A multi-drill-stand-oriented robot path planning and priority decision method

Abstract

The present application belongs to the field of mine machinery and automation technology, and particularly relates to a kind of multi-drill rig oriented mechanical arm path planning and priority decision method, by collecting each drill rig system state parameter and mechanical arm system state parameter;When any drill rig state or roof state is updated, the priority score of each to-be-served drill rig task is calculated;A task set containing all to-be-served drill rig tasks is constructed, and the optimal service sequence with the shortest completion time of all drill rig tasks is generated through optimization algorithm, and the mechanical arm smooth joint space trajectory is planned;Each drill rig system state parameter and mechanical arm system state parameter is monitored to determine whether there is an abnormal situation;When it is determined that there is an abnormal situation, stop working, recalculate the priority score, and plan the mechanical arm smooth joint space trajectory. Through the present application, the mechanical arm operation sequence and movement path can be dynamically optimized under the premise of ensuring the safety priority of the roof, to minimize the total cycle time of the multi-drill rig support system.

Description

Technical Field

[0001] This invention belongs to the field of mining machinery and automation technology, specifically relating to a method for path planning and priority decision-making of robotic arms for multi-drill rigs. Background Technology

[0002] Rock bolt support is a core process in underground roadway support in coal mines, and its efficiency and reliability directly affect tunneling efficiency and mine safety. Traditional manual support is labor-intensive, inefficient, and unsafe.

[0003] In recent years, automated anchor drilling rigs integrating a single robotic arm and a single drilling rig have emerged, achieving separation of manpower and machine operation, but serious efficiency bottlenecks still exist. To improve the single-cycle advance speed, the industry is actively developing new support equipment that integrates dual arms, multiple arms, and multiple drilling rigs. The "one arm serving multiple drilling rigs" solution has significant advantages in terms of cost, space occupation, and system complexity.

[0004] Existing technologies often employ fixed sequences or simple call-and-response methods, leading to inefficiency. Robotic arms operate in a pre-defined sequence (e.g., left drill rig → right drill rig). When a drill rig's drilling time is extended due to changes in rock hardness, rigs that have already completed drilling are forced to wait idle, dragging down the overall support cycle time due to the slowest rig. Simple call-and-response (first-come, first-served) methods cause the robotic arm to make ineffective back-and-forth movements between drill rigs, resulting in a large amount of redundant movement. Existing methods simplify the problem to "point-to-point movement," failing to consider the precise alignment, insertion, and disengagement of the robotic arm's end effector with the drill rig interface. When the robotic arm grasps different materials (drill rods, anchor bolts, mixers), its end effector posture, interface type, and allowable contact force vary. Directly applying a general path planning method easily leads to collisions, jamming, or thread mis-threading. Therefore, it is impossible to dynamically optimize the robotic arm's work sequence and movement path to minimize the total cycle time of a multi-drill rig support system while ensuring the safety priority of the roof. Summary of the Invention

[0005] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides a method for path planning and priority decision-making of robotic arms for multi-drill rigs.

[0006] This invention is achieved using the following technical solution: a method for path planning and priority decision-making for robotic arms with multiple drilling rigs, comprising: During the downhole multi-drill frame anchoring process, the status parameters of each drill frame system and the status parameters of the robotic arm system are collected. When any drill rig status or top plate status is updated, the priority score of each drill rig task to be served is calculated based on the drill rig system status parameters and the robotic arm system status parameters. Construct a task set containing all drill rig tasks to be served, and generate the optimal service sequence with the shortest time to complete all drill rig tasks through an optimization algorithm; Based on the state parameters of the robotic arm system, the smooth joint spatial trajectory of the robotic arm is planned according to the optimal service sequence; When the robotic arm is controlled to work according to the smooth joint spatial trajectory of the robotic arm, the status parameters of each drill frame system and the status parameters of the robotic arm system are monitored in real time to determine whether there are any abnormalities. When an abnormal situation is detected, stop controlling the robotic arm to work according to the smooth joint spatial trajectory, recalculate the priority score and replan the smooth joint spatial trajectory of the robotic arm.

