CN218768084U - Comprehensive control platform for coal mine robot cluster - Google Patents
Comprehensive control platform for coal mine robot cluster Download PDFInfo
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- CN218768084U CN218768084U CN202222600677.1U CN202222600677U CN218768084U CN 218768084 U CN218768084 U CN 218768084U CN 202222600677 U CN202222600677 U CN 202222600677U CN 218768084 U CN218768084 U CN 218768084U
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Abstract
The utility model discloses a towards comprehensive management and control platform of colliery robot cluster, include: the system comprises a coal mine robot cluster, a data processing module and a data processing module, wherein the coal mine robot cluster consists of a plurality of coal mine robots, and each coal mine robot is provided with a coal mine robot data module; the data compiling module is connected with the coal mine robot data module and the coal mine robot; the control module is connected with the data compiling module, and the human-computer interaction module is connected with the control module. The utility model discloses can show each item information of colliery robot cluster in real time, can reflect real-time operational environment, operating mode state and the equipment running state of all kinds of colliery robots and the scene that locates in the mine directly perceivedly, be convenient for carry out unified operation dispatch and remote control.
Description
Technical Field
The utility model belongs to the technical field of colliery robot control, concretely relates to towards comprehensive management and control platform of colliery robot cluster.
Background
Various robots and related technologies which are well-established in industries such as electric power, chemical industry, transportation, manufacturing and the like are gradually applied to the field of coal industry, for example, electric power park inspection robots, workshop inspection robots, chemical security robots, production line industrial robots and the like all undertake part of safety auxiliary operation tasks on the ground of a coal mine or underground. For the inspection operation of a main mine transportation system, a rail type inspection robot and a wheel type inspection robot are adopted by some coal mines to replace operators to finish the daily inspection operation of a belt transportation system; in underground fixed places such as a water pump room, a substation and the like, the inspection robot replaces manpower to complete tasks of data reading, equipment state monitoring, environment monitoring and the like of instruments and meters. In addition, on the mine ground, some coal mines use a security patrol robot to detect the factory danger source, and corresponding operation is completed by using the patrol robot and an AGV in ground plants such as a substation and a material workshop.
Because more and more robot products are applied to coal mines, the management and control of the robots are realized by upper computer programs independently matched with each manufacturer, one robot is matched with one upper computer program, and the functions realized by different robot management and control programs are different, and the method mainly comprises the steps of monitoring the state of a robot equipment body, remotely controlling the robot equipment, monitoring a robot external sensor, acquiring video images and matching the intelligent algorithm (such as face recognition, image recognition and the like).
Since each manufacturer has an independent product and matched control software, the robot cluster is comprehensively controlled under a unified platform, which has various difficulties.
The existing integrated automation system has the following problems:
1. the comprehensive automation system does not solve the current situations of weak coordination capacity, poor information fusion and less mutual linkage among systems; various intelligent equipment and robots have non-uniform external communication interfaces and various data protocols, and multi-network integration and node interaction modes need to be researched.
2. Most underground robots are single systems, the types are more, the robot clusters cannot be monitored systematically and integrally, integration with position service and GIS roadway map information cannot be achieved, and the wireless data transmission capability is weak;
3. the robot lacks information interaction with the environment and equipment, the operation continuation of the similar robot is slow, the cooperative operation capability among different robots is poor, and unified scheduling and management are lacked, so that the overall operation efficiency of a robot cluster is low;
4. a robot cluster which is powered by a battery and needs multi-robot cooperative operation is adopted, and effective charging scheduling and task allocation strategies cannot be formed;
5. the platform application layer cannot reliably carry out remote control on the underground robot in real time, and the data model cannot be effectively utilized to realize intelligent robot control under data driving.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least.
Therefore, the utility model provides a towards comprehensive management and control platform of colliery robot cluster, this towards comprehensive management and control platform of colliery robot cluster has the advantage of unifying the management and control to the colliery robot cluster.
According to the utility model discloses towards comprehensive management and control platform of colliery robot cluster, include: the system comprises a coal mine robot cluster, a data processing module and a data processing module, wherein the coal mine robot cluster consists of a plurality of coal mine robots, and each coal mine robot is provided with a coal mine robot data module; the data compiling module is connected with the coal mine robot data module and the coal mine robot; the control module is connected with the data compiling module, and the human-computer interaction module is connected with the control module.
According to the utility model discloses an embodiment, coal mine robot data module includes: the positioning navigation device is used for identifying the position information of the coal mine robot, the internal sensor is used for monitoring the motion information of the coal mine robot, the positioning navigation device and the internal sensor are connected with the communication module, and the communication module is connected with the data compiling module.
According to the utility model discloses an embodiment, coal mine robot data module still includes: the industrial camera is used for observing the coal mine robot and the surrounding environment, the external sensor is used for monitoring the surrounding environment information, and the industrial camera and the external sensor are connected with the communication module.
According to the utility model discloses an embodiment, towards colliery robot cluster's comprehensive management and control platform still includes the modeling module, the modeling module with control module links to each other, the modeling module is used for constructing colliery robot virtual entity and environment virtual entity.
