and RAM 503 described above.

[0123] Embodiments of this application also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code enables the computer system to implement the underground mining trolley operation method provided in the embodiments of this application.

[0124] When the computer program is executed by the processor 501, it performs the functions defined in the system / apparatus of this application embodiment. According to the embodiments of this application, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0125] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 509, and / or installed from a removable medium 511. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0126] In such an embodiment, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by processor 501, it performs the functions defined in the system of this application embodiment. According to embodiments of this application, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0127] According to embodiments of this application, program code for executing the computer programs provided in the embodiments of this application can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0128] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0129] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

[0130] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Without departing from the scope of this application, those skilled in the art can make various substitutions and modifications, all of which should fall within the scope of this application.

Claims

1. A method for operating an underground mining trolley, applied in a linkage system consisting of a remote control console and a mining trolley, characterized in that, The method includes: Position the mining trolley at the pre-set working position in the mine tunnel; In manual teaching mode, in response to the operator controlling the robotic arm of the mining trolley to move sequentially to each designed hole position of the preset working position, the sensor data of each joint of the robotic arm is recorded to form an original teaching trajectory containing the joint value and joint motion state marker of each joint. The joint motion state marker is used to indicate the joint combination that actually moves in the current teaching frame. In the operation mode, the original teaching trajectory is used as the initial value. The original teaching trajectory is adjusted so that the adjusted optimized trajectory can drive the robotic arm to reach each designed hole of the target operation position in sequence and the robotic arm is in a safe and feasible state throughout the process. The optimized trajectory is output. The safe and feasible state indicates that the robotic arm can pass through each designed hole without collision. Based on the optimized trajectory, the joint combination to be driven is determined according to the joint motion state marker, and the corresponding joint action is driven according to the joint value of each joint in the optimized trajectory, so that the end of the robotic arm reaches the designed hole position to trigger the drilling process.

2. The method according to claim 1, characterized in that, In the manual teaching mode, in response to the operator controlling the robotic arm of the mining trolley to move to the designed hole positions of the preset working position, the sensor data of each joint of the robotic arm is recorded to form an original teaching trajectory including the joint values ​​and joint motion state markers of each joint, including: During the process of the operator controlling the robotic arm to move from the current hole position to the next designed hole position, the difference between the sensor data of each joint of the robotic arm at adjacent moments is calculated in real time as the joint motion amount. When the joint motion of any of the joints exceeds a preset threshold, the sensor data of each joint at the current moment is collected and stored as a frame of teaching data. The teaching data includes the joint value and joint motion state marker of each joint. The joint motion state marker is used to indicate the joint combination whose joint motion exceeds the preset threshold in the current teaching frame. The original teaching trajectory is generated by combining the teaching data from each frame in the order of acquisition time.

3. The method according to claim 1, characterized in that, The method further includes: During the process of the operator controlling the robotic arm to move from the current hole position to the next designed hole position, the hole position flag of each frame of teaching data collected is set as the first state, and the first state indicates that the current frame is an intermediate transition point in the movement process. When the robotic arm moves to the next designed hole position, the hole position flag of the teaching data collected when it reaches the next designed hole position is switched from the first state to the second state to indicate that the trajectory teaching of the robotic arm from the current hole position to the next designed hole position is completed. The second state indicates that the current frame is the endpoint of the trajectory from the current hole position to the next designed hole position.

4. The method according to claim 3, characterized in that, The method further includes: If an abnormal interruption occurs during the process of the operator controlling the robotic arm to move from the current hole position to the next designed hole position, and the hole position flag of the teaching data of the next designed hole position is in the first state, it is determined that the trajectory teaching of the next designed hole position is not completed. In response to the determination that the trajectory teaching is incomplete, the robot arm is controlled to automatically return to the current hole position, and the teaching data collected during the process of the robot arm moving from the current hole position to the next design hole position is cleared to restore the teaching state from the current hole position to the next design hole position.

5. The method according to claim 1, characterized in that, In the operation mode, using the original teaching trajectory as the initial value, the original teaching trajectory is adjusted so that the adjusted optimized trajectory can drive the robotic arm to sequentially reach each designed hole position of the target operation position while the robotic arm remains in a safe and feasible state throughout the process. The output optimized trajectory includes: Determine whether the spatial pose of the robotic arm corresponding to each frame of teaching data in the original teaching trajectory touches the boundary of the mine tunnel; Determine whether the joint values ​​corresponding to the teaching data in each frame are within the corresponding mechanical limit range; Determine whether the position of the robotic arm end effector corresponding to the teaching data in each frame can reach the corresponding design hole of the target working position; The teaching data of each frame is adjusted sequentially according to the judgment result so that the robotic arm reaches the safe and feasible state. The safe and feasible state includes that the robotic arm does not contact the boundary of the mine channel, each joint value is within the corresponding mechanical limit range, and the end can reach the corresponding designed hole position. An optimized trajectory is generated based on the corrected teaching data from each frame.

