CN115256414A - Mining drilling robot and coupling operation method of mining drilling robot and geological and roadway models - Google Patents
Mining drilling robot and coupling operation method of mining drilling robot and geological and roadway models Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/18—Connecting or disconnecting drill bit and drilling pipe
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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Abstract
The invention discloses a mining drilling robot and a coupling operation method of the mining drilling robot with a geological model and a roadway model. The invention can realize the full autonomous walking and drilling operation of the drilling robot, so that the robot has the functions of automatic hole site design, autonomous navigation walking, autonomous reactive drilling and abnormal condition automatic processing coupled with geology and a roadway model according to a gas extraction or rock burst prevention and control task target, and realizes safe, efficient and friendly full autonomous and intelligent drilling operation.
Description
Technical Field
The invention belongs to the technical field of coal mine robots, and particularly relates to a mining drilling robot and a coupling operation method of the mining drilling robot and a geological and roadway model.
Background
The prevention and control of disasters such as coal mine rock burst, gas outburst and the like are important means for reducing coal mine disaster accidents and promoting unmanned mining. Traditional drilling equipment and automatic drilling machines need manual visual distance inner remote control, the efficiency is low, and the danger of personnel exposed near a drilling site area is high; the drilling position is designed according to the exploration result and the manual experience, the randomness of the quality of the drilling position influenced by the experience is high, and the overall intelligent degree is low. The existing automatic drilling machine cannot obtain a positioning result of the automatic drilling machine under a world coordinate system, cannot directly use drilling hole design coordinates obtained by geological exploration to guide drilling hole construction operation, and does not have the capability of realizing autonomous walking operation through automatic planning and obstacle avoidance. The development of an intelligent drilling robot with autonomous working capability is urgently needed.
In the existing patents related to a drilling robot system, a coal roadway cross-layer gas prevention and control drilling design calculation method (application number: 202110068860.9) provides a coal roadway cross-layer gas prevention and control drilling design calculation method, and through establishing a gas prevention and control drilling information database and providing a gas prevention and control unmanned intelligent drilling design principle and method, automatic establishment and accurate correction of a three-dimensional gas geological model, automatic division and update of an extraction unit, intelligent drilling design and dynamic adjustment are achieved. The patent ' coal mine underground drilling robot and a control method thereof ' (201911185729. X) ' provides a coal mine underground drilling robot and a control method thereof, and the coal mine underground drilling robot comprises a walking chassis, a drilling host machine, an automatic drill rod loading and unloading system, an automatic compensation anchoring system, an intelligent control system and a navigation positioning walking system, wherein the drilling host machine, the automatic drill rod loading and unloading system, the automatic compensation anchoring system and the intelligent control system are arranged on the walking chassis; the intelligent control system is connected with the drilling host, the automatic drill rod loading and unloading system, the automatic compensation anchoring system and the navigation positioning traveling system, and a coal mine underground drilling robot system and a control method are designed.
Disclosure of Invention
The technical problem to be solved is as follows: the protection content of the patent includes a drilling design scheme, a drilling robot related system and a control method, but how to couple drilling operation tasks in a geological model and a roadway model with the drilling robot system is not realized, and unified planning, decision and control under the same coordinate system cannot be realized, so that complete autonomy is difficult to realize. Aiming at the technical problems, the invention provides a mining drilling robot and a coupling operation method of the mining drilling robot and a geological and roadway model, which can realize the fully autonomous walking and drilling operation of the drilling robot, so that the robot has the functions of automatic hole site design, autonomous navigation walking, autonomous reaction type drilling and abnormal condition automatic processing coupled with the geological and roadway model according to a gas extraction or rock burst prevention and control task target, and further realizes safe, efficient and friendly fully autonomous and intelligent drilling operation.
The technical scheme is as follows:
a mining drilling robot comprises a drilling robot host system, an underground wireless-looped network high-speed communication system, a remote monitoring service system and a roadway artificial beacon system;
the underground wireless-looped network high-speed communication system comprises a looped network communication network consisting of an underground wireless base station and optical fibers and is used for transmitting the state data of the host system of the drilling robot to the remote monitoring service system and transmitting the decision result of the remote monitoring service system to the host system of the drilling robot;
the tunnel artificial beacon system is arranged in a tunnel through which the host system of the drilling robot runs, and assists the host system of the drilling robot in positioning;
the drilling robot host system comprises a robot positioning navigation control system, a robot automatic drilling machine system, a tail cable winding and unwinding system and a robot chassis walking system; the robot positioning navigation control system, the robot automatic drilling machine system and the tail cable winding and unwinding system are all arranged on the robot chassis walking system; the robot positioning navigation control system is used for positioning, road point planning, path tracking and real-time obstacle avoidance, generates an action series instruction according to the generated motion track, generates corresponding rotating speeds of a left track and a right track of the drilling robot by utilizing a track type differential motion model, and sends the rotating speeds to a robot chassis walking system, so that the full-autonomous motion of a host system of the drilling robot is realized; the robot automatic drilling machine system of the drilling robot host system is used for executing a drill rod propelling task to realize drilling operation; the tail wire cable winding and unwinding system of the drilling robot host machine is combined with the actual rotating speed of the crawler belt, cables are wound, unwound and distributed, the winding and unwinding speed is matched with the actual moving speed of the robot chassis walking system, and the tail wire cable winding and unwinding system is connected with a tail wire cable power supply cabinet output by a substation in a roadway to realize reliable power supply in the moving process of the robot system;
the remote monitoring service system comprises a geological analysis and hole site design system and a simulation optimization system; the geological analysis and hole site design system is used for judging the type and degree of mine hazard based on coal seam gas occurrence data and rock burst monitoring data, generating a gas prevention and/or rock burst prevention and control scheme, and generating drilling information in a drilling field of the next stage by combining drilling parameters fed back by a drilling robot host system in real time with hole site stress field and gas flow field information according to the generated gas prevention and/or rock burst prevention and control scheme; the drilling information comprises drilling positions and directions, drilling intervals and aperture sizes in an absolute geographic coordinate system; the simulation optimization system receives positioning information, environment model information and obstacle information fed back by the robot positioning navigation control system, drill rod angles, attitude information and sensing parameters while drilling fed back by the robot automatic drilling machine system, cable release length and speed information fed back by the tail cable pay-off and take-up system, chassis motion parameter information fed back by the robot chassis walking system, drilling information generated by combining geological analysis and a hole site design system, a drilling operation digital simulation scene is constructed and a drilling operation process is simulated, a walking path of a next task point, a drill rod running track of the automatic drilling machine system, a drilling process, boundary and collision point detection and reliability verification are generated in a simulation mode, optimization design of parameters of the drilling operation process is simulated based on faults and abnormal conditions reproduced in the simulation process, and a decision result corresponding to next-stage drilling information is generated.
