CN-121990075-A - Bidirectional carrying machine dog for space section supporting material of underground heading machine and carrying method thereof

CN121990075ACN 121990075 ACN121990075 ACN 121990075ACN-121990075-A

Abstract

The invention provides a bidirectional carrying machine dog for a space section supporting material of an underground development machine and a carrying method thereof, and relates to the technical field of underground intelligent transportation of coal mines. The machine dog comprises a machine dog body, a carrying tray, a sensor module and a central controller, wherein the machine dog body is used for driving a leg module to move under the control of the central controller and automatically completing a cargo carrying task, the front end and the rear end of the machine dog body are both provided with the sensor module connected with the central controller to realize 360-degree road condition identification, the carrying tray is fixed on the back of the machine dog body and used for carrying and carrying a box for storing cargoes, the central controller is used for automatically positioning, seeking a road and avoiding barriers according to data acquired by the sensor module through visual analysis, controlling the machine dog body to freely walk in a narrow space section of a coal mine, and controlling the motor to adjust the state of the leg module at any time according to requirements, so that the advancing direction of the machine dog body is changed under the condition of not turning around.

Inventors

PAN JIAN
FAN JINYING

Assignees

东北大学
辽宁大学

Dates

Publication Date: 20260508
Application Date: 20260203

Claims (10)

1. The bidirectional carrying machine dog for the space section supporting material of the underground development machine is characterized by comprising a machine dog main body, a carrying tray, a sensor module and a central controller; The robot dog main body is a dog-shaped robot and is used for driving the leg module to move through the motor under the control of the central controller so as to autonomously complete a cargo carrying task; The front end and the rear end of the robot dog main body are respectively provided with a sensor module connected with the central controller, so that 360-degree road condition recognition is realized; The carrying tray is fixed on the back of the main body of the robot dog and carries and conveys boxes for storing goods in a piggyback mode; The central controller performs automatic positioning, road finding and obstacle avoidance through visual analysis according to the data acquired by the sensor module, controls the robot dog main body to freely walk in a narrow space section of a coal mine, and controls the motor to adjust the state of the leg module at any time according to the requirement, so that the robot dog main body can change the advancing direction under the condition of not turning around.
2. The bidirectional carrying machine dog for the space section supporting material of the underground development machine of claim 1, wherein the machine dog body is an aluminum alloy frame and is provided with an explosion-proof coating.
3. The bidirectional transfer robot dog for supporting materials in the space section of the underground development machine of claim 2, wherein the periphery of the carrying tray is designed with trimming edges, four round link buckles are arranged at four corners of the tray and used for being linked with the transfer box body, and a plurality of buffer devices are arranged at the bottom of the tray.
4. The underground development machine space section supporting material bidirectional transfer robot dog according to claim 3, wherein the buffer device adopts a structure of connecting rod additional springs, and can play a role in buffering when the robot dog transfers.
5. The bidirectional transfer robot dog for the space section supporting material of the underground development machine of claim 4, wherein the sensor module comprises a laser radar, an ultrasonic radar sensor, a camera, a UWB positioning module, a gyroscope and an environmental sensor, and the laser radar, the ultrasonic radar sensor, the camera, the UWB positioning module, the gyroscope and the environmental sensor are all electrically connected with the central controller, so that real-time transmission of sensing data and instruction interaction are realized.
6. The bidirectional transfer robot dog for the space section supporting material of the underground development machine of claim 5, wherein the laser radar is in signal connection with a central controller, the laser radar is used for measuring the laser round trip time by emitting high-precision laser beams and receiving reflected laser beams of target objects, and the central controller is used for calculating the distance between the laser radar and the target objects based on a time-of-flight method so as to construct a high-precision three-dimensional point cloud map of the surrounding environment; The ultrasonic radar sensor is in signal connection with the central controller, the central controller carries out multi-source data fusion processing on the obstacle detection data acquired by the laser radar, the ultrasonic radar sensor and the camera, and short-distance obstacle detection information is output through a data redundancy check and error compensation algorithm; Setting a machine dog main body, a discharging area, a loading area and charging piles in a working area, wherein UWB modules are respectively installed on the machine dog main body, the loading area and the charging piles, the UWB positioning modules are electrically connected with a central controller, based on an ultra-wideband radio communication technology, through radio signal interaction with underground preset positioning base stations, multi-node mutual positioning is realized, the distance between each UWB positioning module and each base station is accurately measured, positioning data are transmitted to the central controller in real time, and the central controller is assisted to complete position calibration and destination path planning of the machine dog; The gyroscope is in signal connection with the central controller and is used for detecting the attitude parameters and the motion state of the robot dog in real time, feeding back attitude detection data to the central controller, and correcting the traveling attitude of the robot dog through an attitude closed-loop control algorithm by combining environment perception data to finally realize 360-degree omnibearing dead angle-free identification of the surrounding road conditions by the robot dog; The environment sensor is electrically connected with the central controller and used for collecting underground environment parameters and providing basis for the central controller to judge the safety of the operation environment and adjust the working parameters of each sensor.
7. The two-way transfer robot dog for supporting materials in a space section of a down-hole tunneling machine according to claim 6, wherein the robot dog body is provided with a power switch for supplying power through an internal battery and is charged or replaced by a charging pile arranged in a set range of the tail part of the tunneling machine.
8. A method for carrying support materials in a space section of an underground tunneling machine in two directions, which is realized based on the two-way carrying machine dog for the support materials in the space section of the underground tunneling machine in claim 1, and is characterized by comprising the following steps: Step 1, turning on a power switch arranged on a machine dog main body, supplying power to the machine dog main body by using a battery, and performing safe self-checking, wherein each motor on the machine dog main body enters a damping state in the self-checking process; step 2, reading a configuration file and initializing a central controller; step 3, sending the state of the main body of the machine dog and the readings of the environmental sensor to a central controller, and if the central controller determines that the readings of all indexes are normal, adjusting the state of the machine dog from a damping state to a standing posture, and continuously receiving a working instruction by the central controller after the completion; After receiving the working instruction, the central controller builds a map of the position of the current machine dog by utilizing data obtained by a laser radar, an ultrasonic radar sensor and a camera in the sensor module, and compares the map with a known roadway map to determine the position of the main body of the machine dog; step 5, the central controller performs route planning according to the position of the main body of the machine dog, the position of the unloading area, the position of the loading area and the position of the charging piles in the working area, and a task route is obtained; And 6, controlling the motor to drive the leg module of the robot dog body to travel according to the task route by the central controller, continuously building a graph through a laser radar and a camera in the sensor module in the traveling process, combining with the assistance of an ultrasonic radar sensor, monitoring in real time, further adjusting the planned task route in real time and completing the loading and unloading tasks.
9. The method of claim 8, wherein the safety self-check includes checking a status of a motor in the robot dog body for driving the leg module, obtaining readings from each joint motor, checking whether the battery power is below a set power threshold, and checking whether each sensor in the sensor module is normal.
10. The method for bi-directionally transporting the support material of the space section of the underground development machine according to claim 9, wherein the specific method for adjusting the planned task route in real time is as follows: When the obstacle is detected, the automatic obstacle avoidance is carried out, when the steering is detected, the steering is carried out, when the dumping and the impact are detected, the motor is adjusted to be in a damping state, the emergency risk avoidance is carried out, when the electric quantity is detected to be lower than an electric quantity threshold value, the motor is moved to a position of a charging pile for charging or replacing a battery, when the destination is reached, the unloading and loading operation is carried out, when the input of a control instruction is detected, the working state is changed according to the control instruction, and when the shutdown instruction is detected, the shutdown process is carried out.

