CN115256414B - Mining drilling robot and coupling operation method thereof with geological and roadway model - Google Patents

Mining drilling robot and coupling operation method thereof with geological and roadway model Download PDF

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CN115256414B
CN115256414B CN202210874396.7A CN202210874396A CN115256414B CN 115256414 B CN115256414 B CN 115256414B CN 202210874396 A CN202210874396 A CN 202210874396A CN 115256414 B CN115256414 B CN 115256414B
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drilling
robot
roadway
information
laser
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CN115256414A (en
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李猛钢
张运通
周公博
唐超权
胡而已
朱华
周坪
魏春领
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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 characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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 characterized 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

Abstract

The invention discloses a mining drilling robot and a coupling operation method of the mining drilling robot and a geological and roadway model. The invention can realize the full-automatic walking and drilling operation of the drilling robot, so that the robot has the functions of automatic hole site design, automatic navigation walking, automatic reaction type drilling and automatic abnormal condition processing coupled with geology and roadway models according to the gas extraction or rock burst control task target, and the full-automatic and intelligent drilling operation which is safe, efficient and friendly is realized.

Description

Mining drilling robot and coupling operation method thereof with geological and roadway model
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 exploitation. The traditional drilling equipment and the automatic drilling machine need manual in-line-of-sight remote control, so that the efficiency is low, and the danger of personnel exposure near a drilling field area is high; the drilling position is designed according to the exploration result and the artificial experience, the randomness of the quality of the drilling position is large under the influence of experience, and the whole intelligent degree is low. The existing automatic drilling machine cannot obtain a positioning result of the automatic drilling machine under a world coordinate system, drilling design coordinates obtained by geological exploration cannot be directly used for guiding drilling construction operation, and the automatic drilling machine does not have the capability of realizing autonomous walking operation through automatic planning and obstacle avoidance. There is an urgent need to develop intelligent drilling robots with autonomous working capabilities.
In the existing patents related to drilling robot systems, a method for calculating the design of the drilling of the coal roadway through-layer gas prevention and treatment holes is provided by the patent (application number: 202110068860.9), and the automatic establishment and accurate correction of a three-dimensional gas geological model, automatic division and updating of a drainage unit, intelligent drilling design and dynamic adjustment are realized by establishing a gas prevention and treatment drilling information database and providing an unmanned intelligent drilling design principle and method for gas prevention and treatment. The patent of the underground drilling robot of the coal mine and a control method thereof (201911185729. X) provides the underground drilling robot of the coal mine and the control method thereof, which comprise a walking chassis, a drilling host arranged on the walking chassis, an automatic drilling rod loading and unloading system, an automatic compensation anchoring system, an intelligent control system and a navigation positioning walking system; the intelligent control system is connected with the drilling host, the automatic drilling rod loading and unloading system, the automatic compensation anchoring system and the navigation positioning running system, and the underground coal mine drilling robot system and the control method are designed.
Disclosure of Invention
The technical problems to be solved are as follows: the protection content of the patent comprises a drilling design scheme, a related system and a control method of a drilling robot, but the drilling operation tasks in a geological model and a roadway model are not coupled with the drilling robot system, and unified planning, decision-making 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 the mining drilling robot and the coupling operation method of the mining drilling robot with the geological and roadway models, which 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 according to the gas extraction or rock burst control task target, and then realizes the safe, efficient and friendly full-autonomous and intelligent drilling operation.
The technical scheme is as follows:
the 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 formed by an underground wireless base station and an optical fiber, and is used for transmitting state data of the drilling robot host system to the remote monitoring service system and transmitting decision results of the remote monitoring service system to the drilling robot host system;
the tunnel artificial beacon system is arranged in a tunnel through which the drilling robot host system runs, and is used for assisting the drilling robot host system 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 running 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 running system; the robot positioning navigation control system is used for positioning, road point planning, path tracking and real-time obstacle avoidance, generates action series instructions according to the generated motion trail, generates corresponding rotating speeds of left and right tracks of the drilling robot by using a crawler type differential motion model, and sends the rotating speeds to the robot chassis running system to realize full-autonomous motion of the drilling robot host system; the robot automatic drilling machine system of the drilling robot host system is used for executing a drill rod propelling task and realizing drilling operation; the tail cable winding and unwinding system of the drilling robot host combines the actual rotation speed of the crawler, winds and unwinds the cable, the winding and unwinding speeds are matched with the actual movement speed of the robot chassis running system, and the winding and unwinding speeds are 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 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 harm 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 drill site of the next stage according to the generated gas control and/or rock burst control scheme and combining drilling parameters fed back in real time by a drilling robot host system with stress field and gas flow field information of a hole area; the drilling information comprises drilling positions and directions, drilling intervals and pore sizes in an absolute geographic coordinate system; the simulation optimizing system receives positioning information, environment model information and barrier information fed back by the robot positioning navigation control system, drill rod angle, attitude information and while-drilling sensing parameters fed back by the robot automatic drilling machine system, cable release length and speed information fed back by the tail cable winding and unwinding system, chassis motion parameter information fed back by the robot chassis traveling system, drilling information generated by combining geological analysis and hole site design systems, constructs a drilling operation digital simulation scene, performs a simulated drilling operation process, simulates and generates a traveling path of a next task point, a drill rod traveling track of the automatic drilling machine system, a drilling and drilling process, boundary and collision point detection and reliability verification, performs optimization design of simulated drilling operation process parameters based on faults and abnormal conditions represented by the simulation process, and generates a decision result corresponding to the drilling information of the next stage.
Further, the roadway artificial beacon system comprises an april tag beacon, a laser transverse and longitudinal beam beacon, a laser reflection beacon and a wireless positioning module base station beacon; the april tag 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 AprilTag beacon is encoded by using an AprilTag tag, the drilling robot performs self-positioning and attitude determination by using a visual camera based on the AprilTag beacon, and absolute geographic coordinates are encoded by using the AprilTag beacon; the laser transverse and longitudinal beam beacons irradiate the inner wall and the top plate of the roadway by using a straight line, a cross and a DOE laser and a combination thereof to form point, line and surface artificial laser beam beacon characteristics, so that the drilling robot can acquire the artificial laser beam beacon characteristics by using a vision camera to perform vision positioning or SLAM; the laser reflection road sign is encoded by using LiDARTag, so that the drilling robot is identified and encoded by using laser radar acquisition point cloud; the wireless positioning module base station adopts UWB node ID to code, and the absolute geographic coordinates corresponding to the coding 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 using a total station based on control point and wire point conduction coordinates and theodolite directional measurement; for a roadway with a high-precision map under an absolute world coordinate system, the roadway artificial beacon system aligns the geographic coordinates with the high-precision map to obtain positions and postures of various beacons based on the absolute coordinate system.