Further, the roadway artificial beacon system comprises an Apriltag beacon, a laser transverse and longitudinal beam beacon, a laser reflection beacon and a wireless positioning module base station beacon; the ApfilTag beacon, the laser transverse and longitudinal beam beacon, the laser reflection road sign and the wireless positioning module base station are arranged in a coordinate system calibration area and a correction area in a roadway;
the April tag beacon is used for encoding, the drilling robot uses a visual camera to position and fix the pose based on the April tag beacon, and the April tag is used for encoding absolute geographic coordinates; the laser horizontal and vertical beam beacon irradiates the inner wall and the top plate of the roadway by utilizing a linear laser, a cross laser, a DOE laser and a combination thereof to form the characteristics of a point, a line and a surface artificial laser beam beacon, so that the drilling robot collects the characteristics of the artificial laser beam beacon by utilizing a visual camera to perform visual positioning or SLAM; the laser reflection target is coded by utilizing LiDARTag, so that the drilling robot utilizes a laser radar to collect point cloud for identification and coding; the wireless positioning module base station adopts UWB node ID to encode, and absolute geographic coordinates corresponding to an encoding library constructed in advance are inquired.
Further, for a roadway without a high-precision map, absolute geographic information of various beacons of the roadway artificial beacon system is obtained by a total station based on control point and wire point conduction coordinates and by theodolite orientation measurement; for the laneway with a high-precision map under an absolute world coordinate system, the laneway artificial beacon system aligns the geographic coordinates with the high-precision map to obtain the positions and postures of various beacons based on the absolute coordinate system,
furthermore, the robot positioning navigation control system comprises a sensing unit, an arithmetic unit and an execution unit; the sensing unit comprises an intrinsically safe laser radar, an intrinsically safe camera, an ultra-wideband module and an inertia measuring device, and is used for sensing the self state and the surrounding environment information of the drilling robot and sending the information to the operation unit; the operation unit calculates and generates self pose and surrounding environment obstacle information of the robot by using the information sent by the sensing unit, receives drilling information sent by a geological analysis and hole site design system of the remote monitoring service system, performs positioning and waypoint planning based on a prior map, performs drilling robot path tracking and real-time obstacle avoidance based on a constructed local map, and sends a generated motion track to the execution unit; and the execution unit generates action series instructions according to the motion trail output by the operation unit, generates corresponding rotating speeds of the left and right tracks of the drilling robot by utilizing the track type differential motion model and sends the rotating speeds to the robot chassis walking system.
Furthermore, the robot automatic drilling machine system comprises a drill rod automatic loading and unloading mechanical arm, a drill rod automatic arrangement device, a drill rod propelling device, a drilling system state sensing unit, a drilling space position guiding unit and an operation control unit; the automatic drill rod loading and unloading mechanical arm takes the drill rods out of the automatic drill rod arranging device and places the drill rods in the drill rod propelling device to execute a drill rod propelling task; the drilling system state sensing unit comprises an angle encoder, an inertia measuring unit and a measurement-while-drilling device and is used for respectively measuring the inclination angle, the posture, the acceleration and the speed information of the drill rod; the drilling spatial position guide unit comprises a cross laser and a binocular vision camera, and is installed at the tail end of the automatic loading and unloading mechanical arm, the cross laser emits a cross laser line and irradiates the roadway wall, and the binocular vision camera identifies the spatial position of the midpoint of the cross laser line under a camera coordinate system and transmits the spatial position to the operation control unit; the operation control unit receives angle measurement values fed back by the drilling system state sensing unit and arm rod postures of the mechanical arm, receives robot body pose information obtained by calculation of an operation unit of the drilling robot positioning navigation control system, calculates and obtains the position and posture of each joint of the drill rod automatic loading and unloading mechanical arm and a drill rod on the end effector relative to a base of the drill rod automatic loading and unloading mechanical arm, and calculates the coordinate and posture of the drill rod on the end effector under an absolute world coordinate system by using coordinate transformation of an installation relation; and then, identifying the space position of the cross-shaped midpoint under a camera coordinate system by using a binocular camera, converting the space position into a world coordinate system based on the positioning result of the robot body and coordinate transformation, obtaining the world coordinate of the cross-shaped laser at the irradiation midpoint of the roadway wall, and comparing the world coordinate with the coordinate of a coordinate point planned by a geological analysis and hole site design system of a remote monitoring service system to perform feedback servo control, thereby realizing visual servo control of the target drilling position and visualization of the target drilling point in the roadway.
Furthermore, the remote monitoring service system also comprises a fault diagnosis system and a human-computer interaction system;
the fault diagnosis system receives robot positioning drift, planning abnormity and control error fault information fed back by the robot positioning navigation control system, drilling parameter state monitoring data and drill clamping and drill holding fault information fed back by the robot automatic drilling machine system, tail cable winding and unwinding moment overrun information fed back by the tail cable winding and unwinding system, and hydraulic system pressure, flow and vibration detection abnormity information fed back by the robot chassis walking system, and generates a corresponding solution according to comparison of fault types and a fault parameter table;
the remote monitoring service system also comprises a human-computer interaction system; the man-machine interaction system is used for providing interfaces for a geological analysis and hole site design system, a simulation optimization system and a fault diagnosis system, content attribute query, running state query, simulation control process demonstration, robot running synchronous mirror image feedback and virtual scene running simulation, state evolution backtracking, 2D/3D model display, parameter configuration, control operation, fault information display and alarm service.
The invention also provides a coupling operation method of the mining drilling robot and a geological and roadway model, wherein the mining drilling robot adopts the mining drilling robot;
the coupling operation method comprises the following steps:
s1, constructing a geological and roadway initial model: constructing an initial digital model of the underground operation tunnel by using a GIS + BIM technology, constructing an initial geology and tunnel model under a unified geographic coordinate system, and storing the constructed initial geology and tunnel model under the unified geographic coordinate system in a remote monitoring service system;
s2, artificial beacon deployment, coding and database establishment: measuring the coordinates of the artificial beacon by using a total station instrument and calculating the absolute position or pose under a geographic coordinate system based on the control point and the wire point in the roadway; measuring the intersection point coordinates and the beam direction of the transverse and longitudinal beam beacons of the laser by using total station positioning and theodolite positioning; establishing corresponding artificial beacon information as an alternative database, deploying the alternative database in an operation unit of the robot positioning navigation control system in advance, and using the alternative database as a known input parameter of a positioning and planning task;
s3, geological analysis and hole site design: generating a gas prevention and/or rock burst prevention scheme and drilling information in a next-stage drilling field by adopting a geological analysis and hole site design system, wherein the drilling information comprises drilling positions and directions of drilling points, drilling intervals and hole diameters of drilling points under an absolute geographical coordinate system of each drilling hole on the same section; transmitting the drilling information to a robot positioning navigation control system as an input parameter of a candidate route point of a planning task; transmitting the drilling information to a remote monitoring service system for visualization of the candidate drilling information on the geological and roadway model;
s4, initializing a drilling robot body positioning navigation control system: positioning initialization is carried out by using an artificial beacon near the drilling robot, and the initial pose of the robot under a global geographic coordinate system is obtained; performing initial positioning on the roadway of the existing high-precision map with absolute geographic information aligned based on the roadway model map; constructing a local point cloud map near an initial position of robot starting by using a laser radar;
