CN117724483A - Route planning method for coal mine robots - Google Patents

Abstract

The invention discloses a route planning method for a coal mine robot, and relates to the technical field of coal mine robots; the method is used for solving the problems that the existing route planning method usually considers the length of the route, only focuses on the optimization of a single target, ignores the influence of underground pavement and environment on a coal mine robot and lacks comprehensive consideration of multiple targets; the method has the advantages that the stability values of the alternative routes are analyzed, the influence of environmental factors in the alternative routes on the coal mine robots is considered, meanwhile, the influence of the charging times of the coal mine robots in the running process on the running efficiency of the coal mine robots is estimated, the situation that the coal mine robots cannot normally finish working tasks due to the change of the environment under a mine is avoided, the adaptability of the coal mine robots in the coal mine routes is improved, the running routes of the coal mine robots are determined according to the selection values, the set number of routes are selected as emergency routes, and the efficiency, the safety and the stability of the routes are comprehensively considered for the mine emergency.

Description

Route planning method for coal mine robots

Technical field

The invention relates to the technical field of coal mine robots, specifically a route planning method for coal mine robots.

Background technique

A robot is a highly flexible automated machine with some intelligent capabilities similar to humans or living things. A robot is a machine device that automatically performs work. It can accept human command, run pre-programmed programs, and can also perform tasks according to previous instructions. The principle program action formulated by artificial intelligence technology. Its mission is to assist or replace human work. It is the product of advanced integration of cybernetics, mechanical electronics, computers, materials and bionics. It is used in industry, medicine, agriculture, service industry, construction It has important uses in industry and even military fields.

As an emerging product in the field of coal mines, coal mine robots can replace manual inspection and maintenance tasks to ensure the safety of miners. Coal mine robots need to formulate a route before performing tasks so that the coal mine robots can travel according to the planned route. However, due to the underground mine The environment is complex and changes are difficult to predict. Existing route planning methods often consider the length of the journey and only focus on the optimization of a single goal, but ignore the impact of the underground road surface and environment on coal mine robots, and lack comprehensive consideration of multiple goals.

Contents of the invention

The purpose of the present invention is to provide a route planning method for a coal mine robot to solve the problems raised by the above background technology.

The object of the present invention can be achieved through the following technical solutions:

The route planning method for coal mine robots includes the following steps:

Step 1: Mark the starting position and target position of the coal mine robot, generate a route based on the starting position and the target position, record the generated route as an alternative route, obtain a two-dimensional plan view of the alternative route, and analyze the The length is calculated and recorded as Li, i is the number of the alternative route, and the value range of i is a positive integer;

Step 2: Arrange a number of detection points on the alternative route, obtain the environmental parameters of the detection points, analyze the environmental parameters of the detection points to obtain the abnormal values of the detection points, and compare the abnormal values of the detection points with the preset abnormal value thresholds. If the abnormal value of the detection point is greater than the preset abnormal value threshold, the detection point will be marked as an abnormal environment detection point. Otherwise, the detection point will be marked as a normal environment monitoring point. The adjacent environmental abnormality detection points will be connected to obtain the abnormal environmental road section. , connect adjacent normal environment detection points to obtain normal environment road sections, calculate the total length of the abnormal environment road sections and normal environment road sections in the alternative route, and thereby analyze the environment of the alternative route to obtain the environmental stability value of the alternative route ;

Preferably, the environment of the alternative route is analyzed, and the analysis process is as follows:

A number of uniform detection points are arranged on the alternative route according to the preset detection distance, and the environmental parameters of the detection points are collected several times by the sensor according to the preset collection time. The environmental parameters include air density, dust concentration, Humidity and temperature, select the first environmental parameter and the second environmental parameter from the environmental parameters collected multiple times. The first environmental parameter is the maximum value among the environmental parameters collected multiple times, specifically the maximum air density Pij, the maximum dust concentration Fij, maximum humidity Sij and maximum temperature Cij, the second environmental parameter is the minimum value among the environmental data collected multiple times, specifically the minimum air density pij, minimum dust concentration fij, minimum humidity sij and minimum temperature cij, j is the backup Select the number of the detection point on the line, j=1,2,...,m, the value range of m is a positive integer, obtain the abnormal value YCij of the detection point through analysis, and compare the abnormal value of the detection point with the preset abnormality If the abnormal value of the detection point is greater than the preset abnormal value threshold, the detection point will be marked as an abnormal environment detection point. If the abnormal value of the detection point is less than the preset abnormal value threshold, the detection point will be marked as Normal environment detection points, count the number Ni of abnormal environment detection points;

The analysis obtains the abnormal value YCij of the detection point, specifically:

Among them, Δρ1 is the preset air density allowable difference, Δρ2 is the preset dust concentration allowable difference, Δρ3 is the preset humidity allowable difference, Δρ4 is the preset temperature allowable difference, a1 is the preset air density weight factor, a2 is the preset dust concentration weighting factor, a3 is the preset humidity weighting factor, and a4 is the preset temperature weighting factor;

Connect the adjacent abnormal environment detection points to obtain the abnormal environment section, calculate and sum the length of the abnormal environment section to obtain the total length of the abnormal environment section, obtain the cruising range XH of the coal mine robot from the database, and obtain the coal mine robot through analysis For the estimated number of charging times ni on the alternative route, if there is a decimal when twice the length of the alternative route is divided by the cruising range, it is rounded up. Through further analysis, the environmental stability value HWi of the alternative route is obtained. The larger the environmental stability value of the alternative route, the more complex the environment on the route is, which has a greater impact on the traveling efficiency of the coal mine robot and the operation of related equipment. The smaller the environmental stability value of the alternative route, the smaller the environmental stability value of the alternative route, which indicates that the environment on the route is relatively stable. The relevant equipment will not be unable to work due to environmental influences;

Through further analysis, the environmental stability value HWi of the alternative route is obtained, specifically:

Among them, Hi is the total length of the abnormal environment section, e is a natural constant, b1 is the preset weight factor for the number of abnormal environment detection points, b2 is the preset weight factor for the length of the abnormal environment section, and b3 is the preset weight factor for the number of charging times. ;

Step 3: Analyze the road surface of the alternative route to obtain the road level value, collect the image of the detection point, establish a three-dimensional model of the alternative route based on the image of the detection point, analyze the three-dimensional model of the alternative route, and obtain the The length of each road segment type is obtained, and the two-dimensional plan view of the alternative route is obtained. The two-dimensional plan view is further analyzed to obtain the curved road section of the alternative route. The curvature of the alternative route is obtained based on the curved road section. Based on the length of each road section type and the alternative route The curvature of the road surface of the alternative route is analyzed to obtain the road level value, where each road section type includes a flat road section, an uphill road section and a downhill road section;

Preferably, the road surface of the alternative route is analyzed, and the analysis process is as follows:

Collect images of detection points in the alternative route through high-definition cameras, establish a three-dimensional model of the alternative route based on the images of the detection points, mark the positions of the detection points in the three-dimensional model of the alternative route, and map the three-dimensional image of the alternative route The mine height corresponding to the detection point in the model is measured to obtain the mine height corresponding to the detection point, and the mine height of the detection point is compared with the set mine height interval. When the mine height of the detection point belongs to the set mine height interval, then Mark the detection point as a flat road point. When the mine height of the detection point is less than the set mine height interval, mark the detection point as an uphill point. When the mine height of the detection point is greater than the preset mine height interval, then Mark the detection point as a downhill point, thereby obtaining the flat points, uphill points and downhill points in the alternative route;