[0007] Preferably, the status parameters of the drill frame system include: Drill rig status parameters indicate the current working status of each drill rig, including the drill rig position angle and the currently executed operation. The remaining time for drilling, mixing, and other processes is assessed based on the drill box pressure, rotation speed, flow rate, and propulsion displacement. The safety status parameters of the roof are obtained by using a measurement-while-drilling system or a roof detection device to obtain the stability rating of the roof in the support area. The status parameters of the robotic arm system include: Real-time status parameters of the robotic arm, including the current joint angle data, end-effector pose data, and speed and torque data of each joint; The end clamp status includes unloaded, gripping anchor bolt, gripping drill frame, gripping chemical cartridge rod, and gripping mixer; Estimated alignment time from the end effector of the robotic arm to the predetermined docking points of each drill frame; Environmental obstacle parameters are monitored, and the situation inside the alley is detected by lidar. Electronic fences alert to personnel approaching.

[0008] Preferably, the priority score of the drill rig task to be serviced is calculated using a weighted evaluation function, expressed by the following formula: in, The waiting time for the drilling frame is the idle time while waiting for the robotic arm to come and install the anchor bolt after the robotic arm has completed drilling or mixing. Estimate the time required for processes such as adjusting the drill frame's posture, drilling, and tightening anchor bolts; The estimated time for the robotic arm to complete the rod picking and placing process along a predetermined route; As a safety threshold, when As the value approaches infinity, force the task to receive the highest priority. The urgency of roof safety can be assessed in real time using parameters from the drilling monitoring system or roof detection radar. This is a normalization function used to map raw data of different dimensions to the [0,1] interval; The weighting coefficients are adjustable and can be set according to the needs of production efficiency and safety preferences in different periods or optimized by learning from historical data.

[0009] Preferably, based on the state parameters of the robotic arm system, and according to the optimal service sequence, the smooth joint spatial trajectory of the robotic arm is planned, including: When planning the trajectory of the robotic arm's end effector from its current position to the designated drill frame target docking point, the change curve of the end effector contact force is also planned. When the robotic arm approaches the drill frame interface, the position control mode is switched to the force control mode to avoid rigid collisions caused by positioning errors. When the distance between the robotic arm and the drill frame interface is greater than or equal to the preset distance, an improved RRT or A algorithm is used to plan a collision-free position trajectory in the three-dimensional point cloud map of the tunnel and satisfy acceleration constraints to ensure smooth motion. When the distance between the robotic arm and the drill frame interface is greater than or equal to the preset distance, it automatically switches to the force-position hybrid control mode; at the same time, it outputs the position trajectory and the desired contact force curve, and the end of the robotic arm approaches the interface along the position trajectory. At the same time, based on the feedback from the force sensor, it adjusts the end motion to ensure that the actual contact force does not exceed the safety threshold, thus avoiding rigid collisions or thread mis-threading.

[0010] Preferably, in the step of controlling the robotic arm to work according to the smooth joint spatial trajectory of the robotic arm, and monitoring the status parameters of each drill frame system and the status parameters of the robotic arm system in real time to determine whether there is an abnormal situation, the types of abnormal situations include at least: a roof safety event with an urgency level higher than a preset level, a drill frame malfunction alarm, abnormal contact force detected in the force control stage, or an unexpected failure in the environment.