s5, drilling road point planning driven by the geological model: planning candidate parking waypoints of the robot in the roadway under an absolute geographic coordinate system based on drilling information of the opening points obtained by geological analysis and hole site design and a geological and roadway initial model, and determining the parking position and the attitude of the robot waypoints by using a vertical equidistant method;
s6, simulation and behavior optimization of the operation process: simulating the next stage of path planning, walking obstacle avoidance and drilling operation processes in a simulation optimization system according to the initial tunnel model, the peripheral local three-dimensional point cloud model constructed by the robot and the positioning information, virtually simulating the planned road points, walking obstacle avoidance tracks, drilling operation action execution and the state parameters of the robot at the target road point in the walking process, and optimizing the performance parameters and the technological parameters of the simulation result;
s7, stopping the walking task and the waypoints: after the simulation is finished, according to an optimization result, the drilling robot starts to move, and simultaneously executes environment and self-state perception, beacon-assisted multi-source information fusion positioning, real-time construction of a laser local point cloud map, coupled path planning and track tracking of a roadway model and autonomous walking obstacle avoidance in the moving process until the next planned route is reached, and stops advancing and adjusts the posture of the robot body to the expected posture of the planned route;
s8, self-adaptive control of the attitude of the tail end of the drill boom: after the attitude of the machine body is adjusted, hole opening point drilling information T is obtained by geological analysis and hole site designgoalFor a drilling operation target, a cross laser midpoint irradiated on a roadway wall by a cross laser of a drilling spatial position guide unit is used as the current drill boom tail end position, and a geographic coordinate T of the cross central point is obtained based on binocular vision identification positioning and coordinate transformationcurrentTo in order to
The minimum value of the cross laser is used as an optimization target to carry out visual servo control, the tail end gesture of the drill arm is adjusted until the tail end gesture is matched with the gesture of the hole opening target, and the tail end position and the gesture of the mechanical arm for automatically assembling and disassembling the drill rod are controlled, so that the middle point of the cross laser gradually approaches the hole opening point until e is smaller than a set error threshold value ethresThen stopping the mechanical arm to move; and (3) simultaneously utilizing the real-time information of the laser point cloud map to avoid obstacles in the planning process of the mechanical arm, and obtaining the coordinates of a planning resultThe relation is transformed to judge the position coordinates of the tail end of the mechanical arm and the laser point cloud coordinates corresponding to the marked position to be drilled so as to judge the relative position relation between the tail end of the mechanical arm and the wall of the roadway;
s9, automatic drilling construction and state monitoring while drilling: controlling an automatic loading and unloading mechanical arm to take the drill rod out of the automatic drill rod arranging device, placing the drill rod on a drill rod propelling device, and executing a drill rod rotating and propelling task; after the current drill rod propelling process is completed, the processes of taking a drill rod, installing the drill rod and propelling the drill rod are repeatedly executed, and the drill rod is reversely rotated and detached until the drilling construction task at the current drilling position is completed; judging the operation state and identifying the fault type by using the information measured by the drilling system state sensing unit in the process of drilling;
s10, resetting a moving state and transferring a drilling site: after the robot finishes the drilling construction task at the current position, the motion mode state of the automatic drilling machine system is recovered; releasing the power supply cable by using a tail cable take-up and pay-off system in the walking process;
and S11, repeating the steps S3-S10 until all drilling construction operation tasks are completed.
Further, in step S5, the process of determining the parking position and the attitude of the robot waypoint by using the vertical equidistant method includes the following steps:
s51, extracting a normal vector and a circle center coordinate of a point cloud of a drilling position: extracting local point clouds of a plane where marked circular point clouds of z drilling positions on the same section of the roadway initial point cloud model are located to perform plane fitting, and calculating normal vector of each plane
Fitting and calculating geometric center O of marked circular point cloudiObtaining corresponding absolute coordinates
S52, ground point cloud extraction: the installation height of the laser radar is used as prior information to extract the ground, and the front and back widths of the cross section of the roadway where the z drill holes are located are extracted to be lmPoint clouds in the range and plane fitting is carried out; assuming a flat ground surface, meterCalculating the unit normal vector of the ground plane at the section
The plane equation is Ax + By + Cz + D =0, D is the distance required to translate the plane to the geographic coordinates, x, y, z correspond to the coordinates of the points on the plane;
s53, roadway plane point cloud extraction: after removing the ground point cloud, extracting the maximum plane P in the tunnel point cloud by using RANSAC and clusteringmaxCalculating normal vector as the plane of the side wall of the roadway
And taking a vector pointing to the inner side direction of the roadway, namely a vector vertical to the wall surface of the roadway;
s54, calculating the position of the stop road point: constructing an optimization function:
wherein xj＝(xj，yj，zj) For variables to be optimized, djThe distance between the robot and the ground is restricted; solving the constrained optimization function to obtain the final coordinate
Coordinates of the current parking waypoint;
s55, calculating the attitude of the stop waypoints: using unit normal vector of ground plane at tunnel section
Normal vector of roadway side wall
As a constraint, determining the attitude of the robot at the current waypoint as
Further, in step S7, an absolute geographic information constraint is constructed by constructing aprilat beacons, laser transverse and longitudinal beam beacons, laser reflection road signs, and feature constraints of wireless positioning module base station beacons, so as to conduct geographic coordinates; further combining laser radar scanning matching constraint and camera natural feature constraint, and performing multi-source information fusion positioning based on factor graph optimization; reconstructing a sliding window containing multi-frame laser point clouds as a local point cloud map through the optimized pose; in performing the path planning and trajectory tracking processes, the planar assumption of the waypoint planning in step S52 is compensated by the trajectory tracking control for the introduced model error.
Further, in step S8, the drilling point drilling information T is openedgoalIs expressed as
Wherein
In order to be the coordinates of the position of the drill hole,
the drilling direction vector is obtained by the fitting result of the point cloud circular plane in step S51.
Has the advantages that:
firstly, the mining drilling robot and the coupling operation method of the mining drilling robot and the geological and roadway models have complete drilling robot system and complete functions, and can really realize the complete autonomous operation of the underground drilling robot in a complex environment;
secondly, the mining drilling robot and the coupling operation method of the mining drilling robot with the geological model and the roadway model have the advantages that various artificial beacons are constructed to conduct geographic coordinates, global positioning is carried out under a geographic coordinate system based on multi-source information fusion positioning, and the drilling robot is coupled with the geological model and the roadway model in a walking process;
thirdly, the mining drilling robot and the coupling operation method of the mining drilling robot with the geological model and the roadway model drive drilling waypoint planning through the geological model, and further realize the coupling of the drilling robot with the geological model and the roadway model when the drilling robot executes drilling operation by utilizing the self-adaptive control of the tail end attitude of the drill boom;
fourthly, the mining drilling robot and the coupling operation method of the mining drilling robot and the geological and roadway models have the functions of simulation, behavior optimization, state monitoring while drilling and the like, and are high in intelligent degree, strong in adaptability to the environment and high in operation precision.
Drawings
FIG. 1 is a schematic structural diagram of a mining drilling robot;
fig. 2 is a flow chart of a coupling operation method of the mining drilling robot and a geological and roadway model.
Detailed Description
The following examples are presented to enable one of ordinary skill in the art to more fully understand the present invention and are not intended to limit the invention in any way.
Example 1
Fig. 1 is a schematic structural diagram of a mining drilling robot. Referring to fig. 1, the mining drilling robot comprises a drilling robot host system, a roadway artificial beacon system, an underground wireless-looped network high-speed communication system and a remote monitoring service system.