Description

Bidirectional carrying machine dog for space section supporting material of underground heading machine and carrying method thereof Technical Field The invention belongs to the technical field of underground intelligent transportation of coal mines, and particularly relates to a bidirectional carrying machine dog for space section supporting materials of an underground heading machine and a carrying method thereof. Background Currently, underground coal mine roadway tunneling generally depends on a tunneling machine. The equipment is huge in size, occupies about 50 meters in length along the axial direction of the roadway, almost fills the roadway in section, and only leaves a gap of less than 1 meter between the machine body and the surface of the roadway. Along with the continuous propulsion of the heading machine, a new exposed roadway is formed, and supporting materials such as anchor rods, anchor nets, anchor ropes, W steel belts, U-shaped sheds and the like are needed to be used for supporting in time. These materials can only be manually transported from the tail to the head of the heading machine, with a transport distance of about 50 meters. Typically, a heading face is equipped with 11 workers, 3 of which are dedicated to supporting material handling at a time of about 40 kg weight. And the existing manual carrying mode has low efficiency, high safety risk and high labor cost. Therefore, the development of the machine dog replaces manpower to transport the support material from the tail part of the heading machine to the forefront part of the heading machine in a narrow space, and the work has important application value and significance. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a bidirectional carrying machine dog for a space section supporting material of an underground heading machine and a carrying method thereof, which are provided with two sets of sensor modules, can realize free movement without turning around in a narrow space, weak illumination and non-tiled road condition environment which is less than 1 meter, and replace manual work to finish carrying work of the supporting material of a mine. The technical scheme of the invention is that in one aspect, the invention provides a bidirectional carrying machine dog for a space section supporting material of an underground development machine, which comprises a machine dog main body, a carrying tray, a sensor module and a central controller; The robot dog main body is a dog-shaped robot and is used for driving the leg module to move through the motor under the control of the central controller so as to autonomously complete a cargo carrying task; The front end and the rear end of the robot dog main body are respectively provided with a sensor module connected with the central controller, so that 360-degree road condition recognition is realized; The carrying tray is fixed on the back of the main body of the robot dog and carries and conveys boxes for storing goods in a piggyback mode; The central controller performs automatic positioning, road finding and obstacle avoidance through visual analysis according to the data acquired by the sensor module, controls the robot dog main body to freely walk in a narrow space section of a coal mine, and controls the motor to adjust the state of the leg module at any time according to the requirement, so that the robot dog main body can change the advancing direction under the condition of not turning around. Further, the machine dog main body adopts an aluminum alloy frame and is provided with an explosion-proof coating. Furthermore, the periphery of the carrying tray is designed with edge cutting, four corners of the tray are provided with four circular linking buckles for being linked with the carrying box body, and a plurality of buffer devices are arranged at the bottom of the tray. Furthermore, the buffer device adopts a structure of connecting rods and additional springs, and can play a role in buffering when the machine dog is carried. The sensor module comprises a laser radar, an ultrasonic radar sensor, a camera, a UWB positioning module, a gyroscope and an environmental sensor, wherein the laser radar, the ultrasonic radar sensor, the camera, the UWB positioning module, the gyroscope and the environmental sensor are all electrically connected with the central controller, so that real-time transmission of perception data and instruction interaction are realized. Further, the laser radar is in signal connection with the central controller, the central controller is used for measuring the laser round trip time by transmitting high-precision laser beams and receiving reflected laser beams of the target object, and the central controller is used for calculating the distance between the laser radar and the target object based on a time-of-flight method, so that a high-precision surrounding environment three-dimensional point cloud map is constructed; t