[0011] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a method for robotic arm path planning and priority decision-making for multi-drill rig systems. It collects state parameters of each drill rig system and robotic arm system; when any drill rig state or roof state is updated, it calculates the priority score of each drill rig task to be served; it constructs a task set containing all drill rig tasks to be served, and uses an optimization algorithm to generate the optimal service sequence with the shortest completion time for all drill rig tasks, planning the smooth joint spatial trajectory of the robotic arm; it monitors the state parameters of each drill rig system and robotic arm system in real time to determine if any abnormalities exist; if an abnormality is detected, it stops working, recalculates the priority score, and re-plans the smooth joint spatial trajectory of the robotic arm. This invention enables dynamic optimization of the robotic arm's operation sequence and movement path while ensuring roof safety priority, thereby minimizing the total cycle time of the multi-drill rig support system. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a flowchart illustrating a robotic arm path planning and priority decision-making method for multi-drill rigs provided by the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0016] This invention provides an embodiment: such as Figure 1 As shown, this invention provides a method for path planning and priority decision-making of robotic arms for multi-drill rigs, including: S110: During the anchoring process of multiple drill frames downhole, collect the status parameters of each drill frame system and the status parameters of the robotic arm system.

[0017] The status parameters of the drill frame system include: Drill rig status parameters indicate the current working status of each drill rig, including the drill rig position angle and the currently executed operation. The remaining time for drilling, mixing, and other processes is assessed based on the drill box pressure, rotation speed, flow rate, and propulsion displacement. The safety status parameters of the roof are obtained by using a measurement-while-drilling system or a roof detection device to obtain the stability rating of the roof in the support area. The status parameters of the robotic arm system include: Real-time status parameters of the robotic arm, including the current joint angle data, end-effector pose data, and speed and torque data of each joint; The end clamp status includes unloaded, gripping anchor bolt, gripping drill frame, gripping chemical cartridge rod, and gripping mixer; Estimated alignment time from the end effector of the robotic arm to the predetermined docking points of each drill frame; Environmental obstacle parameters are monitored, and the situation inside the alley is detected by lidar. Electronic fences alert to personnel approaching.

[0018] S120: When any drill rig state or top plate state is updated, calculate the priority score for each drill rig task to be served based on the drill rig system state parameters and the robotic arm system state parameters.

[0019] The priority score of the drill rig task to be serviced is calculated using a weighted evaluation function, expressed by the formula: in, The waiting time for the drilling frame is the idle time while waiting for the robotic arm to come and install the anchor bolt after the robotic arm has completed drilling or mixing. Estimate the time required for processes such as adjusting the drill frame's posture, drilling, and tightening anchor bolts; The estimated time for the robotic arm to complete the rod picking and placing process along a predetermined route; As a safety threshold, when As the value approaches infinity, force the task to receive the highest priority. The urgency of roof safety can be assessed in real time using parameters from the drilling monitoring system or roof detection radar. This is a normalization function used to map raw data of different dimensions to the [0,1] interval; The weighting coefficients are adjustable and can be set according to the needs of production efficiency and safety preferences in different periods or optimized by learning from historical data.

[0020] S130: Construct a task set containing all drill rig tasks to be served, and generate the optimal service sequence with the shortest time to complete all drill rig tasks through an optimization algorithm.

[0021] Specifically, all currently pending drilling rig task points are treated as a task set. Using optimization algorithms, the goal is to find a service sequence with the shortest total task completion time while ensuring safety and preventing interference. This sequence may not be the highest priority point, but rather an optimal combination considering path connectivity and time windows.

[0022] S140: Based on the state parameters of the robotic arm system, plan the smooth joint spatial trajectory of the robotic arm according to the optimal service sequence.

[0023] Based on the optimal service sequence determined in step 3, and combining the kinematic constraints of the robotic arm, the limited space information of the tunnel, and the environmental obstacle information, a smooth joint space trajectory with optimal time and no collisions is planned, starting from the current position of the robotic arm and sequentially visiting each target point in the sequence. When planning the trajectory of the robotic arm's end effector from its current position to the target docking point of the drill rig, the change curve of the end effector contact force is also planned. When the robotic arm approaches the drill rig interface, it switches from position control mode to force control mode to avoid rigid collisions caused by positioning errors.