The drilling robot host system comprises a robot positioning navigation control system, a robot automatic drilling machine system, a tail cable winding and unwinding system and a robot chassis walking system; the robot positioning navigation control system, the robot automatic drilling machine system and the tail cable winding and unwinding system are all arranged on the robot chassis walking system; the tunnel artificial beacon system comprises a visual AprilTag beacon, a laser transverse and longitudinal beam beacon, a laser reflection beacon and a wireless positioning module base station beacon, and is arranged in a tunnel through which the drilling robot runs; the underground wireless-looped network high-speed communication system comprises a looped network communication network consisting of an underground wireless base station and optical fibers and is used for transmitting the state data of the host system of the drilling robot to the remote monitoring service system and transmitting the decision result of the remote monitoring service system to the host system of the drilling robot; the remote monitoring service system comprises a geological analysis and hole site design system, a simulation optimization system, a fault diagnosis system and a human-computer interaction system.
The robot positioning and navigation control system of the drilling robot host system comprises a sensing unit, an arithmetic unit and an execution unit. The sensing unit comprises an intrinsic safety type laser radar, an intrinsic safety type camera, an ultra-wideband module and an inertia measuring device, and is used for sensing the self state and the surrounding environment information of the drilling robot and sending the information to the operation unit; the operation unit calculates and generates self pose and surrounding environment obstacle information of the robot by using the information sent by the sensing unit, receives drilling information sent by a geological analysis and hole site design system of the remote monitoring service system, performs positioning and waypoint planning based on a prior map, performs drilling robot path tracking and real-time obstacle avoidance based on a constructed local map, and sends a generated motion track to the execution unit; and the execution unit generates action series instructions according to the motion trail output by the operation unit, generates corresponding rotating speeds of the left and right tracks of the drilling robot by utilizing the track type differential motion model and sends the rotating speeds to the robot chassis walking system.
The robot automatic drilling machine system of the drilling robot host system comprises a drill rod automatic loading and unloading mechanical arm, a drill rod automatic arrangement device, a drill rod propelling device, a drilling system state sensing unit, a drilling space position guiding unit and an operation control unit; the automatic drill rod loading and unloading mechanical arm takes the drill rods out of the automatic drill rod arranging device and places the drill rods in the drill rod propelling device to execute a drill rod propelling task; the drilling system state sensing unit comprises an angle encoder, an inertia measuring unit and a measurement while drilling device and is used for measuring the inclination angle, the posture, the acceleration and the speed information of the drill rod; the drilling space position guiding unit comprises a cross laser and a binocular vision camera and is installed at the tail end of the mechanical arm of the automatic loading and unloading machine. A cross laser is used for emitting cross laser lines and irradiating the cross laser lines to a roadway wall, a binocular vision camera is used for identifying the spatial position of a cross midpoint under a camera coordinate system, and the spatial position is transmitted to an operation control unit; the operation control unit receives angle measurement values fed back by the drilling system state sensing unit and arm rod postures of the mechanical arm, receives robot body posture information obtained by calculation of the operation unit of the drilling robot positioning navigation control system, obtains the positions and postures of joints of the drill rod automatic loading and unloading mechanical arm and a drill rod on the end effector relative to a base of the drill rod automatic loading and unloading mechanical arm through calculation, and calculates the coordinates and postures of the drill rod on the end effector under an absolute world coordinate system through coordinate transformation of installation relation. The space position of the cross-shaped midpoint under a camera coordinate system is recognized through a binocular, the space position is converted into a world coordinate system based on the robot body positioning result and coordinate transformation, the world coordinate of the cross-shaped laser at the irradiation midpoint of the roadway wall is obtained, feedback servo control is carried out through comparison of the world coordinate of the cross-shaped laser with the coordinate of a coordinate point planned by a geological analysis and hole site design system of a remote monitoring service system, and visual servo control of the position of a target drilling hole and visualization of the target drilling hole in the roadway are achieved.
The tail cable winding and unwinding system of the drilling robot host machine utilizes the torque motor to drive the cable winding roller to realize forward and reverse rotation, and the cables are wound, discharged and distributed through the automatic wire arranging device, the winding and discharging speed is matched with the actual movement speed of the robot chassis walking system, and the tail cable winding and unwinding system is connected with a tail cable power supply cabinet output by a substation in a roadway to realize reliable power supply in the moving process of the robot system.
The robot chassis walking system of the drilling robot host machine receives the corresponding rotating speeds of the left and right tracks output by the robot positioning navigation control system, controls the hydraulic and electric driving, transmission and executing mechanisms, realizes the movement of the chassis tracks, and simultaneously feeds back the actual rotating speed of the tracks to the robot positioning navigation control system and the tail line cable winding and unwinding system.
As a preferred technical scheme of the invention, the roadway artificial beacon system comprises an AprilTag beacon, a laser transverse and longitudinal beam beacon, a laser reflection beacon and a wireless positioning module base station beacon.
The AprilTag beacon, the laser transverse and longitudinal beam beacon, the laser reflection road sign and the wireless positioning module base station are arranged in a coordinate system calibration area and a correction area in a roadway. The April tag beacon is used for encoding, the drilling robot uses a visual camera to position and fix the pose based on the April tag beacon, and the April tag is used for encoding absolute geographic coordinates; the laser transverse and longitudinal beam beacon utilizes a linear laser, a cross laser, a DOE laser and a combination thereof to irradiate the inner wall and the top plate of the roadway to form the characteristics of the artificial laser beam beacon such as points, lines, surfaces and the like. The drilling robot utilizes the vision camera to collect the beacon characteristics of the artificial laser beams to perform vision positioning or SLAM. The laser reflection target is coded by utilizing LiDARTag, and the drilling robot is used for identifying and coding by utilizing a laser radar to collect point cloud; the wireless positioning module base station adopts UWB node ID to encode, and absolute geographic coordinates corresponding to an encoding library constructed in advance are inquired.
As a preferred technical scheme of the invention, the looped network high-speed communication system comprises a looped network communication network consisting of an underground wireless base station and optical fibers and a communication terminal of a robot positioning navigation system, and has bidirectional high-speed communication capability. The looped network high-speed communication system sends the drilling information output by the geological analysis and hole site design system to the robot positioning navigation system and the robot automatic drilling machine system; and simultaneously, sending the information of the position and the posture of the robot, the field environment information of the robot, the tail end position of a drill boom and the like output by the automatic drilling machine system of the robot, which are output by the robot positioning navigation system, to the human-machine interaction system.
As a preferred technical solution of the present invention, the geological analysis and hole site design system of the remote monitoring service system includes a geological analysis unit and a hole site design unit.
The geological analysis unit judges the type and degree of mine hazards based on coal bed gas occurrence condition data obtained by early geological exploration and rock burst monitoring data obtained by microseismic and electromagnetic radiation methods, and generates a gas prevention and/or rock burst prevention scheme by using historical prevention and control data and an expert system.
And the hole site design unit generates drilling information in the drilling field of the next stage by combining drilling parameters fed back by the robot automatic drilling machine system in real time, a hole site stress field and gas flow field information according to a gas prevention and/or rock burst prevention scheme generated by the geological analysis unit. The drilling information comprises drilling position and direction, drilling distance and aperture size in an absolute geographic coordinate system.
