Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a collaborative management platform for a coal mine robot cluster, which aims to solve the problem of low mining efficiency of robots.
In order to achieve the above object, the present invention is realized by the following technical scheme: a collaborative management platform for a coal mine robot cluster comprising:
Robot clusters and a robot collaborative management system;
the robot cluster includes: a patrol robot cluster and a mining robot cluster;
Inspection robot: the mining method comprises the steps of acquiring mining images in a mine cavity; the inspection robot is also associated with a sensor module and is used for measuring the relative position coordinates from the mine cavity to the mine entrance in the mine cavity, the vertical distance from the mine cavity to the mine entrance, the cross-sectional area, the temperature and the maximum transverse distance in the mine cavity, and obtaining mine cavity data;
Mining robot: the mining device is used for mining in a mine cavity;
The robot cooperation management system includes: the system comprises a data acquisition module, a task distribution module, a task scheduling module, a user interaction module, a database and a server;
And a data acquisition module: the mining method comprises the steps of acquiring mining images corresponding to each mine hole; acquiring position coordinates of a mine and each mine hole; acquiring the corresponding cross sectional area, the maximum transverse distance and the vertical distance from the mine hole to the mine entrance of each mine hole to obtain mine hole data;
the task allocation module: yesterday mining amount for each mine hole is obtained; according to yesterday mining quantity of the mine holes, processing mine hole data once, and determining distribution quantity and candidate quantity of the mining robots in each mine hole;
Task scheduling module: the mining robot drill bit is used for acquiring the temperature and the atmospheric pressure of a mine inlet, carrying out secondary processing on mine hole data and adjusting the rotating speed of the mining robot drill bit in each mine hole; analyzing the enrichment degree of the coal mine in each mine hole according to the mining image; according to the enrichment degree and the candidate number, secondarily distributing mining robots for each mine hole, and adjusting the mining area and the transverse mining depth of each mine hole;
and a user interaction module: for summarizing the mining images and the positions of the inspection and mining robots and for transmission to the user.
Further, the workflow of the task allocation module is as follows:
scheme A1: counting the number of ore holes, and marking n; taking the position of a mine entrance as an origin, taking the position downwards as a Z-axis positive direction, taking the direction downwards as an X-axis positive direction, taking the direction north as a Y-axis positive direction, and establishing a space coordinate system; obtaining a position set B of each mine hole relative to the mine;
Aggregate B{（x1,y1,z1）,（x2,y2,z2）～（xn,yn,zn）}; wherein, (x1,y1,z1) represents the position of mine hole number 1 relative to the mine; (x2,y2,z2) represents the position of the mine hole No. 2 relative to the mine shaft; similarly, (xn,yn,zn) represents the position of the n-number mine hole relative to the mine shaft;
scheme A2: assigning a mining robot to each mine tunnel; the yesterday mining amount of the 1 st to n th mine holes is obtained and is recorded as m, and the following steps are obtained: m1、m2～mn; if the yesterday mining amounts of the 1 st to n th mine holes are all 0, m represents the distance between the 1 st to n th mine holes and the mine entrance position, namely，And so on；
Flow A3: calculating the sum of m1、m2～mn and marking the sum as m; defining a calculation formula 11, and calculating a proportionality coefficient b1、b2～bn of m1、m2～mn relative to m;
Calculation formula 11: ; wherein i represents 1 to n;
Flow A3: summarizing the transverse distances of the 1 st to n th mine holes, and marking the transverse distances as w1, w 2-wn; reading the transverse distance of the mining robot in a database, and marking the transverse distance as w; calculating the total distribution number rn of the mining robot; the calculation of rn is as follows:
rn is a positive integer, rounding down;
database: for storing the lateral distance of the mining robot, the total number of mining robots.