[0024] Long-distance movement stage (distance from drill frame interface > preset distance D): An improved RRT or A algorithm is used to plan a collision-free position trajectory in the 3D point cloud map of the tunnel and satisfy acceleration constraints to ensure smooth movement.

[0025] During the close-range docking phase (distance from drill frame interface ≤ preset distance D): Automatically switch to force-position hybrid control mode. The planner simultaneously outputs the position trajectory and the desired contact force curve. The robotic arm end effector approaches the interface along the position trajectory, and simultaneously adjusts the end effector movement based on force sensor feedback to ensure that the actual contact force does not exceed the safety threshold, avoiding rigid collisions or thread mis-threading.

[0026] S150: When the robotic arm is controlled to work according to the smooth joint spatial trajectory of the robotic arm, the status parameters of each drill frame system and the status parameters of the robotic arm system are monitored in real time to determine whether there are any abnormalities.

[0027] S160: When an abnormal situation is detected, stop controlling the robot arm to work according to the smooth joint space trajectory of the robot arm, recalculate the priority score and re-plan the smooth joint space trajectory of the robot arm.

[0028] The robotic arm controller executes the planned trajectory, monitoring all states in step S1 in real time throughout the entire support cycle. If a new, more urgent roof safety event occurs, or if the drill rig malfunctions and alarms, or force control stage Abnormal contact force (such as jamming or collision) was detected in the segment. If an unexpected failure occurs in the environment, immediately interrupt the current plan and return to step S2 for dynamic replanning.

[0029] The dynamic comprehensive evaluation model calculates the priority of each drill frame task in real time. This model integrates drill frame waiting time, estimated remaining drilling time, and robotic arm movement space. Physical interaction A balance between safety and efficiency is achieved by considering multiple factors, including the urgency of roof safety. The waiting time for the drilling rig, the idle time while waiting for the robotic arm to install anchor bolts after drilling or mixing, is calculated through multiple measurements to determine the time required for the robotic arm to complete the installation process along a predetermined route. The estimated remaining drilling time is intelligently estimated based on past drilling data, using the drilling rig's rotation speed and feed pressure. The robotic arm's movement space is estimated within the overall space, ensuring that multiple drilling rigs and the robotic arm do not interfere with each other. The urgency of roof safety can be assessed in real time through the drilling monitoring system or roof detection radar. The more unstable the roof in a given area, the higher the priority of the anchor bolt support task at that location, and the more urgent it will be.

[0030] Based on dynamic priority, multi-task sequence optimization is performed to plan the globally optimal or suboptimal job sequence for the robotic arm to serve multiple request points, rather than a simple point-to-point response, which significantly reduces the idle movement of the robotic arm and the idle time of the drilling rig.

[0031] By combining the actual spatial constraints and dynamic obstacle information of the underground roadway, an efficient and collision-free smooth movement path is generated for the determined work sequence to ensure operational safety.

[0032] Ultimately, the overall anchor support cycle is minimized from the start of drilling to the completion of all anchor installations, improving the comprehensive utilization rate of multi-drill-frame support equipment, accelerating tunneling speed, and supporting the implementation of differentiated safety support strategies based on roof conditions.

[0033] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for path planning and priority decision-making of robotic arms for multi-drill rigs, characterized in that, include: During the downhole multi-drill frame anchoring process, the status parameters of each drill frame system and the status parameters of the robotic arm system are collected. When any drill rig status or top plate status is updated, the priority score of each drill rig task to be served is calculated based on the drill rig system status parameters and the robotic arm system status parameters. Construct a task set containing all drill rig tasks to be served, and generate the optimal service sequence with the shortest time to complete all drill rig tasks through an optimization algorithm; Based on the state parameters of the robotic arm system, the smooth joint spatial trajectory of the robotic arm is planned according to the optimal service sequence; When the robotic arm is controlled to work according to the smooth joint spatial trajectory of the robotic arm, the status parameters of each drill frame system and the status parameters of the robotic arm system are monitored in real time to determine whether there are any abnormalities. If an abnormal situation is detected, stop controlling the robotic arm to work according to the smooth joint spatial trajectory of the robotic arm, recalculate the priority score and re-plan the smooth joint spatial trajectory of the robotic arm.