The simulation optimization system of the remote monitoring service system receives positioning information, environment model information and obstacle information fed back by a robot positioning navigation control system of a drilling robot host, drill rod angles, posture information and while-drilling sensing parameters fed back by an automatic drilling machine system of the robot, cable release length and speed information fed back by a tail cable take-up and pay-off system, chassis motion parameter information fed back by a chassis walking system of the robot, drilling information generated by combining geological analysis and a hole site design system, a drilling operation digital simulation scene is constructed and a drilling operation process is simulated, a walking path of a next task point, a drill rod running track of the automatic drilling machine system, a drilling process, a boundary and a collision point are simulated and detected and reliability is verified, and optimization design of parameters of the drilling operation process is simulated based on faults and abnormal conditions reproduced in the simulation process.
The fault diagnosis system of the remote monitoring service system receives fault information such as robot positioning drift, planning abnormity, control error and the like fed back by a drilling robot host positioning navigation control system, drilling parameter state monitoring data fed back by a robot automatic drilling machine system, fault information such as drill sticking, drill holding and the like, tail line cable take-up and pay-off torque overrun information, hydraulic system pressure, flow and vibration detection abnormal information fed back by a robot chassis, and generates a corresponding solution according to the comparison of the fault type and a fault parameter table;
the human-computer interaction system of the remote monitoring service system is used for providing interface service, content attribute query, running state query, simulation control process demonstration, robot running synchronous mirror image feedback and virtual scene running simulation, state evolution backtracking, 2D/3D model display, parameter configuration, control operation, fault information display and alarm for a geological analysis and hole site design system, a simulation optimization system and a fault diagnosis system.
As a preferred technical scheme of the invention, for the roadway without a high-precision map, absolute geographic information of various beacons of the artificial beacon system is obtained by using a total station based on control point and wire point conduction coordinates and using theodolite for directional measurement; and for the roadway with the high-precision map under the absolute world coordinate system, aligning the position and the posture of the artificial landmark with the high-precision map by using the geographic coordinate to obtain the position and the posture of the artificial landmark based on the absolute coordinate system.
Example 2
Fig. 2 is a flow chart of a coupling operation method of the mining drilling robot and a geological and roadway model. Referring to fig. 2, the coupling operation method includes the steps of:
s1, construction of a geological and roadway initial model: an initial digital model of the underground operation roadway is constructed by utilizing the GIS + BIM technology, the construction of an initial geology and roadway model under a unified geographic coordinate system is realized, and the initial geology and roadway model is stored in a drilling robot host remote monitoring service system.
S2, artificial beacon deployment, coding and database establishment: measuring the coordinates of the artificial beacon by using a total station instrument and calculating the absolute position or pose under a geographic coordinate system based on the control point and the wire point in the roadway; measuring the coordinates of the intersection points of the transverse and longitudinal beam beacons of the laser and the beam direction by using total station positioning and theodolite positioning; and establishing corresponding artificial beacon information as an alternative database, deploying the alternative database in an operation unit of the robot positioning navigation control system in advance, and using the alternative database as a known input parameter of a positioning and planning task.
S3, geological analysis and hole site design: in a geological analysis and hole site design system of a drilling robot host remote monitoring service system, a gas prevention and/or rock burst prevention scheme and quasi-drilling information in a next-stage drilling field are generated, wherein the quasi-drilling information comprises drilling positions and directions of drilling points, drilling intervals and hole diameters of drilling holes under an absolute geographic coordinate system of each drilling hole on the same cross section. And transmitting the drilling information to an arithmetic unit of the robot positioning navigation control system to be used as an input parameter of a candidate route point of the planning task. And transmitting the drilling information to a drilling robot host remote monitoring service system for visualization of the candidate drilling information on the geological and roadway model.
S4, initializing a drilling robot body positioning navigation control system: and positioning initialization is carried out by using an artificial beacon near the drilling robot, and the initial pose of the robot under the global geographic coordinate system is obtained. And for the roadway with the high-precision map aligned with the absolute geographic information, performing initial positioning based on the roadway model map. Constructing a local point cloud map near the initial position of the robot start by using a laser radar;
s5, drilling waypoint planning driven by the geological model: and planning candidate parking waypoints of the robot in the roadway under an absolute geographic coordinate system based on the drilling information of the opening points obtained by geological analysis and hole site design and the geological and roadway initial model, and determining the parking position and the attitude of the robot waypoints by using a vertical equidistant method.
S6, simulation and behavior optimization of the operation process: according to the initial tunnel model, the peripheral local three-dimensional point cloud model constructed by the robot and the positioning information, the next stage of path planning, walking obstacle avoidance and drilling operation processes are simulated in a simulation optimization system of the remote monitoring service system, the planned road points, walking obstacle avoidance tracks, drilling operation execution and target road point position robot state parameters in the walking process are subjected to virtual simulation, and the performance parameters and technological parameters of the simulation result are optimized.
S7, stopping the walking task and the waypoints: and after the simulation is finished, the drilling robot is started to move according to an optimization result, the beacon-assisted multi-source information fusion positioning, the real-time construction of a laser local point cloud map, the coupled path planning and track tracking of a roadway model and the autonomous walking obstacle avoidance are simultaneously executed in the moving process, and the robot stops moving forward and adjusts the posture of the robot body to the expected posture of the planned waypoint until the next waypoint is reached.
S8, self-adaptive control of the attitude of the tail end of the drill boom: after the attitude of the machine body is adjusted, the drilling information of the drilling point obtained by geological analysis and hole site design is taken as a target TgoalThe cross laser midpoint irradiated on the roadway wall by the cross laser of the drilling spatial position guide unit is used as the current drill boom tail end position, and the geographic coordinate T of the cross central point is obtained based on binocular vision identification positioning and coordinate transformationcurrentTo do so by
Performing visual servo control on the minimum target, adjusting the tail end posture of the drill arm until the tail end posture is matched with the posture of the hole opening target, and controlling the tail end position and posture of the automatic loading and unloading mechanical arm of the drill rod to enable the cross-shaped laser midpoint to gradually approach the hole opening point until e is smaller than a set error threshold value ethresAnd then stopping the mechanical arm to move. And in the mechanical arm planning process, the real-time information of the laser point cloud map is simultaneously utilized for avoiding obstacles, and the relative position relationship between the tail end of the mechanical arm and the roadway wall is judged by judging the position coordinate of the tail end of the mechanical arm and the laser point cloud coordinate corresponding to the marked position to be drilled according to the coordinate transformation relationship of the planning result.
S9, automatic drilling construction and state monitoring while drilling: controlling an automatic loading and unloading mechanical arm to take out the drill rod from the automatic drill rod arranging device (taking the drill rod), placing the drill rod on a drill rod propelling device (loading the drill rod), and executing a drill rod rotating and propelling task (propelling the drill rod); and after the current drill rod propelling process is finished, the processes of taking the drill rod, installing the drill rod and propelling the drill rod are repeatedly executed until the drilling construction task at the current drilling position is finished, and the drill rod is reversely rotated to be dismantled. And in the process of drilling, the information measured by the drilling system state sensing unit is utilized to judge the operation state and identify the fault type.