Further, the subsequent flow of the flow A3 is as follows:
flow A4: reading the total number of mining robots in a database, and recording as zr; comparing the sizes of zr and rn, and determining a distribution factor rr;
If zr is larger than or equal to rn, indicating that the mining robot is abundant, and the value of rr is rn; if zr is less than rn, the mining robot is insufficient, and the rr value is zr;
Scheme A5: calculating the distribution number rn1、rn2～rnn of the 1 st to n th mining robots;
The calculation of rn1 is: the calculation of rn1＝b1*rr;rn2 is: rn2＝b2 xrr; similarly, the calculation of rnn is: rnn＝bn xrr; wherein rn1～rnn is a positive integer, and is rounded downwards;
Flow A6: calculating the candidate number of the mining robots and marking the candidate number as sn;
If the mining robot is abundant, the sn is calculated as:；
If the mining robot is insufficient, the sn is calculated as:；
scheme A7: sequentially distributing a corresponding number of mining robots for the 1 st to n th mine holes according to the sequence of rn1～rnn, and distributing 1 inspection robot for each mine hole;
Scheme A8: acquiring a default rotation speed of a mining robot drill bit, and recording the default rotation speed as v0; setting the rotating speeds of mining robot drills in the 1 st to n th mine holes to v0, executing mining tasks, and entering a task scheduling module.
Further, the workflow of the task scheduling module is as follows:
Scheme B1: acquiring Z-axis data Z1～zn corresponding to the 1 st to n th mine holes in the set B; wherein n represents the number of mine holes;
flow B2: acquiring the temperature and the atmospheric pressure of a mine inlet, and respectively marking the temperature and the atmospheric pressure as To and Po;
Calculation formula 21 defining the mine hole pressure:；
calculation formula 22 defining mine cavity temperature:；
Wherein, Pi and Ti respectively represent the atmospheric pressure and the temperature in the ith mine cavity, i represents 1 to n; ρ represents the air density; g represents the acceleration of gravity, g is 9.8m/s2; g represents a temperature gradient, and G is 0.03OC/m;hi represents the corresponding ordinate of the ith mine hole in the set B;
Flow B3: summarizing the concentration of dangerous gases in 1 st to n th mine holes, and marking as c1、c2～cn; reading a concentration threshold value of the dangerous gas in a database, and recording the concentration threshold value as cc; adjusting the rotating speed of a mining robot drill bit;
Database: storing a concentration threshold of the hazardous gas;
flow B4: analyzing the enrichment degree of the coal mine in each mine hole according to the mining image; secondarily distributing mining robots to each mine hole according to the enrichment degree and the candidate number;
flow B5: the mining area and the lateral mining depth of each mine cavity are adjusted.
Further, the specific flow of the flow B3 is as follows:
scheme B31: adjusting the rotating speed of a mining robot drill bit in the 1 st mine hole;
definition judgment formula 23: lim (co/cc) →1;
Substituting c1 into co, and judging whether the judgment formula 23 is satisfied;
If so, the dangerous gas concentration in the mine cavity is safe, the rotating speed of the drill bit of the mining robot is improved, and the process B32 is entered;
If so, indicating that the concentration of dangerous gas in the mine cavity is dangerous, reducing the rotating speed of the drill bit of the mining robot, and entering a process B33;
Flow B32: on the basis of vo, the rotating speed of the mining robot drill bit is improved; the specific flow of the flow B32 includes: flow B321 to flow B324;
Scheme B321: substituting z1 into hi in the calculation formula 21 and the calculation formula 22 respectively, and calculating and obtaining the pressure P1 and the temperature T1 of the 1 st mine hole;
Flow B322: defining equation 24: ΔXi＝Xi -Xo; wherein Xi and Xo represent the calculation parameters of calculation formula 24; wherein i represents the corresponding subscript of Xi;
Scheme B323: substituting P1, po, T1 and To into Xi and Xo in the calculation formula 24 in sequence, and calculating the pressure variation delta P1 and the temperature variation delta T1 of the 1 st mine hole;
Calculating an influence coefficient a1 of the pressure in the 1 st mine hole, a1=Δp1/P1; the influence coefficient of temperature a2, a2=Δt1/T1;
flow B324: calculating the rotation speed vv1, vv 1= (1+a2/a 1) vo of the 1 st mine tunnel robot after adjustment;
Scheme B33: on the basis of vo, reducing the rotating speed of the mining robot drill bit;
Repeating the flow B321 to the flow B323 to obtain a1 and a2;
And calculating the rotation speed vv1, vv 1= |1-a2/a 1|vo of the 1 st mine tunnel robot after adjustment.