Further, the robot positioning navigation control system comprises a sensing unit, an operation unit and an execution unit; the sensing unit comprises an intrinsic safety laser radar, an intrinsic safety camera, an ultra-wideband module and an inertial measurement device, and is used for sensing the state and surrounding environment information of the drilling robot and sending the state and surrounding environment information to the operation unit; the operation unit calculates and generates the pose of the robot and surrounding environment obstacle information by utilizing the information sent by the sensing unit, simultaneously receives the drilling information sent by the geological analysis and hole site design system of the remote monitoring service system, performs positioning and road point planning based on the prior map, performs drilling robot path tracking and real-time obstacle avoidance based on the constructed local map, and sends the generated motion trail to the execution unit; the execution unit generates an action series instruction according to the motion trail output by the operation unit, and generates corresponding rotating speeds of left and right tracks of the drilling robot by using the crawler type differential motion model and sends the rotating speeds to a chassis running system of the robot.
Further, the robot automatic drilling machine system comprises a drilling rod automatic loading and unloading mechanical arm, a drilling rod automatic arrangement device, a drilling 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 pushing device to execute a drill rod pushing 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 inclination angle, attitude, acceleration and speed information of a drill rod respectively; the drilling space position guiding unit comprises a cross laser and a binocular vision camera, the cross laser is arranged at the tail end of the automatic loading and unloading mechanical arm, the cross laser emits a cross laser line and irradiates a roadway wall, and the binocular vision camera recognizes the space position of the midpoint of the cross laser line under a camera coordinate system and transmits the space position to the operation control unit; the operation control unit receives the angle measurement value fed back by the drilling system state sensing unit and the arm lever postures of the mechanical arms, and simultaneously receives the robot body posture information calculated by the operation unit of the drilling robot positioning navigation control system, calculates and obtains the positions and postures of all joints of the automatic loading and unloading mechanical arms of the drill rod and the drill rod on the end effector relative to the base of the automatic loading and unloading mechanical arms of the drill rod, and calculates the coordinates and the postures of the drill rod on the end effector under an absolute world coordinate system by utilizing the coordinate transformation of the installation relation; and then, the spatial position of the cross midpoint is identified by binocular, the position is converted into a world coordinate system based on a robot body positioning result and coordinate transformation, the world coordinate of the cross laser irradiating the midpoint on the roadway wall is obtained, feedback servo control is performed by comparing the world coordinate with the coordinate point coordinate planned by a geological analysis and hole site design system of a remote monitoring service system, and visual servo control of the target drilling position and visualization of the target drilling point in the roadway are realized.
Further, the remote monitoring service system also comprises a fault diagnosis system and a man-machine interaction system;
the fault diagnosis system receives fault information of robot positioning drift, abnormal planning and control errors fed back by the robot positioning navigation control system, drilling parameter state monitoring data fed back by the robot automatic drilling machine system, drilling clamping and holding fault information, tail cable winding and unwinding moment overrun information fed back by the tail cable winding and unwinding system, abnormal pressure, flow and vibration detection information of a hydraulic system fed back by the robot chassis running system, and a corresponding solution is generated according to comparison of fault types and fault parameter tables;
the remote monitoring service system also comprises a man-machine interaction system; the man-machine interaction system is used for providing interfaces, content attribute inquiry, running state inquiry, simulation control process demonstration, robot running synchronous mirror feedback and virtual scene running simulation, state evolution backtracking, 2D/3D model display, parameter configuration, control operation, fault information display and alarm service for the geological analysis and hole site design system, the simulation optimization system and the fault diagnosis system.
The invention also relates to a coupling operation method of the mining drilling robot and the geological and roadway model, wherein the mining drilling robot adopts the mining drilling robot;
The coupling operation method comprises the following steps:
s1, constructing an initial model of geology and roadway: constructing an initial digital model of an underground operation roadway by using a GIS (geographic information system) and BIM (building information modeling) technology, then constructing an initial geological and roadway model under a unified geographic coordinate system, and storing the constructed initial geological and roadway model under the unified geographic coordinate system in a remote monitoring service system;
s2, manual beacon deployment, coding and database establishment: based on control points and wire guide points in the roadway, measuring the coordinates of the artificial beacons by using a total station and calculating the absolute pose under a geographic coordinate system; the intersection point coordinates and the harness direction of the transverse and longitudinal harness beacons of the laser are measured by using the positioning of a total station and the orientation of a theodolite; corresponding manual beacon information is established as an alternative database to be deployed in an operation unit of the robot positioning navigation control system in advance and used as a known input parameter of a positioning and planning task;
s3, geological analysis and hole site design: generating a gas control and/or rock burst control scheme and drilling information in a drilling field at the next stage by adopting a geological analysis and hole site design system, wherein the drilling information comprises the positions and directions of drilling points, the drilling intervals and the pore sizes of all drilling holes on the same section under an absolute geographic coordinate system; transmitting the drilling information to a robot positioning navigation control system as an input parameter of a planning task candidate route point; transmitting the drilling information to a remote monitoring service system for visualization of candidate drilling information on geological and roadway models;
S4, initializing a positioning navigation control system of the drilling robot body: positioning and initializing by using an artificial beacon near the drilling robot to obtain an initial pose of the robot under a global geographic coordinate system; for a roadway of a high-precision map with aligned absolute geographic information, initial positioning is carried out based on a roadway model map; constructing a local point cloud map near an initial position started by the robot by using a laser radar;
s5, planning drilling waypoints driven by a geological model: planning candidate stop points of the robot in the roadway under an absolute geographic coordinate system based on tapping point drilling information obtained by geological analysis and hole site design and a geological and roadway initial model, and determining the stop positions and postures of the robot by using a vertical equidistant method;
s6, operation process simulation and behavior optimization: simulating the next-stage path planning, walking obstacle avoidance and drilling operation processes in a simulation optimization system according to the roadway initial model, the surrounding local three-dimensional point cloud model constructed by the robot and the positioning information, performing virtual simulation on planned road points, walking obstacle avoidance tracks, drilling operation action execution and target road point position robot state parameters in the walking process, and performing optimization on performance parameters and process parameters on simulation results;