According to the utility model discloses an embodiment, the human-computer interaction module includes: the coal mine robot comprises a display screen and an input device, wherein the display screen and the input device are connected with the control module, and the display screen is used for displaying the coal mine robot virtual entity and the environment virtual entity.
According to an embodiment of the present invention, the data compiling module is connected to the control module through a wireless network or an ethernet network.
According to the utility model discloses an embodiment, coal mine robot with correspond coal mine robot virtual entity keeps synchronous motion.
According to an embodiment of the present invention, the input device is one or more of a keyboard, a mouse, a handle, a control switch, and a control knob.
According to the utility model discloses an embodiment, be provided with filtering unit in the communication module, filtering unit is used for filtering noise data.
The beneficial effects of the utility model are that, the utility model discloses a receive coal mine robot's motion information and all ring edge border information, and with information mapping to coal mine robot virtual entity and the virtual entity of environment on, make coal mine robot and the virtual entity of coal mine robot that corresponds keep synchronous motion, thereby form the twin organism of digit, be convenient for show coal mine robot cluster's each item information in real time, can reflect in the mine various coal mine robot and the real-time operational environment of scene of locating thereof directly perceivedly, operating mode state and equipment running state, be convenient for unify operation dispatch and remote control.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a comprehensive management and control platform for a coal mine robot cluster according to the utility model.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The utility model discloses comprehensive management and control platform towards colliery robot cluster of embodiment is specifically described below with reference to the attached drawing.
As shown in fig. 1, according to the utility model discloses towards colliery robot cluster's comprehensive management and control platform, include: the system comprises a coal mine robot cluster, a data compiling module, a control module and a man-machine interaction module, wherein the coal mine robot cluster is composed of a plurality of coal mine robots, and each coal mine robot is provided with a coal mine robot data module; the data compiling module is connected with the coal mine robot data module and the data compiling module is connected with the coal mine robot; the control module is connected with the data compiling module, and the human-computer interaction module is connected with the control module.
In this embodiment, the coal mine robot cluster may be a coal mining robot, a tunneling robot, a belt inspection robot, a substation inspection robot, a security inspection robot, and the like. Each coal robot is provided with a control interface and an interface function correspondingly, the data compiling module is connected to the control interface, and communication and control of the coal robot are achieved by calling the interface function.
According to the utility model discloses an embodiment, coal mine robot data module includes: the positioning navigation device is used for identifying position information of the coal mine robot, the internal sensor is used for monitoring motion information of the coal mine robot, the positioning navigation device and the internal sensor are both connected with the communication module, and the communication module is connected with the data compiling module. The positioning navigation device can be a GPS positioning navigation device or a Beidou positioning navigation device. For example, for the coal mining robot, whether the coal mining robot is started or not is monitored through the equipment opening and closing sensor, the coal mining path and the coal mining position coordinates of the coal mining robot are monitored through the positioning navigation device, the rotating speed of a drill bit of the coal mining robot during coal mining is monitored through the rotating speed sensor, whether the coal mining speed and the coal mining process are blocked or not is further deduced, the self motion state of the coal mining robot is monitored through the motion sensor, and whether each mechanism of the coal mining robot works normally or not is judged conveniently.
On this basis, coal mine machine people data module still includes: the industrial camera is used for observing the coal mine robot and the surrounding environment, the external sensor is used for monitoring the surrounding environment information, and the industrial camera and the external sensor are both connected with the communication module. The external sensors are temperature sensors, harmful gas sensors, wind speed and pressure sensors and the like, the peripheral environment information of the coal mine robot can be monitored in real time by using the external sensors, when the harmful gas sensors monitor that the harmful gas exceeds the standard, an alarm can be sent out in time to remind people in a mine to evacuate, when the temperature is too high, a belt is easy to ignite spontaneously, and the temperature sensors can effectively avoid dangerous situations through real-time monitoring.
According to the utility model discloses an embodiment, towards the comprehensive management and control platform of colliery robot cluster still includes the modeling module, and the modeling module links to each other with control module, and the modeling module is used for constructing colliery robot virtual entity and environment virtual entity.
Namely, the modeling module utilizes a 3DMAX modeling tool to model the coal mine robot and the surrounding environment to form a coal mine robot virtual entity and an environment virtual entity, and utilizes a Unity3D three-dimensional simulation engine system to develop, wherein the development comprises bottom layer frame design, process node control, action node control and simulation animation design. Specifically, the bottom layer framework design adopts multiple design models of the Unity3D, such as an observer design model and an iterator design mode, and can create a dependency relationship among objects, acquire all elements in a sequence, and construct a data processing path for data change and filtering operation; the process node is controlled, and each state machine in the hierarchical logic framework is managed by using a PlayMaker plug-in; the action node is controlled, and an XML configuration file is adopted to realize the action effect of the coal mine robot virtual entity; the simulation animation design comprises animation editing and animation control, so that the virtual entity control of the coal mine robot is more stable, and the animation transition effect is improved. The coal mine robot virtual entity realizes virtual mapping by utilizing a 3DMAX modeling tool and a Unity3D three-dimensional engine according to a physical entity of a coal mine robot. Specifically, the built three-dimensional model is converted into an FBX format and is led into a Unity3D scene, animation is made on each part of the coal mine robot virtual entity, XML configuration is generated by combining visual angle movement and animation effect, and a control script is added.