2. The method for path planning and priority decision-making of a robotic arm for multiple drilling rigs according to claim 1, characterized in that, The status parameters of the drill frame system include: Drill rig status parameters indicate the current working status of each drill rig, including the drill rig position angle and the currently executed operation. The remaining time for drilling, mixing, and other processes is assessed based on the drill box pressure, rotation speed, flow rate, and propulsion displacement. The safety status parameters of the roof are obtained by using a measurement-while-drilling system or a roof detection device to obtain the stability rating of the roof in the support area. The state parameters of the robotic arm system include: Real-time status parameters of the robotic arm, including the current joint angle data, end-effector pose data, and speed and torque data of each joint; The end clamp status includes unloaded, gripping anchor bolt, gripping drill frame, gripping chemical cartridge rod, and gripping mixer; Estimated alignment time from the end effector of the robotic arm to the predetermined docking points of each drill frame; Environmental obstacle parameters are monitored, and the situation inside the alley is detected by lidar. Electronic fences alert to personnel approaching.

3. The method for path planning and priority decision-making of a robotic arm for multiple drilling rigs according to claim 1, characterized in that, Priority score of drill rig tasks awaiting service P The formula is obtained through a weighted evaluation function and is expressed as follows: in, The waiting time for the drilling frame is the idle time while waiting for the robotic arm to come and install the anchor bolt after the robotic arm has completed drilling or mixing. Estimate the time required for processes such as adjusting the drill frame's posture, drilling, and tightening anchor bolts; The estimated time for the robotic arm to complete the rod picking and placing process along a predetermined route; As a safety threshold, when As the value approaches infinity, force the task to receive the highest priority. The urgency of roof safety can be assessed in real time using parameters from the drilling monitoring system or roof detection radar. This is a normalization function used to map raw data of different dimensions to the [0,1] interval; The weighting coefficients are adjustable and can be set according to the needs of production efficiency and safety preferences in different periods or optimized by learning from historical data.

4. The method for path planning and priority decision-making of a robotic arm for multiple drilling rigs according to claim 1, characterized in that, Based on the state parameters of the robotic arm system, and according to the optimal service sequence, the smooth joint spatial trajectory of the robotic arm is planned, including: When planning the trajectory of the robotic arm's end effector from its current position to the designated drill frame target docking point, the change curve of the end effector contact force is also planned. When the robotic arm approaches the drill frame interface, the position control mode is switched to the force control mode to avoid rigid collisions caused by positioning errors. When the distance between the robotic arm and the drill frame interface is greater than or equal to the preset distance, an improved RRT or A algorithm is used to plan a collision-free position trajectory in the three-dimensional point cloud map of the tunnel and satisfy acceleration constraints to ensure smooth motion. When the distance between the robotic arm and the drill frame interface is greater than or equal to the preset distance, it automatically switches to the force-position hybrid control mode; at the same time, it outputs the position trajectory and the desired contact force curve, and the end of the robotic arm approaches the interface along the position trajectory. At the same time, based on the feedback from the force sensor, it adjusts the end motion to ensure that the actual contact force does not exceed the safety threshold, thus avoiding rigid collisions or thread mis-threading.

5. The method for path planning and priority decision-making of a robotic arm for multiple drilling rigs according to claim 1, characterized in that, When the robotic arm is controlled to work according to the smooth joint spatial trajectory of the robotic arm, the step of real-time monitoring of the status parameters of each drill frame system and the status parameters of the robotic arm system to determine whether there are any abnormal situations includes at least the following types of abnormal situations: roof safety events with an urgency level higher than the preset level, drill frame malfunction alarms, abnormal contact forces detected in the force control stage, or unexpected environmental malfunctions.

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