S7, stopping the walking task and the road point: after the simulation is finished, according to the optimization result, the drilling robot starts to move, environment and self state sensing, multi-source information fusion positioning assisted by beacons, laser local point cloud map real-time construction, path planning and track tracking coupled with a roadway model, autonomous walking and obstacle avoidance are simultaneously executed in the moving process, and after the planned next waypoint is reached, the advancing is stopped and the expected gesture from the robot body gesture to the planned waypoint is adjusted;
s8, self-adaptive control of the tail end gesture of the drill boom: after the body posture adjustment is completed, the tapping point drilling information T is obtained through geological analysis and hole site design goal For a drilling operation target, a cross laser midpoint of a drilling space position guiding unit irradiated to a roadway wall is used as the current drill boom tail end position, and the geographic coordinate T of a cross center point is obtained based on binocular vision identification positioning and coordinate transformation current To
Figure GDA0004274569450000051
Visual servo control is carried out for the optimal target with the minimum value, the tail end gesture of the drill boom is adjusted until the tail end gesture is matched with the gesture of the perforating target, and the tail end position and gesture of the automatic loading and unloading mechanical arm of the drill rod are controlled, so that the middle point of the cross laser gradually approaches the perforating point until e is smaller than a set error threshold e thres Stopping the mechanical arm to move; in the planning process of the mechanical arm, real-time information of a laser point cloud map is utilized to avoid the obstacle, and the relative position relation between the tail end of the mechanical arm and the roadway wall is judged by judging the position coordinates of the tail end of the mechanical arm and the corresponding laser point cloud coordinates of the marked position to be drilled according to the coordinate transformation relation of the planning result;
s9, automatic construction of drilling and monitoring of drilling state: the automatic loading and unloading mechanical arm is controlled to take out the drill rod from the automatic drill rod arrangement device, and the drill rod is placed on the drill rod pushing device to execute the task of rotating and pushing the drill rod; repeating the processes of taking, loading and pushing the drill rod after the current drill rod pushing process is completed, and reversely rotating and dismantling the drill rod after the drilling construction operation task of the current drilling position is completed; judging the operation state to identify the fault type by utilizing the information measured by the drilling system state sensing unit in the drilling process;
s10, resetting a moving state and transferring a drilling field: after the robot finishes the drilling construction task at the current position, restoring the motion mode state of the automatic drilling machine system; releasing the power supply cable by utilizing a tail cable winding and unwinding system in the walking process;
s11, repeating the steps S3 to S10 until all drilling construction operation tasks are completed.
Further, in step S5, the process of determining the parking position and posture of the robot waypoint by using the vertical equidistant method includes the following steps:
s51, extracting normal vectors and circle center coordinates of the drilling position point cloud: extracting local point clouds of planes of marked circular point clouds of z drilling positions of the same section of the roadway initial point cloud model, performing plane fitting, and calculating normal vectors of all planes
Figure GDA0004274569450000061
Fitting and calculating geometric center O of marked circular point cloud i Obtaining corresponding absolute coordinates->
Figure GDA0004274569450000062
S52, extracting ground point cloud: extracting the front-back width of a roadway section where z drill holes are positioned is l by using the installation height of the laser radar as priori information to extract the ground m The point cloud in the range is subjected to plane fitting; assuming a flat ground, calculating the unit normal vector of the ground plane at the section
Figure GDA0004274569450000063
The plane equation is ax+by+cz+d=, D is the distance required to translate the plane to the geographic coordinates, x, y, z correspond to the coordinates of the point on the plane;
s53, roadway plane point cloud extraction: after the ground point cloud is removed, the RANSAC and clustering are utilized to extract the largest plane P in the roadway point cloud max Calculation method vector as the plane of the roadway side wall
Figure GDA0004274569450000064
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 a stop route point position: constructing an optimization function:
Figure GDA0004274569450000065
Figure GDA0004274569450000066
wherein x is i ＝(x j ，y j ，z j ) D for the variable to be optimized j The distance constraint between the robot and the ground is realized; solving the constrained optimization function to obtain final coordinates
Figure GDA0004274569450000071
The coordinates of the current stop road point;
s55, calculating the stop waypoint gesture: by using unit normal vector of ground plane at tunnel section
Figure GDA0004274569450000072
Normal vector of side wall of roadway->
Figure GDA0004274569450000073
As a constraint, determining the pose of the robot at the current waypoint as +.>
Figure GDA0004274569450000074
Further, in step S7, by constructing feature constraints of an april tag beacon, a laser transverse and longitudinal beam beacon, a laser reflection road sign, and a wireless positioning module base station beacon, constructing absolute geographic information constraints, and conducting geographic coordinates; further combining laser radar scanning matching constraint and camera natural characteristic constraint, and carrying out 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; the planar assumption of the waypoint plan in the compensation step S52 by the trajectory tracking control leads to the introduced model error when the path planning and trajectory tracking processes are performed.
Further, in step S8, the hole point drilling information T goal Is expressed as the position and drilling direction of (2)
Figure GDA0004274569450000075
Wherein->
Figure GDA0004274569450000076
For the position coordinates of the drill hole, +.>
Figure GDA0004274569450000077
Is a drilling direction vector, and is obtained from the result of the point cloud circular plane fitting in the step S51.
The beneficial effects are that:
firstly, the mining drilling robot and the coupling operation method thereof with geological and roadway models, provided by the invention, have complete system and perfect functions, and can truly 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 are used for realizing the coupling of the drilling robot with the geological model and the roadway model by constructing various artificial beacon conduction geographic coordinates and carrying out global positioning under a geographic coordinate system based on multi-source information fusion positioning;
thirdly, the mining drilling robot and the coupling operation method thereof with the geological model and the roadway model drive the drilling waypoint planning through the geological model, and the self-adaptive control of the tail end gesture of the drill boom is utilized to further realize the coupling of the drilling robot with the geological model and the roadway model when the drilling robot executes the drilling operation;
fourth, the mining drilling robot and the coupling operation method thereof with the geological and roadway model have the functions of simulation, behavior optimization, while-drilling state monitoring and the like, and are high in intelligent degree, high in environment adaptability and high in operation precision.
Drawings
FIG. 1 is a schematic structural view of a mining drilling robot;
FIG. 2 is a flow chart of a method of coupling operation of a mining drilling robot with a geological and roadway model.
Detailed Description
The following examples will provide those skilled in the art with a more complete understanding of the invention, but are not intended to limit the invention in any way.