According to the utility model discloses an embodiment, man-machine interaction module includes: the display screen and the input device are connected with the control module and are used for displaying the coal mine robot virtual entity and the environment virtual entity. In other words, the display screen can display the states of the coal mine robot virtual entity and the environment virtual entity in real time, and the coal mine robot virtual entity and the environment virtual entity are the mapping of the coal mine robot cluster in reality, so that the real information of the display screen is the actual working state and the environment state of the coal mine robot in the mine.
Preferably, the data compiling module is connected with the control module through a wireless network or an Ethernet network.
According to the utility model discloses an embodiment, colliery robot keeps synchronous motion with the virtual entity of corresponding colliery robot. That is to say, the information of the coal mine robot and the surrounding environment can be transmitted to the control module in real time and is displayed through the coal mine robot virtual entity and the environment virtual entity, and after the control module sends out a control instruction, the new information of the coal mine robot and the surrounding environment can be transmitted to the control module again, and meanwhile, the coal mine robot virtual entity and the environment virtual entity can display the state corresponding to the new information.
According to the utility model discloses an embodiment, input device is one or more in keyboard, mouse, handle, control switch, the control knob. Of course, the control module can automatically control the coal robot cluster, and can also be controlled by an operator through an input device.
On the basis, a filtering unit is arranged in the communication module and used for filtering noise data. The filtering unit can filter the received information, so that some noise data are eliminated, and interference caused by the noise data is avoided.
During operation, a three-dimensional model of the coal mine robot and the surrounding environment is established by the modeling module, a Unity3D three-dimensional simulation engine system is used for developing a three-dimensional motion environment, and the control module receives motion information of the coal mine robot and the surrounding environment information to enable the coal mine robot virtual entity and the environment virtual entity to make the same motion. On the other hand, the charging schedule of each coal robot can be displayed on the display screen, low-power equipment is charged preferentially, and coal mine robots of different types can be configured to coordinate with each other, so that production cooperation is achieved. For example, when one coal mining robot is used for full-load coal mining, two belt conveying robots are needed to convey coal out, and when an internal sensor monitors that the load of the coal mining robot is lower than half of the load, only one belt conveying robot can be moved to work together with the coal mining robot.
The beneficial effects of the utility model are that, the utility model discloses a receive coal mine robot's motion information and all ring edge border information, and with information mapping to coal mine robot virtual entity and environment virtual entity on, make coal mine robot and the virtual entity of corresponding coal mine robot keep synchronous motion, thereby form the twin organism of digit, be convenient for show each item information of coal mine robot cluster in real time, can reflect the real-time operational environment of all kinds of coal mine robot and scene that locates in the mine directly perceivedly, operating condition state and equipment running state, be convenient for unify operation dispatch and remote control.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. The utility model provides a towards comprehensive management and control platform of colliery robot cluster which characterized in that includes:
the system comprises a coal mine robot cluster, a data processing module and a data processing module, wherein the coal mine robot cluster consists of a plurality of coal mine robots, and each coal mine robot is provided with a coal mine robot data module;
the data compiling module is connected with the coal mine robot data module and is connected with the coal mine robot;
a control module connected with the data compiling module,
and the human-computer interaction module is connected with the control module.
2. The integrated management and control platform for the coal mine robot cluster as recited in claim 1, wherein the coal mine robot data module comprises: the positioning navigation device is used for identifying the position information of the coal mine robot, the internal sensor is used for monitoring the motion information of the coal mine robot, the positioning navigation device and the internal sensor are connected with the communication module, and the communication module is connected with the data compiling module.
3. The integrated management and control platform for the coal mine robot cluster according to claim 2, wherein the coal mine robot data module further comprises: the industrial camera is used for observing the coal mine robot and the surrounding environment, the external sensor is used for monitoring the surrounding environment information, and the industrial camera and the external sensor are both connected with the communication module.
4. The coal mine robot cluster-oriented comprehensive management and control platform according to claim 3, wherein the man-machine interaction module comprises: the display screen and the input device are connected with the control module.
5. The coal mine robot cluster-oriented comprehensive management and control platform as claimed in claim 4, wherein the data compiling module is connected with the control module through a wireless network or an Ethernet network.
6. The coal mine robot cluster-oriented integrated management and control platform as claimed in claim 4, wherein the input device is one or more of a keyboard, a mouse, a handle, a control switch and a control knob.
7. The coal mine robot cluster-oriented comprehensive control platform according to claim 2, wherein a filtering unit is arranged in the communication module and used for filtering noise data.
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| CN202222600677.1U CN218768084U (en) | 2022-09-30 | 2022-09-30 | Comprehensive control platform for coal mine robot cluster |
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| CN202222600677.1U CN218768084U (en) | 2022-09-30 | 2022-09-30 | Comprehensive control platform for coal mine robot cluster |
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