S10, moving state resetting and drill site transferring: after the robot finishes the drilling construction task at the current position, the motion mode state of the automatic drilling machine system is recovered; releasing the power supply cable by using a tail cable take-up and pay-off system in the walking process; and repeating the steps S3 to S8 until all drilling construction operation tasks are completed.
As a preferred technical solution of the present invention, in the steps S1 and S2, the geological and roadway initial model and the artificial beacon are completely corresponding to each other in geographic information, and are uniformly established in a geographic coordinate system. In the step S1, the initial tunnel model includes multi-level information including, but not limited to, a BIM model layer, a point cloud model layer, and a mesh model layer.
In the step S2, various artificial beacons are deployed according to factors such as underground actual working conditions, environmental adaptability, cost performance, safety and realizability in a comprehensive consideration mode. Except for being deployed in a coordinate system calibration area and a correction area in a roadway in an initialization stage, the visual two-dimensional code in the artificial signpost is deployed in a roadway area with good illumination conditions and without obvious texture features, and power is supplied to the area with poor illumination conditions by utilizing a roadway infrastructure to realize self-illumination; the laser target in the artificial road sign is deployed in a roadway area without obvious structural change; the UWB base station is deployed in a dust, water vapor and smoke roadway area; the combination of the artificial road signs can realize the full scene coverage of the roadway.
In the step S2, the method for calculating the absolute positions of AprilTag and laser-reflected landmarks of the roadway artificial landmark system in the geographic coordinate system includes:
wherein,
wherein P is1(x1，y1)、P2(x2，y2)、P3(x3，y3) Is the coordinate of any continuous three points at four corner points of a square AprilTag or laser target, P0(x0，y0) The coordinates of the center point of the square are obtained by guiding measurement of the total station based on the control point. Wherein
The requirement of being perpendicular to the target and facing the inner side direction of the roadway is met.
As a preferred technical solution of the present invention, in the step S5, the vertical equidistant method is implemented by the following steps:
s51, extracting a normal vector and a circle center coordinate of a point cloud of a drilling position: extracting local point clouds of a plane where marked circular point clouds of z drilling positions on the same section of the initial point cloud model of the roadway are located, performing plane fitting, and calculating normal vector of each plane
Fitting and calculating geometric center O of marked circular point cloudiObtaining corresponding absolute coordinates
S52, ground point cloud extraction: the installation height of the laser radar is used as prior information to extract the ground, point clouds with the width lm of the front and back of the cross section of the roadway where the z drilling holes are located are extracted, and plane fitting is carried out. Assuming that the ground is flat, calculating the unit normal vector of the ground plane at the section
The plane equation is Ax + By + Cz + D =0, D is the distance required to translate the plane to geographic coordinates, and x, y, z correspond to the coordinates of a point on the plane.
S53, roadway plane point cloud extraction: after removing the ground point cloud, extracting the maximum plane P in the tunnel point cloud by using RANSAC and clusteringmaxCalculating normal vector as the plane of the side wall of the roadway
And taking a vector pointing to the inner side direction of the roadway, namely a vector perpendicular to the wall surface of the roadway.
S54, calculating the position of the stop road point: constructing an optimization function
Wherein xj＝(xj，yj，zj) For variables to be optimized, djAnd the distance between the robot and the ground is restricted. Solving the constrained optimization function to obtain the final coordinate
Is the current stop waypoint coordinates.
S55, calculating the attitude of the stop waypoints: by using the ground of the roadway sectionThe unit normal vector of the plane and the normal vector of the side wall of the roadway are used as constraints to determine the attitude of the robot at the current waypoint
As a preferred technical solution of the present invention, in step S7, based on the intrinsically safe laser radar, the intrinsically safe camera, the ultra wideband module, and the inertial measurement device, the multi-sensor fusion SLAM, the target identification, the semantic segmentation and classification are implemented, so as to implement the perception of the environment and the self-state; absolute geographic information constraint is constructed by constructing AprilTag beacons, laser transverse and longitudinal beam beacons, laser reflection road signs and characteristic constraints of wireless positioning module base station beacons, transmission of geographic coordinates is realized, and multi-source information fusion positioning is realized based on factor graph optimization by further combining laser radar scanning matching constraint, camera natural characteristic constraint and the like; reconstructing a sliding window containing multi-frame laser point clouds as a local point cloud map through the optimized pose; in the process of executing the path planning and the trajectory tracking, model errors introduced due to the plane assumption of the waypoint planning in the step S5 are compensated by the trajectory tracking control.
As a preferred technical solution of the present invention, in step S8, on the basis of the planning of the pose of the end of the robot arm using the transformation relationship between the laser point cloud marking target point and the robot coordinate, the world coordinate of the planned target point and the pose of the end of the robot arm controlled by the visual servo are further used, so as to implement the reactive drilling for fast adjustment when the pose of the robot body changes due to the impact vibration of the robot.
As a preferred embodiment of the present invention, in the step S8, the drilling point drilling information T is setgoalPosition and drilling direction of
Wherein
In order to be the coordinates of the position of the drill hole,
the drilling direction vector is obtained by the fitting result of the point cloud circular plane in step S51.
The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.
Claims (10)
1. A mining drilling robot is characterized by comprising a drilling robot host system, an underground wireless-looped network high-speed communication system, a remote monitoring service system and a roadway artificial beacon system;
the underground wireless-looped network high-speed communication system comprises a looped network communication network consisting of an underground wireless base station and optical fibers and is used for transmitting the state data of the host system of the drilling robot to the remote monitoring service system and transmitting the decision result of the remote monitoring service system to the host system of the drilling robot;
the tunnel artificial beacon system is arranged in a tunnel through which the host system of the drilling robot runs, and assists the host system of the drilling robot in positioning;
the drilling robot host system comprises a robot positioning navigation control system, a robot automatic drilling machine system, a tail cable winding and unwinding system and a robot chassis walking system; the robot positioning navigation control system, the robot automatic drilling machine system and the tail cable winding and unwinding system are all arranged on the robot chassis walking system; the robot positioning navigation control system is used for positioning, road point planning, path tracking and real-time obstacle avoidance, generates an action series instruction according to the generated motion track, generates corresponding rotating speeds of a left track and a right track of the drilling robot by utilizing a track type differential motion model, and sends the rotating speeds to a robot chassis walking system, so that the full-autonomous motion of a host system of the drilling robot is realized; the robot automatic drilling machine system of the drilling robot host system is used for executing a drill rod propelling task to realize drilling operation; the tail wire cable winding and unwinding system of the drilling robot host machine is combined with the actual rotating speed of the crawler belt, cables are wound, unwound and distributed, the winding and unwinding speed is matched with the actual moving speed of the robot chassis walking system, and the tail wire cable winding and unwinding system is connected with a tail wire cable power supply cabinet output by a substation in a roadway to realize reliable power supply in the moving process of the robot system;
the remote monitoring service system comprises a geological analysis and hole site design system and a simulation optimization system; the geological analysis and hole site design system is used for judging the type and degree of mine hazard based on coal bed gas occurrence condition data and rock burst monitoring data, generating a gas control and/or rock burst control scheme, and generating drilling information in a drilling field of the next stage by combining drilling parameters fed back by a drilling robot host system in real time with a hole area stress field and gas flow field information according to the generated gas control and I or rock burst control scheme; the drilling information comprises drilling positions and directions, drilling intervals and aperture sizes in an absolute geographic coordinate system; the simulation optimization system receives positioning information, environment model information and obstacle information fed back by the robot positioning navigation control system, drill rod angles, attitude information and sensing parameters while drilling fed back by the robot automatic drilling machine system, cable release length and speed information fed back by the tail cable pay-off and take-up system, chassis motion parameter information fed back by the robot chassis walking system, drilling information generated by combining geological analysis and a hole site design system, a drilling operation digital simulation scene is constructed and a drilling operation process is simulated, a walking path of a next task point, a drill rod running track of the automatic drilling machine system, a drilling process, boundary and collision point detection and reliability verification are generated in a simulation mode, optimization design of parameters of the drilling operation process is simulated based on faults and abnormal conditions reproduced in the simulation process, and a decision result corresponding to next-stage drilling information is generated.