Further, the subsequent flow of the flow B34 is as follows:
Scheme B34: after the rotation speed of the inspection robot is changed from vo to v1, the rotation speed of a drill bit of the inspection robot in the 1 st mine hole and the concentration of dangerous gas are obtained in real time and respectively recorded as nv and nc;
judging whether nc is less than or equal to cc is established or not, and determining the rotation speed v2 of the inspection robot after secondary adjustment;
If so, the rotation speed of the inspection robot is increased, and vv2= (1+c1/nc) ×vv1;
If not, the rotation speed of the inspection robot is reduced, and vv2= |1-c1/nc|vv 1;
Scheme B35: repeatedly executing the process B34 to acquire and compare the concentration of the dangerous gas and adjust the rotating speed; each time the process B34 is executed, v2 is increased or decreased on the basis of the original process until the mining robot of the 1 st mine hole finishes the mining operation, and the adjustment of the rotation speed of the drill bit of the mining robot of the 1 st mine hole is finished;
Flow B36: expanding the expression range of hi in equations 21 and 22 to: z2～zn, the expression range of co in decision 23 extends to: c2～cn; and repeating the same step of adjusting the rotation speed of the mining robot drill bit in the 1 st mine hole, and adjusting the rotation speeds of the mining robot drill bits in the 2 nd to n nd mine holes.
Further, the specific flow of the flow B4 is as follows:
Scheme B41: importing CIFAR libraries and a fast R-CNN model; selecting three groups of pn coal mine image sets in CIFAR picture libraries as training sets, verification sets and test sets, and training a fast R-CNN model to obtain a coal mine identification model;
Flow B42: summarizing the corresponding cross sectional areas of each mine hole, and respectively marking as s1、s2～sn;
Summarizing mining images corresponding to each mine hole, and uploading the mining images serving as input data into a coal mine identification model to obtain coal-containing areas of each mine hole, wherein the coal-containing areas are respectively recorded as cs1、cs2～csn;
Defining a calculation formula 25, and calculating the coal mine enrichment degree f1～fn of the 1 st to n th mine holes;
calculation formula 25: fi＝csi/si; wherein i represents 1 to n;
Scheme B43: calculating the average value of f1～f2, and recording the average value as af;
Arranging 1 st to n th mine holes corresponding to f1～f2 according to the descending order of f1～f2 to obtain a secondary supplementary sequence, and marking the secondary supplementary sequence as a sequence C; the coal mine enrichment of the mine holes in the sequence C is denoted as rf1、rf2～rfn;
Scheme B44: acquiring the number of mining robots corresponding to the mine holes in the sequence C, and respectively marking the number as rrn1、rrn2～rrnn; acquiring the candidate number sn of the mining robots;
scheme B45: defining a judgment formula 26 and a calculation formula 27, substituting rrn1～rrnn into the judgment formula 26, and judging whether the judgment formula 26 is satisfied;
If so, marking the corresponding ore holes as the optimal ore holes, calculating the number urn of the secondary distribution mining robots of the optimal ore holes according to a calculation formula 27, and entering a flow B46;
If not, not processing;
Judgment formula 26: rfi is more than or equal to af;
Calculation formula 27: urni＝（1＋rfi/af）*rrni; wherein i represents 1 to n; urni represents the number of secondary assigned mining robots for the ith mine hole in sequence C, urni is rounded up;
scheme B46: calculating the number of remaining candidate mining robots, denoted dsn, dsn =sn- (urni－rrni); wherein i represents 1 to n;
judging whether dsn is more than or equal to 0 or not;
If so, repeating the flow B45, and reducing urnj on the original basis until dsn =0 for each execution of the flow B45, dsn; wherein j represents 1 to n; urnj represents the number of secondary assigned mining robots for the jth mine hole in sequence C, urnj is not equal to urni;
If not, the processing is not performed.