Connect the adjacent flat road points to obtain the gentle road sections in the alternative route. Count the lengths of the gentle road sections and sum them up to obtain the total length PHi of the gentle road sections in the alternative route. Connect the adjacent uphill points to obtain For the uphill sections in the alternative route, the lengths of the uphill sections are counted and summed to obtain the total length SPi of the uphill sections in the alternative route. The adjacent downhill points are connected to obtain the downhill sections in the alternative route. For the downhill sections The lengths of the segments are counted and summed to obtain the total length XPi of the downhill segments in the alternative route;

Obtain the two-dimensional plan view of the alternative route, obtain the center line corresponding to the alternative route from the two-dimensional plan view of the alternative route, identify the curved road section from the center line and calculate the length of the curved road section, mark the starting point and end point of the curved road section , calculate the straight-line distance between the starting point and the end point of the curved road section to obtain the straight-line distance corresponding to the curved road section, compare the length of the curved road section with the straight-line distance of the curved road section, and obtain the length of the curved road section and the straight-line distance of the curved road section. The proportion value between the proportion value and the curvature corresponding to the preset proportion value is matched to obtain the curvature WQk of the curved road section, k is the number of the curved road section in the alternative route, k=1,2,...r , the value range of r is a positive integer greater than 1; through analysis, the road level value LPi of the alternative route is obtained. The larger the road level value of the alternative route, it means that the alternative route is relatively gentle. When the coal mine robot travels on this route, its power is It consumes less energy and can reach the target location faster. The smaller the road level value of the alternative route, the more rugged the alternative route is. The coal mining robot will need to spend more time turning and going up and downhill when traveling on this route. Power consumption also increases and it takes longer to reach the target location;

The road level value LPi of the alternative route is obtained through the analysis, specifically:

Among them, c1 is the preset weight factor for gentle road sections, c2 is the preset weight factor for slope sections, and c3 is the preset weight factor for curvature;

Step 4: Obtain the selection value of the alternative route based on the analysis of the environmental stability value and road level value of the alternative route. Compare the selection value of the alternative route with the preset selection value threshold. If the selection value of the alternative route is less than the preset selection value threshold, If the selection value threshold is set, the alternative route will be marked as the preferred route, otherwise, the alternative route will be marked as the eliminated route, so as to filter the alternative routes and select a set number of alternatives from the filtered alternative routes. The route serves as the traveling route of the coal mine robot;

Preferably, the selection value of the alternative route is obtained based on the analysis of the environmental stability value and the road level value of the alternative route. The analysis process is as follows:

Obtain the environmental stability value and road level value of the alternative route, normalize the length of the alternative route, analyze and obtain the selection value XZi of the alternative route, and compare the selection value of the alternative route with the preset selection value threshold In contrast, if the selection value of the alternative route is less than the preset selection value threshold, the alternative route is marked as the preferred route; if the selection value of the alternative route is greater than the preset selection value threshold, the alternative route is marked as eliminated. route;

The selection value XZi of the alternative route is obtained, specifically:

XZi＝HWi*d1+(1/LPi)*d2+Li*d3

Among them, d1 is the preset first conversion factor of the selection value, d2 is the preset second conversion factor of the selection value, and d3 is the preset third conversion factor of the selection value;

Arrange the selection values corresponding to the preferred route in order from large to small to obtain a selection value list. Select the preferred route corresponding to the maximum selection value from the selection value list as the traveling route of the coal mine robot. Add the selection values corresponding to the traveling route of the coal mine robot. After being deleted from the selection value list, select a set number of preferred routes from the selection value list as the emergency route of the coal mine robot, and send the travel route and emergency route to the receiving end of the coal mine robot.