2. The mining drilling robot of claim 1, wherein the roadway artificial beacon system comprises an aprilat beacon, a laser transverse and longitudinal beam beacon, a laser reflection beacon, and a wireless positioning module base station beacon; the AprilTag beacon, the laser transverse and longitudinal beam beacon, the laser reflection road sign and the wireless positioning module base station are arranged in a coordinate system calibration area and a correction area in a roadway;
the April tag beacon is used for encoding, the drilling robot uses a visual camera to position and fix the pose based on the April tag beacon, and the April tag is used for encoding absolute geographic coordinates; the horizontal and vertical beam beacons of the laser device irradiate the inner wall and the top plate of the roadway by utilizing a line laser, a cross laser, a DOE laser and a combination thereof to form point, line and surface artificial laser beam beacon characteristics, so that the drilling robot utilizes a visual camera to collect the artificial laser beam beacon characteristics for visual positioning or SLAM; the laser reflection target is coded by utilizing LiDARTag, so that the drilling robot utilizes a laser radar to collect point cloud for identification and coding; the wireless positioning module base station adopts UWB node ID to encode, and absolute geographic coordinates corresponding to an encoding library constructed in advance are inquired.
3. The mining drilling robot of claim 2, wherein for a roadway without a high-precision map, absolute geographic information for the various beacons of the roadway artificial beacon system is obtained with a total station based on control point and wire point conductive coordinates, with theodolite directional measurements; for the roadway with the high-precision map under the absolute world coordinate system, the roadway artificial beacon system aligns the geographic coordinates with the high-precision map to obtain the positions and postures of various beacons based on the absolute coordinate system,
4. the mining drilling robot of claim 1, wherein the robot positioning navigation control system comprises a sensing unit, an arithmetic unit, and an execution unit; the sensing unit comprises an intrinsically safe laser radar, an intrinsically safe camera, an ultra-wideband module and an inertia measuring device, and is used for sensing the self state and the surrounding environment information of the drilling robot and sending the information to the operation unit; the operation unit calculates and generates self pose and surrounding environment obstacle information of the robot by using the information sent by the sensing unit, receives drilling information sent by a geological analysis and hole site design system of the remote monitoring service system, performs positioning and waypoint planning based on a prior map, performs drilling robot path tracking and real-time obstacle avoidance based on a constructed local map, and sends a generated motion track to the execution unit; and the execution unit generates action series instructions according to the motion trail output by the operation unit, generates corresponding rotating speeds of the left and right tracks of the drilling robot by utilizing the track type differential motion model and sends the rotating speeds to the robot chassis walking system.
5. The mining drilling robot according to claim 1, wherein the automatic drilling system of the robot comprises an automatic drill rod loading and unloading mechanical arm, an automatic drill rod arranging device, a drill rod propelling device, a drilling system state sensing unit, a drilling space position guiding unit and an arithmetic control unit; the automatic drill rod loading and unloading mechanical arm takes the drill rods out of the automatic drill rod arranging device and places the drill rods in the drill rod propelling device to execute a drill rod propelling task; the drilling system state sensing unit comprises an angle encoder, an inertia measuring unit and a measurement-while-drilling device and is used for respectively measuring the inclination angle, the posture, the acceleration and the speed information of the drill rod; the drilling spatial position guide unit comprises a cross laser and a binocular vision camera, and is installed at the tail end of the automatic loading and unloading mechanical arm, the cross laser emits a cross laser line and irradiates the roadway wall, and the binocular vision camera identifies the spatial position of the midpoint of the cross laser line under a camera coordinate system and transmits the spatial position to the operation control unit; the operation control unit receives angle measurement values fed back by the drilling system state sensing unit and arm rod postures of the mechanical arm, receives robot body pose information obtained by calculation of an operation unit of the drilling robot positioning navigation control system, calculates and obtains the position and posture of each joint of the drill rod automatic loading and unloading mechanical arm and a drill rod on the end effector relative to a base of the drill rod automatic loading and unloading mechanical arm, and calculates the coordinate and posture of the drill rod on the end effector under an absolute world coordinate system by using coordinate transformation of an installation relation; and then, identifying the space position of the cross-shaped midpoint under a camera coordinate system by using a binocular, converting the space position into a world coordinate system based on the positioning result of the robot body and coordinate transformation, obtaining the world coordinate of the cross-shaped laser at the irradiation midpoint of the roadway wall, and comparing the world coordinate with the coordinate of a coordinate point planned by a geological analysis and hole site design system of a remote monitoring service system to perform feedback servo control, thereby realizing the visual servo control of the target drilling position and the visualization of the target drilling point in the roadway.
6. The mining drilling robot of claim 1, wherein the remote monitoring service system further comprises a fault diagnosis system and a human-computer interaction system;
the fault diagnosis system receives robot positioning drift, planning abnormity and control error fault information fed back by the robot positioning navigation control system, drilling parameter state monitoring data and drill jamming and drill holding fault information fed back by the robot automatic drilling machine system, tail cable winding and unwinding moment overrun information fed back by the tail cable winding and unwinding system, and hydraulic system pressure, flow and vibration detection abnormity information fed back by the robot chassis walking system, and generates a corresponding solution according to the comparison of the fault type and a fault parameter table;
the remote monitoring service system also comprises a human-computer interaction system; the human-computer interaction system is used for providing interfaces, content attribute query, running state query, simulation control process demonstration, robot running synchronous mirror image feedback and virtual scene running simulation, state evolution backtracking, 2D/3D model display, parameter configuration, control operation, fault information display and alarm service for a geological analysis and hole site design system, a simulation optimization system and a fault diagnosis system.