Further, the specific flow of the flow B5 is as follows:
flow B51: summarizing the vertical distance from the 1 st to the n th mine holes to the mine entrance, and marking as l1、l2～ln; summarizing the cross-sectional area s1、s2～sn corresponding to each mine hole; wherein n represents the number of mine holes;
flow B52: defining a calculation formula 28, and calculating the atmospheric bearing forces AN1～ANn of the 1 st to n th mine holes; equation 28 is as follows:
ANi＝Pi*si*li; wherein i represents 1 to n; pi represents the atmospheric pressure of the ith mine hole;
flow B53: reading the soil density of the mine tunnel in a database, and marking the soil density as ρt;
Summarizing the transverse distances w1, w 2-wn of the 1 st to n th mine holes; defining a calculation formula 29, and calculating effective earth pressure TN1～TNn of 1 st to n th mine holes; equation 29 is as follows:
TNi＝wi*li*zi ρt g; wherein i represents 1 to n; zi represents the Z-axis data corresponding to the ith mine hole in set B;
Database: storing the soil density of the mine tunnel;
Flow B54: adjusting the mining area and the transverse mining depth of the 1 st mine hole; the specific flow of flow B54 includes: flow B541 to flow B543;
flow B541: judging whether AN1 and TN1 corresponding to the 1 st mine hole meet the condition that AN1 is larger than or equal to TN1;
If not, indicating that the 1 st mine hole has collapse danger, not adjusting the mining area and the transverse mining depth of the 1 st mine hole, and removing soil above the 1 st mine hole to enter a process B542;
If yes, adjusting the mining area and the transverse mining depth of the 1 st mine hole, skipping the process B542, and entering the process B543;
Flow B542: the volume of soil removed above the 1 st mine hole gV, gV is calculated as follows:
gV＝（TN1/AN1－1）*w1*l1*z1；
flow B543: adjusting the mining area and the transverse mining depth of the 1 st mine hole;
calculate the additional expansion volume uV of the 1 st mine hole, uv= (AN1/TN1－1）*s1*z1;
calculating the additional expansion mining area uS of the 1 st mine hole, wherein uS= (uV)3/5;
Calculating the additional expansion mining depth uL of the 1 st mine hole, ul= (uV)2/5;
flow B55: the same flow of adjusting the mining area and the transverse mining depth of the 1 st mine hole is repeated, and the mining areas and the transverse mining depths of the 2 nd to n nd mine holes are adjusted.
Compared with the prior art, the invention has the beneficial effects that:
The safety is improved: according to the invention, robots are used for replacing manual work, mining operation is performed in dangerous or unreachable areas, and risk of casualties is reduced.
Efficiency is improved: the robot is provided with a plurality of sensors, monitors, feeds back and analyzes the coal mine environment and the coal mine enrichment degree in real time, adjusts the working position and the working state of the robot, and greatly improves the working efficiency.
And (3) systematic management: the integrated collaborative management system ensures that the coal mine operation is more systematic and standardized, avoids safety accidents caused by human misoperation, and promotes the coal mine industry to develop towards the intelligent and automatic directions.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1, a collaborative management platform for a coal mine robot cluster includes: robot clusters and a robot collaborative management system;
the robot cluster includes: a patrol robot cluster and a mining robot cluster;
inspection robot: for acquiring mining images within a (coal) mine cavity; the inspection robot is also associated with a sensor module and is used for measuring the relative position coordinates from the mine hole (the deepest part) in the mine hole to the mine entrance, the vertical distance from the mine hole to the mine entrance, the cross-sectional area in the mine hole, the temperature and the maximum transverse distance to obtain mine hole data;
The sensor module includes: a positioning sensor, an area sensor, a temperature sensor, and a distance sensor;
Positioning sensor: for measuring the relative position coordinates of the mine cavity (deepest) to the mine entrance;
area sensor: for measuring cross-sectional area in the mine cavity (mine cavity shape irregularities);
temperature sensor: for measuring the temperature in the mine cavity;
distance sensor: for measuring the maximum lateral distance in the mine cavity, and for measuring the vertical distance from the mine cavity (deepest) to the mine entrance;
Mining robot: for carrying out mining operations in (coal) mine cavities;
The robot cooperation management system includes: the system comprises a data acquisition module, a task distribution module, a task scheduling module, a user interaction module, a database and a server; the system comprises a data acquisition module, a task distribution module, a task scheduling module and a user interaction module, wherein the data acquisition module, the task distribution module, the task scheduling module and the user interaction module are respectively connected with a database and a server.