Beneficial effects of the present invention:

1. By analyzing the environmental stability value of the alternative route, consider the impact of environmental factors on the coal mine robot in the alternative route, and at the same time estimate the impact of the number of charging times of the coal mine robot on its travel efficiency to avoid mine Changes in the environment cause the coal mine robot to be unable to complete its tasks normally, and improve the adaptability of the coal mine robot in the coal mine route;

2. By analyzing the road level value of the alternative route, calculate the length of each road section type in the alternative route, consider the impact of slope sections on the robot's traveling efficiency, and select a route with shorter length, higher road surface smoothness and better environmental stability. Good routes to better complete coal mine tasks;

3. Obtain the selection value of the alternative route by analyzing the length, environmental stability value and road level value of the alternative route, determine the traveling route of the coal mine robot based on the selection value, and select a set number of routes as emergency routes to cope with mine emergencies. situation, and comprehensively consider the efficiency, safety and stability of the route.

Description of the drawings

Figure 1 is a flow chart of a route planning method for coal mine robots according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention;

Please refer to Figure 1. The present invention is a route planning method for coal mine robots, which includes the following steps:

Mark the starting position and target position of the coal mine robot, generate a route based on the starting position and target position, record the generated route as an alternative route, obtain a two-dimensional plan view of the alternative route, and calculate the length of the alternative route And recorded as Li, i is the number of the alternative route, and the value range of i is a positive integer;

Analyze the environment of the alternative route to obtain the environmental stability value. The analysis process is as follows:

A number of uniform detection points are arranged on the alternative route according to the preset detection distance, and the environmental parameters of the detection points are collected several times by the sensor according to the preset collection time. The environmental parameters include air density, dust concentration, humidity and Temperature, select the first environmental parameter and the second environmental parameter from several environmental parameters collected multiple times. The first environmental parameter is the maximum value among the environmental parameters collected multiple times, specifically the maximum air density Pij, the maximum dust concentration Fij, the maximum Humidity Sij and maximum temperature Cij, the second environmental parameter is the minimum value among the environmental data collected multiple times, specifically the minimum air density pij, minimum dust concentration fij, minimum humidity sij and minimum temperature cij, j is the detection on the alternative route The number of the point, j=1,2,...,m, the value range of m is a positive integer, through the formula:

Calculate the abnormal value YCij of the detection point, Δρ1 is the preset air density allowable difference, Δρ2 is the preset dust concentration allowable difference, Δρ3 is the preset humidity allowable difference, Δρ4 is the preset temperature allowable difference, a1 is the preset temperature allowable difference Assume the air density weighting factor, a2 is the preset dust concentration weighting factor, a3 is the preset humidity weighting factor, a4 is the preset temperature weighting factor, compare the abnormal value of the detection point with the preset abnormal value threshold , if the abnormal value of the detection point is greater than the preset abnormal value threshold, the detection point will be marked as an abnormal environment detection point; if the abnormal value of the detection point is less than the preset abnormal value threshold, otherwise the detection point will be marked as a normal environment detection point points, count the number Ni of abnormal environment detection points; the abnormal value threshold is set according to the actual situation. The closer the threshold size is set to the real situation, the more accurate the result will be;

The present invention obtains normal environment detection points and abnormal detection points by analyzing the abnormal values of detection points in the alternative route, thereby making a more accurate assessment of the overall environment in the alternative route and preliminarily judging the environment in the alternative route. Whether the conditions meet the safety requirements of the coal mine robot, and further determine the impact of the environmental conditions of the alternative route on the operating efficiency of the coal mine robot, thereby optimizing the selection of the coal mine robot route and improving the operating efficiency of the coal mine robot.

Connect the adjacent abnormal environment detection points to obtain the abnormal environment section, calculate and sum the length of the abnormal environment section to obtain the total length of the abnormal environment section, and obtain the battery life of the coal mine robot from the database set in the server or host. Mileage If there are decimals, round them up and use the formula:

Calculate the environmental stability value HWi of the alternative route, Hi is the total length of the abnormal environment section, e is a natural constant, b1 is the preset weight factor for the number of abnormal environment detection points, b2 is the preset weight factor for the length of the abnormal environment section, b3 is the preset weighting factor for the number of charging times. The larger the environmental stability value of the alternative route, the more complex the environment on the route is. It has a greater impact on the traveling efficiency of the coal mine robot and the operation of related equipment. The environmental stability of the alternative route is The smaller the value, the more stable the environment along the route is, and the relevant equipment of the coal mine robot will not be unable to work due to environmental effects;