6. The method according to claim 5, characterized in that, The step of determining whether the spatial pose of the robotic arm corresponding to each frame of teaching data in the original teaching trajectory touches the boundary of the mine tunnel includes: Obtain the contour point cloud data of the mine tunnel at the target working location; Based on the structural parameters of the robotic arm and the joint values ​​in each frame of the teaching data, determine the point cloud data of the robotic arm surface corresponding to each frame of the teaching data; Calculate the spatial distance between the point cloud data of the robotic arm surface and the contour point cloud data of the target working position; If the spatial distance is less than a preset safety distance threshold, it is determined that the robotic arm spatial pose corresponding to the teaching data is in contact with the boundary of the mine tunnel.

7. The method according to claim 5, characterized in that, The step of determining whether the joint values ​​corresponding to the teaching data in each frame are within the corresponding mechanical limit range includes: Obtain the preset mechanical limit range of each joint of the robotic arm, wherein the preset mechanical limit range includes the minimum limit value and the maximum limit value of each joint; Each joint value in the teaching data of each frame is compared with the corresponding minimum limit value and maximum limit value; If any of the joint values ​​is less than the corresponding minimum limit value or greater than the corresponding maximum limit value, then the joint value is determined to exceed the corresponding mechanical limit range.

8. The method according to claim 5, characterized in that, The step of determining whether the robotic arm end-effector position corresponding to the teaching data in each frame can reach the corresponding designed hole position of the target working position includes: Based on the joint values ​​in the teaching data of each frame, calculate the actual position of the end effector of the robotic arm in the corresponding teaching data of each frame; Match the actual position with the corresponding design hole coordinates to determine whether the robotic arm end position corresponding to the teaching data in this frame can reach the corresponding design hole of the target working position.

9. The method according to claim 5, characterized in that, The method further includes: In response to the failure of the optimized trajectory output, the safety distance threshold between the spatial pose of the robotic arm and the boundary of the mine tunnel is reduced, and the steps of claim 5 are performed based on the reduced safety distance threshold; If the optimized trajectory still fails to output after re-execution, the matching accuracy requirement between the end position and the corresponding design hole position coordinates is reduced, and the steps in claim 5 are executed based on the reduced matching accuracy requirement. If the optimized trajectory still fails to output after re-execution, the current frame teaching data is backtracked to the corresponding historical value in the original teaching trajectory, and the steps in claim 5 are executed.

10. The method according to claim 3, characterized in that, The process of determining the joint combination to be driven based on the optimized trajectory and the joint motion state markers, and driving the corresponding joint movements according to the joint values ​​of each joint in the optimized trajectory, so that the end of the robotic arm reaches the designed hole position to trigger the supporting and drilling process, includes: Extract the joint values, joint motion state markers, and hole position markers from each frame of teaching data in the optimized trajectory; Read the joint motion state markers sequentially frame by frame, and determine the joint combination to be driven in the current frame based on the joint motion state markers; The joint values ​​are read sequentially frame by frame, and the joints in the joint combination are driven to move, so that the end of the robotic arm moves along the optimized trajectory. When a frame with the hole position flag in the second state is read, the drive joint movement is stopped and the drilling process is triggered.

11. The method according to claim 1, characterized in that, Before switching from the manual teaching mode to the operation mode, the method further includes: Control the robotic arm to move to the starting position corresponding to the first frame of teaching data in the optimized trajectory; The current sensor values ​​of each joint of the robotic arm at the starting position are compared with the joint values ​​in the first frame of teaching data. When the difference between the current value of the sensor and the joint value in the first frame of teaching data meets the operation requirements, the operation mode is switched.

12. The method according to claim 1, characterized in that, The step of positioning the mining trolley at a preset working position in the mine tunnel includes: The mining trolley is centered by means of a centering device installed on the mining trolley and a positioning reference mark installed in the mine tunnel; By using laser projection devices located on both sides of the mining trolley to correspond with the marking lines located on both sides of the mine roadway, the mining trolley is positioned at a preset working position.

13. The method according to claim 12, characterized in that, The method further includes: In response to the completion of the operation at the target work location, the chassis angle of the mining trolley is adjusted to match the angle of the steering wheel of the remote control console that controls the mining trolley. The mining trolley is moved to the next target work location by controlling the remote console.

14. The method according to claim 1, characterized in that, The method further includes: When personnel are detected entering the preset safe distance range or the mining trolley malfunctions, operations are stopped and an alarm signal is sent to the remote control console.

15. An electronic device, characterized in that, include: One or more processors; A memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the method as described in any one of claims 1 to 14.

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