Example 1
Fig. 1 is a schematic structural view of a mining drilling robot. Referring to fig. 1, the mining drilling robot comprises a drilling robot host system, a roadway artificial beacon system, a downhole 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 running 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 running system; the tunnel artificial beacon system comprises a visual april tag beacon, a laser transverse and longitudinal wire harness 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 formed by an underground wireless base station and an optical fiber, and is used for transmitting state data of the drilling robot host system to the remote monitoring service system and transmitting decision results of the remote monitoring service system to the drilling robot host; the remote monitoring service system comprises a geological analysis and hole site design system, a simulation optimization system, a fault diagnosis system and a man-machine interaction system.
The robot positioning navigation control system of the drilling robot host system comprises a sensing unit, an operation unit and an execution unit. The sensing unit comprises an intrinsic safety laser radar, an intrinsic safety camera, an ultra-wideband module and an inertial measurement device, and is used for sensing the state and surrounding environment information of the drilling robot and sending the state and surrounding environment information to the operation unit; the operation unit calculates and generates the pose of the robot and surrounding environment obstacle information by utilizing the information sent by the sensing unit, simultaneously receives the drilling information sent by the geological analysis and hole site design system of the remote monitoring service system, performs positioning and road point planning based on the prior map, performs drilling robot path tracking and real-time obstacle avoidance based on the constructed local map, and sends the generated motion trail to the execution unit; the execution unit generates an action series instruction according to the motion trail output by the operation unit, and generates corresponding rotating speeds of left and right tracks of the drilling robot by using the crawler type differential motion model and sends the rotating speeds to a chassis running system of the robot.
The robot automatic drilling machine system of the drilling robot host system comprises a drilling rod automatic loading and unloading mechanical arm, a drilling rod automatic arrangement device, a drilling 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 pushing device to execute a drill rod pushing 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 inclination angle, attitude, acceleration and speed information of a drill rod; the drilling space position guiding unit comprises a cross laser and a binocular vision camera, and is arranged at the tail end of the automatic loading and unloading mechanical arm. Transmitting a cross laser line by using a cross laser and irradiating the cross laser line to a roadway wall, identifying the space position of a cross midpoint under a camera coordinate system by using a binocular vision camera, and transmitting the space position to an operation control unit; the operation control unit receives the angle measurement value fed back by the drilling system state sensing unit and the arm rod postures of the mechanical arms, and simultaneously receives the robot body posture information calculated by the operation unit of the drilling robot positioning navigation control system, calculates and obtains the positions and postures of all joints of the automatic drilling rod loading and unloading mechanical arms and the drilling rod on the end effector relative to the base of the automatic drilling rod loading and unloading mechanical arms, and calculates the coordinates and the postures of the drilling rod on the end effector under an absolute world coordinate system by utilizing the coordinate transformation of the installation relation. The spatial position of the cross midpoint under the camera coordinate system is identified by binocular, the world coordinate of the cross laser at the irradiation midpoint of the roadway wall is obtained based on the robot body positioning result and coordinate transformation and converted into the world coordinate system, feedback servo control is performed by comparing the world coordinate with the coordinate point coordinate planned by the geological analysis of the remote monitoring service system and the hole site design system, and visual servo control of the target drilling position and visualization of the target drilling point in the roadway are realized.
The tail cable winding and unwinding system of the drilling robot host machine utilizes a torque motor to drive a cable winding roller to realize forward and reverse rotation, the cable is wound and unwound by an automatic winding device, the winding and unwinding speed is matched with the actual movement speed of a robot chassis running system, and the winding and unwinding speed 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 running system of the drilling robot host receives the corresponding rotating speeds of the left and right tracks output by the robot positioning navigation control system, controls the hydraulic and electric drive, transmission and execution mechanism, realizes the movement of the chassis tracks, and simultaneously feeds back the actual rotating speeds of the tracks to the robot positioning navigation control system and the tail cable winding and unwinding system.
As a preferable technical scheme of the invention, the roadway artificial beacon system comprises an april tag beacon, a laser transverse and longitudinal beam beacon, a laser reflection beacon and a wireless positioning module base station beacon.
The april tag 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 AprilTag beacon is encoded by using an AprilTag tag, the drilling robot performs self-positioning and attitude determination by using a visual camera based on the AprilTag beacon, and absolute geographic coordinates are encoded by using the AprilTag beacon; the laser transverse and longitudinal beam beacon irradiates the inner wall and the top plate of the roadway by using a straight-line, cross-shaped and DOE laser and a combination thereof to form the characteristics of the artificial laser beam beacon such as points, lines, surfaces and the like. The drilling robot utilizes a vision camera to collect the features of the artificial laser beam beacon for vision positioning or SLAM. The laser reflection road sign is encoded by using LiDARTag, and the drilling robot is identified and encoded by using laser radar acquisition point cloud; the wireless positioning module base station adopts UWB node ID to code, and the absolute geographic coordinates corresponding to the coding library constructed in advance are inquired.
As a preferable technical scheme of the invention, the looped network high-speed communication system comprises a looped network communication network formed by an underground wireless base station and an optical fiber, and a communication terminal of the robot positioning navigation system, and has bidirectional high-speed communication capability. The ring network high-speed communication system transmits 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 meanwhile, the information such as the position and the attitude information of the robot, the on-site environment information of the robot, the end position of the drill boom and the like output by the robot automatic drilling machine system are transmitted to a human-machine interaction system.
As a preferable technical scheme of the invention, the geological analysis and hole site design system of the remote monitoring service system comprises a geological analysis unit and a hole site design unit.
The geological analysis unit judges the type and degree of mine harm based on coalbed gas occurrence data obtained by earlier geological exploration and rock burst monitoring data obtained by a microseismic and electromagnetic radiation method, and generates a gas control and/or rock burst control scheme by utilizing historical control data and an expert system.
And the hole site design unit combines drilling parameters fed back in real time by the robot automatic drilling machine system with the stress field and gas flow field information of the hole region according to the gas control and/or rock burst control scheme generated by the geological analysis unit to generate drilling information in the next-stage drilling field. The drilling information comprises drilling positions and directions, drilling intervals and pore sizes in an absolute geographic coordinate system.