It should be noted that if there is a decimal when dividing twice the length of the alternative route by the cruising range, round up. For example, the cruising range is 40KM, the route length is 20KM, and the estimated number of charges = 30*2/40+1 =2.5 times, 2.5 is rounded up to 3, expressed in symbols as Explain that it is estimated that the coal mining robot on the current alternative route needs to be charged at least twice to complete the round trip on the alternative route. For example, the cruising range is 20KM, the route length is 34.6KM, and the estimated number of charging times = 34.6*2/40+ 0 = 3.46 times, 3.46 is rounded up to 4, and the symbol is /> It is estimated that the coal mine robot on the current alternative route needs to be charged at least four times to complete the round trip on the alternative route.

Analyze the road surface of the alternative route to obtain the road level value. The analysis process is as follows:

Collect images of detection points in the alternative route through high-definition cameras, establish a three-dimensional model of the alternative route based on the images of the detection points, mark the positions of the detection points in the three-dimensional model of the alternative route, and map the three-dimensional image of the alternative route The mine height corresponding to the detection point in the model is measured to obtain the mine height corresponding to the detection point, and the mine height of the detection point is compared with the set mine height interval. When the mine height of the detection point belongs to the set mine height interval, then Mark the detection point as a flat road point. When the mine height of the detection point is less than the set mine height interval, mark the detection point as an uphill point. When the mine height of the detection point is greater than the preset mine height interval, then Mark the detection point as a downhill point, thereby obtaining the flat points, uphill points and downhill points in the alternative route;

This invention measures the mine height of the detection point in the three-dimensional model corresponding to the alternative route, and divides the detection point into flat road points, uphill points and downhill points according to the mine height of the detection point, and thereby obtains the type of each road section, and understands According to the proportion of each road segment type in different alternative routes, according to the task requirements and the performance of the coal mine robot, different constraints and priorities can be set for the alternative routes, providing a basis for the optimization of the coal mine robot's driving strategy.

Connect the adjacent flat road points to obtain the gentle road sections in the alternative route. Count the lengths of the gentle road sections and sum them up to obtain the total length PHi of the gentle road sections in the alternative route. Connect the adjacent uphill points to obtain For the uphill sections in the alternative route, the lengths of the uphill sections are counted and summed to obtain the total length SPi of the uphill sections in the alternative route. The adjacent downhill points are connected to obtain the downhill sections in the alternative route. For the downhill sections The lengths of the segments are counted and summed to obtain the total length XPi of the downhill segments in the alternative route;

Obtain the two-dimensional plan view of the alternative route, obtain the center line corresponding to the alternative route from the two-dimensional plan view of the alternative route, identify the curved road section from the center line and calculate the length of the curved road section, mark the starting point and end point of the curved road section , calculate the straight-line distance between the starting point and the end point of the curved road section to obtain the straight-line distance corresponding to the curved road section, compare the length of the curved road section with the straight-line distance of the curved road section, and obtain the length of the curved road section and the straight-line distance of the curved road section. The proportion value between the proportion value and the curvature corresponding to the preset proportion value is matched to obtain the curvature WQk of the curved road section, k is the number of the curved road section in the alternative route, k=1,2,...r , the value range of r is a positive integer greater than 1;

According to the formula:

Calculate the road level value LPi of the alternative route. c1 is the preset gentle road section weight factor, c2 is the preset slope section weight factor, and c3 is the preset curvature weight factor. The greater the road level value of the alternative route. It means that the alternative route is relatively gentle. When the coal mine robot travels on this route, its power consumption is smaller and it can reach the target position faster. The smaller the road level value of the alternative route, it means that the alternative route is relatively rough. The coal mine robot can reach the target position faster. Traveling upward requires more time to turn and go up and down slopes. The power consumption of the coal mining robot also increases, and it takes longer to reach the target location;