7. A coupling operation method of a mining drilling robot and a geological and roadway model is characterized in that the mining drilling robot adopts the mining drilling robot as claimed in any one of claims 1 to 6;
the coupling operation method comprises the following steps:
s1, constructing a geological and roadway initial model: constructing an initial digital model of the underground operation tunnel by using a GIS + BIM technology, constructing an initial geology and tunnel model under a unified geographic coordinate system, and storing the constructed initial geology and tunnel model under the unified geographic coordinate system in a remote monitoring service system;
s2, artificial beacon deployment, coding and database establishment: measuring the coordinates of the artificial beacon by using a total station instrument and calculating the absolute position or pose under a geographic coordinate system based on the control point and the wire point in the roadway; measuring the intersection point coordinates and the beam direction of the transverse and longitudinal beam beacons of the laser by using total station positioning and theodolite positioning; establishing corresponding artificial beacon information as an alternative database, deploying the alternative database in an operation unit of the robot positioning navigation control system in advance, and using the alternative database as a known input parameter of a positioning and planning task;
s3, geological analysis and hole site design: generating a gas prevention and/or rock burst prevention scheme and drilling information in a next-stage drilling field by adopting a geological analysis and hole site design system, wherein the drilling information comprises drilling positions and directions of drilling points, drilling intervals and hole diameters of drilling points under an absolute geographical coordinate system of each drilling hole on the same section; transmitting the drilling information to a robot positioning navigation control system to serve as an input parameter of a planning task candidate route point; transmitting the drilling information to a remote monitoring service system for visualization of the candidate drilling information on the geological and roadway model;
s4, initializing a drilling robot body positioning navigation control system: positioning initialization is carried out by using an artificial beacon near the drilling robot, and the initial pose of the robot under a global geographic coordinate system is obtained; performing initial positioning on the roadway of the existing high-precision map with absolute geographic information aligned based on the roadway model map; constructing a local point cloud map near an initial position of robot starting by using a laser radar;
s5, drilling waypoint planning driven by the geological model: planning candidate parking waypoints of the robot in the roadway under an absolute geographic coordinate system based on drilling information of the opening points obtained by geological analysis and hole site design and a geological and roadway initial model, and determining the parking position and the attitude of the robot waypoints by using a vertical equidistant method;
s6, simulation and behavior optimization of the operation process: simulating the next-stage path planning, walking obstacle avoidance and drilling operation processes in a simulation optimization system according to the initial tunnel model, the peripheral local three-dimensional point cloud model constructed by the robot and the positioning information, virtually simulating the planned road points, walking obstacle avoidance tracks, drilling operation action execution and target road point position robot state parameters in the walking process, and optimizing the performance parameters and the process parameters of the simulation result;
s7, stopping the walking task and the waypoints: after the simulation is finished, according to an optimization result, the drilling robot starts to move, and simultaneously executes environment and self-state perception, beacon-assisted multi-source information fusion positioning, real-time construction of a laser local point cloud map, coupled path planning and track tracking of a roadway model and autonomous walking obstacle avoidance in the moving process until the next planned route is reached, and stops advancing and adjusts the posture of the robot body to the expected posture of the planned route;
s8, self-adaptive control of the tail end attitude of the drill boom: after the attitude of the machine body is adjusted, the drilling information T of the drilling point is obtained by geological analysis and hole site designgoalFor a drilling operation target, a cross laser midpoint irradiated on a roadway wall by a cross laser of a drilling spatial position guide unit is used as the current drill boom tail end position, and a geographic coordinate T of the cross central point is obtained based on binocular vision identification positioning and coordinate transformationcurrentTo do so by
The minimum value of the cross laser is used as an optimization target to carry out visual servo control, the tail end gesture of the drill arm is adjusted until the tail end gesture is matched with the gesture of the hole opening target, and the tail end position and the gesture of the mechanical arm for automatically assembling and disassembling the drill rod are controlled, so that the middle point of the cross laser gradually approaches the hole opening point until e is smaller than a set error threshold value ethresThen stopping the mechanical arm to move; in the mechanical arm planning process, the real-time information of a laser point cloud map is simultaneously utilized for avoiding barriers, and the relative position relationship between the tail end of the mechanical arm and the roadway wall is judged by judging the position coordinate of the tail end of the mechanical arm and the laser point cloud coordinate corresponding to the marked position to be drilled through the coordinate transformation relationship of the planning result;
s9, automatic drilling construction and state monitoring while drilling: controlling an automatic loading and unloading mechanical arm to take the drill rod out of the automatic drill rod arranging device, placing the drill rod on a drill rod propelling device, and executing a drill rod rotating and propelling task; after the current drill rod propelling process is completed, the processes of taking a drill rod, installing the drill rod and propelling the drill rod are repeatedly executed, and the drill rod is reversely rotated and detached until the drilling construction task at the current drilling position is completed; judging the operation state and identifying the fault type by using the information measured by the drilling system state sensing unit in the process of drilling;
s10, moving state resetting and drill site transferring: after the robot finishes the drilling construction task at the current position, the motion mode state of the automatic drilling machine system is recovered; releasing the power supply cable by using a tail cable take-up and pay-off system in the walking process;
and S11, repeating the steps S3 to S10 until all drilling construction operation tasks are completed.
8. The mining drilling robot and geology and roadway model coupling operation method according to claim 7, wherein in the step S5, the process of determining the parking position and the attitude of the robot waypoint by using the vertical equidistance method comprises the following steps:
s51, extracting a normal vector and a circle center coordinate of a point cloud of a drilling position: extracting local point clouds of a plane where marked circular point clouds of z drilling positions on the same section of the roadway initial point cloud model are located to perform plane fitting, and calculating normal vector of each plane
Fitting and calculating geometric center O of marked circular point cloudiObtaining corresponding absolute coordinates
S52, ground point cloud extraction: the installation height of the laser radar is used as prior information to extract the ground, and the front and back widths of the cross section of the roadway where the z drill holes are located are extracted to be lmPoint clouds in the range and plane fitting is carried out; assuming that the ground is flat, calculating the unit normal vector of the ground plane at the section
The plane equation is Ax + By + Cz + D =0, D is the distance required to translate the plane to the geographic coordinates, x, y, z correspond to the coordinates of the points on the plane;
s53, roadway plane point cloud extraction: after removing the ground point cloud, extracting the maximum plane P in the tunnel point cloud by using RANSAC and clusteringmaxCalculating normal vector as the plane of the side wall of the roadway
And taking a vector pointing to the inner side direction of the roadway, namely a vector vertical to the wall surface of the roadway;
s54, calculating the position of the stop road point: constructing an optimization function:
wherein x isj＝(xj，yj，zj) For variables to be optimized, djThe distance between the robot and the ground is restricted; solving the constrained optimization function to obtain the final coordinate
Coordinates of the current parking waypoint;
s55, calculating the attitude of the stop waypoints: by using unit normal vector of ground plane at tunnel section
Normal vector of roadway side wall
As a constraint, determining the attitude of the robot at the current waypoint as
9. The mining drilling robot and geology/roadway model coupling operation method according to claim 8, wherein in step S7, absolute geographic information constraint is constructed by constructing aprilat beacon, laser beam beacon, laser reflection road sign, wireless positioning module base station beacon characteristic constraint, and geographic coordinate conduction is performed; further combining laser radar scanning matching constraint and camera natural feature constraint, and performing multi-source information fusion positioning based on factor graph optimization; reconstructing a sliding window containing multi-frame laser point clouds as a local point cloud map through the optimized pose; in performing the path planning and trajectory tracking processes, the planar assumption of the waypoint planning in step S52 is compensated by the trajectory tracking control for the introduced model error.
10. The method for coupling the mining drilling robot with the geological and roadway model according to claim 8, wherein in step S8, the drilling information T of the drilling points is obtainedgoalIs expressed as
Wherein
In order to be the coordinates of the position of the drill hole,
the drilling direction vector is obtained from the result of fitting the circular plane of the point cloud in step S51.
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