The simulation optimizing system of the remote monitoring service system receives positioning information, environment model information and barrier information fed back by the robot positioning navigation control system of the drilling robot host, drill rod angle, attitude information and while-drilling sensing parameters fed back by the robot automatic drilling machine system, cable release length and speed information fed back by the tail cable winding and unwinding system, chassis motion parameter information fed back by the robot chassis traveling system, and drilling information generated by combining geological analysis and hole site design systems, constructs a drilling operation digital simulation scene and carries out a simulated drilling operation process, simulates and generates a traveling path of a next task point, and drill rod running track, drilling process, boundary and collision point detection and reliability verification of the automatic drilling machine system, and carries out optimization design of parameters of the simulated drilling operation process based on faults and abnormal conditions reproduced by the simulation process.
The fault diagnosis system of the remote monitoring service system receives fault information such as robot positioning drift, abnormal planning, control error and the like fed back by the drilling robot host positioning navigation control system, fault information such as drilling parameter state monitoring data fed back by the robot automatic drilling machine system, drilling sticking, holding and the like, tail line cable winding and unwinding moment overrun information, hydraulic system pressure, flow and vibration detection abnormal information fed back by the robot chassis, and generates a corresponding solution according to comparison of fault types and fault parameter tables;
the man-machine interaction system of the remote monitoring service system is used for providing interface service, content attribute inquiry, running state inquiry, 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 the geological analysis and hole site design system, the simulation optimization system and the fault diagnosis system.
As a preferable technical scheme of the invention, for a 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 theodolite directional measurement; for a roadway with a high-precision map under an absolute world coordinate system, the position and the gesture of the artificial landmark are aligned with the high-precision map by using geographic coordinates, and the position and the gesture of the artificial landmark based on the absolute coordinate system are obtained.
Example 2
FIG. 2 is a flow chart of a method of coupling operation of a mining drilling robot with a geological and roadway model. Referring to fig. 2, the coupling operation method includes the steps of:
s1, constructing an initial model of geology and roadway: and constructing an initial digital model of the underground operation roadway by using a GIS+BIM technology, constructing an initial geology and roadway model under a unified geographic coordinate system, and storing the initial geology and roadway model in a drilling robot host computer remote monitoring service system.
S2, manual beacon deployment, coding and database establishment: based on control points and wire guide points in the roadway, measuring the coordinates of the artificial beacons by using a total station and calculating the absolute pose under a geographic coordinate system; the intersection point coordinates and the harness direction of the transverse and longitudinal harness beacons of the laser are measured by using the positioning of a total station and the orientation of a theodolite; corresponding manual beacon information is established as an alternative database to be deployed in an operation unit of the robot positioning navigation control system in advance and used 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 remote monitoring service system of a drilling robot host, generating a gas control and/or rock burst control scheme and information about to-be-drilled holes in a drilling site of the next stage, wherein the information comprises the positions and directions of the drilled holes of each drilled hole on the same section, the drilling distance and the size of the drilled holes under an absolute geographic coordinate system. And transmitting the drilling information to an operation unit of the robot positioning navigation control system to serve as an input parameter of the planning task candidate road point. And transmitting the drilling information to a drilling robot host remote monitoring service system for visualizing the candidate drilling information on geology and roadway models.
S4, initializing a positioning navigation control system of the drilling robot body: and (3) carrying out positioning initialization by using an artificial beacon near the drilling robot to obtain the initial pose of the robot under the global geographic coordinate system. And (3) carrying out initial positioning on the roadway of the high-precision map with the aligned absolute geographic information based on the roadway model map. Constructing a local point cloud map near an initial position started by the robot by using a laser radar;
s5, planning drilling waypoints driven by a geological model: and planning candidate stop points of the robot in the roadway under an absolute geographic coordinate system based on the tapping point drilling information obtained by geological analysis and hole site design and a geological and roadway initial model, and determining the stop positions and the stop postures of the robot by using a vertical equidistant method.
S6, operation process simulation and behavior optimization: according to the roadway initial model, the surrounding local three-dimensional point cloud model constructed by the robot and the positioning information, the next-stage path planning, walking obstacle avoidance and drilling operation process is simulated in a simulation optimization system of the remote monitoring service system, virtual simulation is carried out on planned waypoints, walking obstacle avoidance tracks, drilling operation action execution and target waypoint robot state parameters in the walking process, and performance parameters and process parameters are adjusted and optimized on simulation results.
S7, stopping the walking task and the road point: and after the simulation is finished, starting the drilling robot to move according to the optimization result, and simultaneously executing path planning and track tracking based on beacon-assisted multisource information fusion positioning, laser local point cloud map real-time construction and roadway model coupling in the moving process, and stopping advancing and adjusting the expected gesture from the robot body gesture to the planned route point after the planned next route point is reached.
S8, self-adaptive control of the tail end gesture of the drill boom: after the body posture is adjusted, taking drilling information of a drilling point obtained by geological analysis and hole site design as a target Tgol, and obtaining the geographic coordinate T of a cross center point based on binocular vision recognition positioning and coordinate transformation by taking the cross laser midpoint of a cross laser irradiated on a roadway wall by a drilling space position guiding unit as the end position of a current drill boom current To
Figure GDA0004274569450000111
The minimum visual servo control is carried out for the target, the tail end gesture of the drill boom is adjusted until the tail end gesture is matched with the gesture of the perforating target, and the tail end position and gesture of the automatic loading and unloading mechanical arm of the drill rod are controlled, so that the cross laser midpoint gradually approaches the perforating point until e is smaller than a set error threshold e thres And stopping the movement of the mechanical arm. And in the planning process of the mechanical arm, the real-time information of the laser point cloud map is utilized to avoid the obstacle, and the relative position relation between the tail end of the mechanical arm and the roadway wall is judged by judging the position coordinates of the tail end of the mechanical arm and the corresponding laser point cloud coordinates of the marked position to be drilled according to the coordinate transformation relation of the planning result.
S9, automatic construction of drilling and monitoring of drilling state: the automatic loading and unloading mechanical arm is controlled to take out (take out) the drill rods from the automatic drill rod arranging device, put the drill rods on the drill rod pushing device (load the drill rods) and execute the drill rod rotating pushing task (push the drill rods); and after the current drill rod pushing process is completed, repeating the processes of drill rod taking, drill rod loading and drill rod pushing until the drilling construction operation task of the current drilling position is completed, and reversely rotating to remove the drill rod. And judging the operation state to identify the fault type by utilizing the information measured by the drilling system state sensing unit in the drilling process.
S10, resetting a moving state and transferring a drilling field: after the robot finishes the drilling construction task at the current position, restoring the motion mode state of the automatic drilling machine system; releasing the power supply cable by utilizing a tail cable winding and unwinding system in the walking process; and repeating the steps S3 to S8 until all drilling construction operation tasks are completed.