Furthermore, the present invention preliminarily determines the flatness and curvature of the alternative route by analyzing the road level value of the alternative route, thereby conducting route evaluation and selection, and improving the adaptability and stability of the coal mine robot in the coal mine route. Based on the analysis of the environmental stability value and road level value of the alternative route, the selection value of the alternative route is obtained. The analysis process is as follows:

Obtain the environmental stability value and road level value of the alternative route, normalize the length of the alternative route, and calculate the selection of the alternative route according to the formula XZi=HWi*d1+(1/LPi)*d2+Li*d3 Value The selection value threshold is compared. If the selection value of the alternative route is less than the preset selection value threshold, the alternative route will be marked as the preferred route. If the selection value of the alternative route is greater than the preset selection value threshold, the alternative route will be marked as the preferred route. The route is marked as an elimination route;

By analyzing the environmental stability value, road level value and length of the alternative route and planning the route of the coal mine robot, the invention comprehensively considers the efficiency, safety and stability of the alternative route and selects a shorter length and higher road surface smoothness. Routes with better environmental stability can improve the driving efficiency, safety and stability of the robot, thereby better completing coal mine tasks.

Arrange the selection values corresponding to the preferred route in order from large to small to obtain a selection value list. Select the preferred route corresponding to the maximum selection value from the selection value list as the traveling route of the coal mine robot. Add the selection values corresponding to the traveling route of the coal mine robot. After being deleted from the selection value list, select a set number of preferred routes from the selection value list as the emergency route of the coal mine robot, and send the travel route and emergency route to the receiving end of the coal mine robot.

By formulating the traveling route and emergency route of the coal mine robot according to the selection value of the alternative route, the present invention can switch routes in time in an emergency, ensure the safety of the coal mine robot, and reduce the risk of damage to the coal mine robot. The problem of increased maintenance costs caused by accidental damage to coal mine robots.

Claims (10)