In the steps S1 and S2, the geological and roadway initial model and the artificial beacon are completely corresponding in geographic information and are uniformly built under a geographic coordinate system. In the step S1, the roadway initial model includes multi-level information including, but not limited to, a roadway 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, realizability and the like. Except for the arrangement in a coordinate system calibration area and a correction area in the roadway in the initialization stage, the visual two-dimensional code in the artificial road sign is arranged in a roadway area with good illumination conditions and no obvious texture characteristics, and the roadway infrastructure is used for supplying power to the area with poor illumination conditions to realize self-luminescence; the laser targets in the artificial road sign are 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 pose of the april tag and the laser reflection road sign of the roadway artificial road sign system under the geographic coordinate system comprises the following steps:
Figure GDA0004274569450000121
Figure GDA0004274569450000131
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure GDA0004274569450000132
wherein P is 1 (x 1 ，y 1 )、P 2 (x 2 ,y 2 )、P 3 (x 3 ,y 3 ) Coordinates of any three points in succession for four corner points of a square april tag or laser target, P 0 (x 0 ,y 0 ) The geographical coordinates of each point are obtained by using a total station based on control point guidance measurement. Wherein the method comprises the steps of
Figure GDA0004274569450000133
The direction perpendicular to the target and towards the inner side of the roadway needs to be 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 normal vectors and circle center coordinates of the drilling position point cloud: extracting local point clouds of planes of marked circular point clouds of z drilling positions of the same section of the roadway initial point cloud model, performing plane fitting, and calculating normal vectors of all planes
Figure GDA0004274569450000134
Fitting and calculating the geometric center Oi of the marked circular point cloud to obtain corresponding absolute coordinates +.>
Figure GDA0004274569450000135
S52, extracting ground point cloud: extracting the ground by using the mounting height of the laser radar as priori information, extracting the point cloud with the width of lm before and after the roadway section where the z drill holes are positioned, and performing plane fitting. Assuming a flat ground, calculating the unit normal vector of the ground plane at the section
Figure GDA0004274569450000136
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 point on the plane.
S53, roadway plane point cloud extraction: after the ground point cloud is removed, the RANSAC and clustering are utilized to extract the largest plane P in the roadway point cloud max Calculation method vector as the plane of the roadway side wall
Figure GDA0004274569450000137
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 a stop route point position: construction of an optimization function
Figure GDA0004274569450000141
Wherein x is j ＝(x j ，y j ，z j ) D for the variable to be optimized j Is a distance constraint between the robot and the ground. Solving the constrained optimization function to obtain final coordinates
Figure GDA0004274569450000142
And the current stop point coordinates.
S55, calculating the stop waypoint gesture: determining the attitude of the robot at the current road point as constraint by using a unit normal vector of a ground plane at the section of the roadway and a normal vector of the side wall of the roadway
Figure GDA0004274569450000143
As a preferred technical scheme of the invention, in the step S7, the multi-sensor fusion SLAM, target identification, semantic segmentation and classification are realized based on the intrinsic safety laser radar, the intrinsic safety camera, the ultra-wideband module and the inertia measuring device, so that the perception of the environment and the self state is realized; constructing an AprilTag beacon, a laser transverse and longitudinal beam beacon, a laser reflection road sign and a wireless positioning module base station beacon, constructing absolute geographic information constraint, realizing geographic coordinate conduction, further combining laser radar scanning matching constraint, camera natural characteristic constraint and the like, and realizing 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 the process of executing path planning and track tracking, the introduced model errors are caused by the plane assumption of the path point planning in the step S5, and the compensation is carried out through track tracking control.
In step S8, on the basis of planning the pose of the tail end of the mechanical arm by using the transformation relation between the laser point cloud mark target point and the robot coordinates, the target point world coordinates and the pose of the tail end of the mechanical arm controlled by visual servo are further planned, so that reactive drilling of the robot, which is quickly adjusted when the pose of the body of the robot changes due to impact vibration, is realized.
As a preferred embodiment of the present invention, in the step S8, the hole point drilling information T goal Is (are) positioned and drilling direction
Figure GDA0004274569450000144
Wherein->
Figure GDA0004274569450000145
For the position coordinates of the drill hole, +.>
Figure GDA0004274569450000146
Is a drilling direction vector, and is obtained from the result of the point cloud circular plane fitting in the step S51.
The embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by the embodiments, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the present invention.

Claims (10)

1. The 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 formed by an underground wireless base station and an optical fiber, and is used for transmitting state data of the drilling robot host system to the remote monitoring service system and transmitting decision results of the remote monitoring service system to the drilling robot host system;
the tunnel artificial beacon system is arranged in a tunnel through which the drilling robot host system runs, and is used for assisting the drilling robot host system 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 running 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 running system; the robot positioning navigation control system is used for positioning, road point planning, path tracking and real-time obstacle avoidance, generates action series instructions according to the generated motion trail, generates corresponding rotating speeds of left and right tracks of the drilling robot by using a crawler type differential motion model, and sends the rotating speeds to the robot chassis running system to realize full-autonomous motion of the drilling robot host system; the robot automatic drilling machine system of the drilling robot host system is used for executing a drill rod propelling task and realizing drilling operation; the tail cable winding and unwinding system of the drilling robot host combines the actual rotation speed of the crawler, winds and unwinds the cable, the winding and unwinding speeds are matched with the actual movement speed of the robot chassis running system, and the winding and unwinding speeds are 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 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 harm 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 drill site of the next stage according to the generated gas control and/or rock burst control scheme and combining drilling parameters fed back in real time by a drilling robot host system with stress field and gas flow field information of a hole area; the drilling information comprises drilling positions and directions, drilling intervals and pore sizes in an absolute geographic coordinate system; the simulation optimizing system receives positioning information, environment model information and barrier information fed back by the robot positioning navigation control system, drill rod angle, attitude information and while-drilling sensing parameters fed back by the robot automatic drilling machine system, cable release length and speed information fed back by the tail cable winding and unwinding system, chassis motion parameter information fed back by the robot chassis traveling system, drilling information generated by combining geological analysis and hole site design systems, constructs a drilling operation digital simulation scene, performs a simulated drilling operation process, simulates and generates a traveling path of a next task point, a drill rod traveling track of the automatic drilling machine system, a drilling and drilling process, boundary and collision point detection and reliability verification, performs optimization design of simulated drilling operation process parameters based on faults and abnormal conditions represented by the simulation process, and generates a decision result corresponding to the drilling information of the next stage.