1. A route planning method for coal mine robots, which is characterized in that it specifically includes the following steps: Step 1: Mark the starting position and target position of the coal mine robot, generate a route based on the starting position and the target position, record the generated route as an alternative route, obtain a two-dimensional plan view of the alternative route, and analyze the The length is calculated and recorded as Li, i is the number of the alternative route, and the value range of i is a positive integer; Step 2: Arrange a number of detection points on the alternative route, obtain the environmental parameters of the detection points, analyze the environmental parameters of the detection points to obtain the abnormal values of the detection points, and compare the abnormal values of the detection points with the preset abnormal value thresholds. If the abnormal value of the detection point is greater than the preset abnormal value threshold, the detection point will be marked as an abnormal environment detection point. Otherwise, the detection point will be marked as a normal environment monitoring point. The adjacent environmental abnormality detection points will be connected to obtain the abnormal environmental road section. , connect adjacent normal environment detection points to obtain normal environment road sections, calculate the total length of the abnormal environment road sections and normal environment road sections in the alternative route, and thereby analyze the environment of the alternative route to obtain the environmental stability value of the alternative route ; Step 3: Analyze the road surface of the alternative route to obtain the road level value, collect the image of the detection point, establish a three-dimensional model of the alternative route based on the image of the detection point, analyze the three-dimensional model of the alternative route, and obtain the The length of each road segment type is obtained, and the two-dimensional plan view of the alternative route is obtained. The two-dimensional plan view is further analyzed to obtain the curved road section of the alternative route. The curvature of the alternative route is obtained based on the curved road section. Based on the length of each road section type and the alternative route The curvature of the road surface of the alternative route is analyzed to obtain the road level value; Step 4: Obtain the selection value of the alternative route based on the analysis of the environmental stability value and road level value of the alternative route. Compare the selection value of the alternative route with the preset selection value threshold. If the selection value of the alternative route is less than the preset selection value threshold, If the selection value threshold is set, the alternative route will be marked as the preferred route, otherwise, the alternative route will be marked as the eliminated route, so as to filter the alternative routes and select a set number of alternatives from the filtered alternative routes. The route serves as the traveling route of the coal mine robot. 2. The route planning method for coal mine robots according to claim 1, characterized in that the road section types include flat road sections, uphill road sections and downhill road sections. 3. The route planning method for coal mine robots according to claim 1, characterized in that the environment of the alternative route is analyzed in step two, and the analysis process is as follows: Arrange several uniform detection points on the alternative route according to the preset detection distance, collect the environmental parameters of the detection points several times through the sensor according to the preset collection time, and select the first environmental parameter and the first environmental parameter from the environmental parameters collected several times. For the second environmental parameter, the abnormal value YCij of the detection point is obtained through analysis, and the abnormal value of the detection point is compared with the preset abnormal value threshold. If the abnormal value of the detection point is greater than the preset abnormal value threshold, the detection point is marked is an abnormal environment detection point. If the abnormal value of the detection point is less than the preset abnormal value threshold, the detection point will be marked as a normal environment detection point, and the number of abnormal environment detection points Ni will be counted; Connect the adjacent abnormal environment detection points to obtain the abnormal environment section, calculate and sum the length of the abnormal environment section to obtain the total length of the abnormal environment section, obtain the cruising range XH of the coal mine robot from the database, and obtain the coal mine robot through analysis For the estimated number of charging times ni on the alternative route, if there is a decimal when twice the length of the alternative route is divided by the cruising range, it is rounded up. Through further analysis, the environmental stability value HWi of the alternative route is obtained. The larger the environmental stability value of the alternative route, the more complex the environment on the route is, which has a greater impact on the traveling efficiency of the coal mine robot and the operation of related equipment. The smaller the environmental stability value of the alternative route, the smaller the environmental stability value of the alternative route, which indicates that the environment on the route is relatively stable. The relevant equipment will not be unable to work due to environmental influences. 4. The route planning method for coal mine robots according to claim 3, characterized in that the first environmental parameter is the maximum value among the environmental parameters collected multiple times, specifically the maximum air density Pij and the maximum dust concentration. Fij, maximum humidity Sij and maximum temperature Cij, the second environmental parameter is the minimum value among the environmental data collected multiple times, specifically the minimum air density pij, minimum dust concentration fij, minimum humidity sij and minimum temperature cij, j is an alternative The number of the detection point on the route, j=1,2,...,m, the value range of m is a positive integer. 5. The route planning method for coal mine robots according to claim 3, characterized in that the analysis obtains the abnormal value YCij of the detection point, specifically: Among them, Δρ1 is the preset air density allowable difference, Δρ2 is the preset dust concentration allowable difference, Δρ3 is the preset humidity allowable difference, Δρ4 is the preset temperature allowable difference, a1 is the preset air density weight factor, a2 is the preset dust concentration weighting factor, a3 is the preset humidity weighting factor, and a4 is the preset temperature weighting factor. 6. The route planning method for coal mine robots according to claim 3, characterized in that the environmental stability value HWi of the alternative route is obtained through further analysis, specifically: Among them, Hi is the total length of the abnormal environment section, e is a natural constant, b1 is the preset weight factor for the number of abnormal environment detection points, b2 is the preset weight factor for the length of the abnormal environment section, and b3 is the preset weight factor for the number of charging times. . 7. The route planning method for coal mine robots according to claim 1, characterized in that the road surface of the alternative route is analyzed in step three, and the analysis process is as follows: Collect images of detection points in the alternative route through high-definition cameras, establish a three-dimensional model of the alternative route based on the images of the detection points, mark the positions of the detection points in the three-dimensional model of the alternative route, and map the three-dimensional image of the alternative route The mine height corresponding to the detection point in the model is measured to obtain the mine height corresponding to the detection point, and the mine height of the detection point is compared with the set mine height interval. When the mine height of the detection point belongs to the set mine height interval, then Mark the detection point as a flat road point. When the mine height of the detection point is less than the set mine height interval, mark the detection point as an uphill point. When the mine height of the detection point is greater than the preset mine height interval, then Mark the detection point as a downhill point, thereby obtaining the flat points, uphill points and downhill points in the alternative route; Connect the adjacent flat road points to obtain the gentle road sections in the alternative route. Count the lengths of the gentle road sections and sum them up to obtain the total length PHi of the gentle road sections in the alternative route. Connect the adjacent uphill points to obtain For the uphill sections in the alternative route, the lengths of the uphill sections are counted and summed to obtain the total length SPi of the uphill sections in the alternative route. The adjacent downhill points are connected to obtain the downhill sections in the alternative route. For the downhill sections The lengths of the segments are counted and summed to obtain the total length XPi of the downhill segments in the alternative route; Obtain the two-dimensional plan view of the alternative route, obtain the center line corresponding to the alternative route from the two-dimensional plan view of the alternative route, identify the curved road section from the center line and calculate the length of the curved road section, mark the starting point and end point of the curved road section , calculate the straight-line distance between the starting point and the end point of the curved road section to obtain the straight-line distance corresponding to the curved road section, compare the length of the curved road section with the straight-line distance of the curved road section, and obtain the length of the curved road section and the straight-line distance of the curved road section. The proportion value between the proportion value and the curvature corresponding to the preset proportion value is matched to obtain the curvature WQk of the curved road section, k is the number of the curved road section in the alternative route, k=1,2,...r , the value range of r is a positive integer greater than 1; the road level value LPi of the alternative route is obtained through analysis. The larger the road level value of the alternative route, it means that the alternative route is relatively gentle. When the coal mine robot travels on this route, its power is It consumes less energy and can reach the target location faster. The smaller the road level value of the alternative route, the more rugged the alternative route is. The coal mining robot needs to spend more time turning and going up and downhill on this route. The coal mining robot's Power consumption also increases and it takes longer to reach the target location. 8. The route planning method for coal mine robots according to claim 7, characterized in that the road level value LPi of the alternative route is obtained through analysis, specifically: Among them, c1 is the preset weight factor for gentle road sections, c2 is the preset weight factor for slope sections, and c3 is the preset weight factor for curvature. 9. The route planning method for coal mine robots according to claim 1, characterized in that the selection value of the alternative route is obtained by analyzing the environmental stability value and road level value of the alternative route in step 4, and the analysis process is as follows : Obtain the environmental stability value and road level value of the alternative route, normalize the length of the alternative route, analyze and obtain the selection value XZi of the alternative route, and compare the selection value of the alternative route with the preset selection value threshold In contrast, if the selection value of the alternative route is less than the preset selection value threshold, the alternative route is marked as the preferred route; if the selection value of the alternative route is greater than the preset selection value threshold, the alternative route is marked as eliminated. route; Arrange the selection values corresponding to the preferred route in order from large to small to obtain a selection value list. Select the preferred route corresponding to the maximum selection value from the selection value list as the traveling route of the coal mine robot. Add the selection values corresponding to the traveling route of the coal mine robot. After being deleted from the selection value list, select a set number of preferred routes from the selection value list as the emergency route of the coal mine robot, and send the travel route and emergency route to the receiving end of the coal mine robot. 10. The route planning method for coal mine robots according to claim 9, characterized in that the selection value XZi of the alternative route is obtained, specifically: XZi＝HWi*d1+(1/LPi)*d2+Li*d3 Among them, d1 is the preset first conversion factor of the selection value, d2 is the preset second conversion factor of the selection value, and d3 is the preset third conversion factor of the selection value.