2. The mining drilling robot of claim 1, wherein the roadway artificial beacon system comprises an april tag beacon, a laser transverse and longitudinal beam beacon, a laser reflection beacon, and a wireless positioning module base station beacon; the april tag 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 AprilTag beacon is encoded by using an AprilTag tag, the drilling robot performs self-positioning and attitude determination by using a visual camera based on the AprilTag beacon, and absolute geographic coordinates are encoded by using the AprilTag beacon; the laser transverse and longitudinal beam beacons irradiate the inner wall and the top plate of the roadway by using a straight line, a cross and a DOE laser and a combination thereof to form point, line and surface artificial laser beam beacon characteristics, so that the drilling robot can acquire the artificial laser beam beacon characteristics by using a vision camera to perform vision positioning or SLAM; the laser reflection road sign is encoded by using LiDARTag, so that the drilling robot is identified and encoded by using laser radar acquisition point cloud; the wireless positioning module base station adopts UWB node ID to code, and the absolute geographic coordinates corresponding to the coding 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 of various beacons of the roadway artificial beacon system is obtained using theodolite orientation measurements based on control point and wire point conduction coordinates using a total station; for a roadway with a high-precision map under an absolute world coordinate system, the roadway artificial beacon system aligns the geographic coordinates with the high-precision map to obtain 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 intrinsic safety laser radar, an intrinsic safety camera, an ultra-wideband module and an inertial measurement device, and is used for sensing the state and surrounding environment information of the drilling robot and sending the state and surrounding environment information to the operation unit; the operation unit calculates and generates the pose of the robot and surrounding environment obstacle information by utilizing the information sent by the sensing unit, simultaneously receives the drilling information sent by the geological analysis and hole site design system of the remote monitoring service system, performs positioning and road point planning based on the prior map, performs drilling robot path tracking and real-time obstacle avoidance based on the constructed local map, and sends the generated motion trail to the execution unit; the execution unit generates an action series instruction according to the motion trail output by the operation unit, and generates corresponding rotating speeds of left and right tracks of the drilling robot by using the crawler type differential motion model and sends the rotating speeds to a chassis running system of the robot.
5. The mining drilling robot according to claim 1, wherein 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 pushing device to execute a drill rod pushing 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 inclination angle, attitude, acceleration and speed information of a drill rod respectively; the drilling space position guiding unit comprises a cross laser and a binocular vision camera, the cross laser is arranged at the tail end of the automatic loading and unloading mechanical arm, the cross laser emits a cross laser line and irradiates a roadway wall, and the binocular vision camera recognizes the space position of the midpoint of the cross laser line under a camera coordinate system and transmits the space position to the operation control unit; the operation control unit receives the angle measurement value fed back by the drilling system state sensing unit and the arm lever postures of the mechanical arms, and simultaneously receives the robot body posture information calculated by the operation unit of the drilling robot positioning navigation control system, calculates and obtains the positions and postures of all joints of the automatic loading and unloading mechanical arms of the drill rod and the drill rod on the end effector relative to the base of the automatic loading and unloading mechanical arms of the drill rod, and calculates the coordinates and the postures of the drill rod on the end effector under an absolute world coordinate system by utilizing the coordinate transformation of the installation relation; and then, the spatial position of the cross midpoint is identified by binocular, the position is converted into a world coordinate system based on a robot body positioning result and coordinate transformation, the world coordinate of the cross laser irradiating the midpoint on the roadway wall is obtained, feedback servo control is performed by comparing the world coordinate with the coordinate point coordinate planned by a geological analysis and hole site design system of a remote monitoring service system, and visual servo control of the target drilling position and visualization of the target drilling point in the roadway are realized.
6. The mining drilling robot of claim 1, wherein the remote monitoring service system further comprises a fault diagnosis system and a human-machine interaction system;
the fault diagnosis system receives fault information of robot positioning drift, abnormal planning and control errors fed back by the robot positioning navigation control system, drilling parameter state monitoring data fed back by the robot automatic drilling machine system, drilling clamping and holding fault information, tail cable winding and unwinding moment overrun information fed back by the tail cable winding and unwinding system, abnormal pressure, flow and vibration detection information of a hydraulic system fed back by the robot chassis running system, and a corresponding solution is generated according to comparison of fault types and fault parameter tables;
the remote monitoring service system also comprises a man-machine interaction system; the man-machine interaction system is used for providing interfaces, content attribute inquiry, running state inquiry, simulation control process demonstration, robot running synchronous mirror feedback and virtual scene running simulation, state evolution backtracking, 2D/3D model display, parameter configuration, control operation, fault information display and alarm service for the geological analysis and hole site design system, the simulation optimization system and the fault diagnosis system.
7. A method for coupling a mining drilling robot with a geological and roadway model, characterized in that the mining drilling robot is a mining drilling robot as claimed in any one of claims 1-6;
the coupling operation method comprises the following steps:
s1, constructing an initial model of geology and roadway: constructing an initial digital model of an underground operation roadway by using a GIS (geographic information system) and BIM (building information modeling) technology, then constructing an initial geological and roadway model under a unified geographic coordinate system, and storing the constructed initial geological and roadway model under the unified geographic coordinate system in a remote monitoring service system;
s2, manual beacon deployment, coding and database establishment: based on control points and wire guide points in the roadway, measuring the coordinates of the artificial beacons by using a total station and calculating the absolute pose under a geographic coordinate system; the intersection point coordinates and the harness direction of the transverse and longitudinal harness beacons of the laser are measured by using the positioning of a total station and the orientation of a theodolite; corresponding manual beacon information is established as an alternative database to be deployed in an operation unit of the robot positioning navigation control system in advance and used as a known input parameter of a positioning and planning task;
s3, geological analysis and hole site design: generating a gas control and/or rock burst control scheme and drilling information in a drilling field at the next stage by adopting a geological analysis and hole site design system, wherein the drilling information comprises the positions and directions of drilling points, the drilling intervals and the pore sizes of all drilling holes on the same section under an absolute geographic coordinate system; transmitting the drilling information to a robot positioning navigation control system as an input parameter of a planning task candidate route point; transmitting the drilling information to a remote monitoring service system for visualization of candidate drilling information on geological and roadway models;
S4, initializing a positioning navigation control system of the drilling robot body: positioning and initializing by using an artificial beacon near the drilling robot to obtain an initial pose of the robot under a global geographic coordinate system; for a roadway of a high-precision map with aligned absolute geographic information, initial positioning is carried out based on a roadway model map; constructing a local point cloud map near an initial position started by the robot by using a laser radar;
s5, planning drilling waypoints driven by a geological model: planning candidate stop points of the robot in the roadway under an absolute geographic coordinate system based on tapping point drilling information obtained by geological analysis and hole site design and a geological and roadway initial model, and determining the stop positions and postures of the robot by using a vertical equidistant method;
s6, operation process simulation and behavior optimization: simulating the next-stage path planning, walking obstacle avoidance and drilling operation processes in a simulation optimization system according to the roadway initial model, the surrounding local three-dimensional point cloud model constructed by the robot and the positioning information, performing virtual simulation on planned road points, walking obstacle avoidance tracks, drilling operation action execution and target road point position robot state parameters in the walking process, and performing optimization on performance parameters and process parameters on simulation results;
S7, stopping the walking task and the road point: after the simulation is finished, according to the optimization result, the drilling robot starts to move, environment and self state sensing, multi-source information fusion positioning assisted by beacons, laser local point cloud map real-time construction, path planning and track tracking coupled with a roadway model, autonomous walking and obstacle avoidance are simultaneously executed in the moving process, and after the planned next waypoint is reached, the advancing is stopped and the expected gesture from the robot body gesture to the planned waypoint is adjusted;
s8, self-adaptive control of the tail end gesture of the drill boom: after the body posture adjustment is completed, the information of the hole point drilling is obtained by geological analysis and hole site design
Figure QLYQS_1
For a drilling operation target, a cross laser midpoint of a drilling space position guiding unit irradiated to a roadway wall is used as the current drill boom tail end position, and geographic coordinates of a cross center point are obtained based on binocular vision identification positioning and coordinate transformation>
Figure QLYQS_2
To->
Figure QLYQS_3
Visual servo control is carried out for the optimal target with the minimum value, the tail end gesture of the drill boom is adjusted until the tail end gesture is matched with the gesture of the perforating target, and the tail end position and gesture of the automatic loading and unloading mechanical arm of the drill rod are controlled, so that the middle point of the cross laser gradually approaches the perforating point until e is smaller than the set error threshold value +. >
Figure QLYQS_4
Stopping the mechanical arm to move; in the planning process of the mechanical arm, real-time information of a laser point cloud map is utilized to avoid the obstacle, and the relative position relation between the tail end of the mechanical arm and the roadway wall is judged by judging the position coordinates of the tail end of the mechanical arm and the corresponding laser point cloud coordinates of the marked position to be drilled according to the coordinate transformation relation of the planning result;
s9, automatic construction of drilling and monitoring of drilling state: the automatic loading and unloading mechanical arm is controlled to take out the drill rod from the automatic drill rod arrangement device, and the drill rod is placed on the drill rod pushing device to execute the task of rotating and pushing the drill rod; repeating the processes of taking, loading and pushing the drill rod after the current drill rod pushing process is completed, and reversely rotating and dismantling the drill rod after the drilling construction operation task of the current drilling position is completed; judging the operation state to identify the fault type by utilizing the information measured by the drilling system state sensing unit in the drilling process;
s10, resetting a moving state and transferring a drilling field: after the robot finishes the drilling construction task at the current position, restoring the motion mode state of the automatic drilling machine system; releasing the power supply cable by utilizing a tail cable winding and unwinding system in the walking process;
s11, repeating the steps S3-S10 until all drilling construction operation tasks are completed.
8. The method for coupling mining drilling robots with geological and roadway models according to claim 7, wherein in step S5, the process of determining the parking position and posture of the robot waypoints by using the vertical equidistant method comprises the following steps:
s51, extracting normal vectors and circle center coordinates of the drilling position point cloud: extracting local point clouds of planes of marked circular point clouds of z drilling positions of the same section of the roadway initial point cloud model, performing plane fitting, and calculating normal vectors of all planes
Figure QLYQS_5
The method comprises the steps of carrying out a first treatment on the surface of the Fitting and calculating the geometric center of the marked circular point cloud +.>
Figure QLYQS_6
Obtaining corresponding absolute coordinates->
Figure QLYQS_7
；
S52, extracting ground point cloud: extracting the ground by using the installation height of the laser radar as priori information, wherein the front and rear width of the roadway section where z drill holes are extracted is
Figure QLYQS_8
The point cloud in the range is subjected to plane fitting; assuming a flat ground, calculating the unit normal vector of the ground plane at this section>
Figure QLYQS_9
The plane equation is->
Figure QLYQS_10
D is the distance required for translating the plane to the geographic coordinates, and x, y and z correspond to the coordinates of points on the plane;
s53, roadway plane point cloud extraction: after the ground point cloud is removed, the RANSAC and clustering are utilized to extract the largest plane in the roadway point cloud
Figure QLYQS_11
Calculating the algorithm vector +. >
Figure QLYQS_12
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 a stop route point position: constructing an optimization function:
Figure QLYQS_13
Figure QLYQS_14
wherein the method comprises the steps of
Figure QLYQS_15
For the variables to be optimized +.>
Figure QLYQS_16
The distance constraint between the robot and the ground is realized; solving the constrained optimization function to obtain a final coordinate +.>
Figure QLYQS_17
The coordinates of the current stop road point;
s55, calculating the stop waypoint gesture: by using unit normal vector of ground plane at tunnel section
Figure QLYQS_18
Normal vector to roadway side wall
Figure QLYQS_19
As a constraint, determining the pose of the robot at the current waypoint as +.>
Figure QLYQS_20
。
9. The method for coupling the mining drilling robot with the geological and roadway model according to claim 8, wherein in the step S7, absolute geographic information constraint is constructed by constructing characteristic constraint of an april tag beacon, a laser transverse and longitudinal beam beacon, a laser reflection road sign and a wireless positioning module base station beacon, so that geographic coordinates are conducted; further combining laser radar scanning matching constraint and camera natural characteristic constraint, and carrying out 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; the planar assumption of the waypoint plan in the compensation step S52 by the trajectory tracking control leads to the introduced model error when the path planning and trajectory tracking processes are performed.
10. The method for coupling mining drilling robot with geologic and roadway model according to claim 8, wherein in step S8, drilling information is obtained on drilling points
Figure QLYQS_21
Is expressed as +.>
Figure QLYQS_22
Wherein->
Figure QLYQS_23
For the position coordinates of the drill hole, +.>
Figure QLYQS_24
Is a drilling direction vector, and is obtained from the result of the point cloud circular plane fitting in the step S51.
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