And a data acquisition module: the mining method comprises the steps of acquiring mining images corresponding to each mine hole (of an associated inspection robot); acquiring position coordinates of a mine and each mine hole; acquiring the corresponding cross sectional area, the maximum transverse distance and the vertical distance from the mine hole (the deepest part) to the mine entrance of each mine hole to obtain mine hole data;
The task allocation module: yesterday mining amount for each mine hole is obtained (associated mining robot); according to yesterday mining quantity of the mine holes, processing mine hole data once, and determining distribution quantity and candidate quantity of the mining robots in each mine hole;
Flow A: the workflow of the task allocation module is as follows:
Scheme A1: counting the number of ore holes, and marking n; taking the mine entrance position as an origin, (relative to the mine position) downwards as a Z-axis positive direction, (relative to the mine position) eastward as an X-axis positive direction and (relative to the mine position) northward as a Y-axis positive direction, and establishing a space coordinate system; obtaining a position set B of each mine hole relative to the mine;
Aggregate B{（x1,y1,z1）,（x2,y2,z2）～（xn,yn,zn）}; wherein, (x1,y1,z1) represents the position of mine hole number 1 relative to the mine; (x2,y2,z2) represents the position of the mine hole No. 2 relative to the mine shaft; similarly, (xn,yn,zn) represents the position of the n-number mine hole relative to the mine shaft;
scheme A2: assigning a mining robot to each mine tunnel; the yesterday mining amount of the 1 st to n th mine holes is obtained and is recorded as m, and the following steps are obtained: m1、m2～mn; if the yesterday mining amounts of the 1 st to n th mine holes are all 0, m represents the distance between the 1 st to n th mine holes and the mine entrance position, namely，And so on；
Flow A3: calculating the sum of m1、m2～mn and marking the sum as m; defining a calculation formula 11, and calculating a proportionality coefficient b1、b2～bn of m1、m2～mn relative to m;
Calculation formula 11: ; wherein i represents 1 to n;
Flow A3: summarizing the transverse distances of the 1 st to n th mine holes, and marking the transverse distances as w1, w 2-wn; reading the transverse distance of the mining robot in a database, and marking the transverse distance as w; calculating the total distribution number rn of the mining robot; the calculation of rn is as follows:
rn is a positive integer, rounding down;
Database: for storing the lateral distance of the mining robot, the total number of mining robots;
flow A4: reading the total number of mining robots in a database, and recording as zr; comparing the sizes of zr and rn, and determining a distribution factor rr;
If zr is larger than or equal to rn, indicating that the mining robot is abundant, and the value of rr is rn; if zr is less than rn, the mining robot is insufficient, and the rr value is zr;
Scheme A5: calculating the distribution number rn1、rn2～rnn of the 1 st to n th mining robots;
The calculation of rn1 is: the calculation of rn1＝b1*rr;rn2 is: rn2＝b2 xrr; similarly, the calculation of rnn is: rnn＝bn xrr; wherein rn1～rnn is a positive integer, and is rounded downwards;
Flow A6: calculating the candidate number of the mining robots and marking the candidate number as sn;
If the mining robot is abundant, the sn is calculated as:；
If the mining robot is insufficient, the sn is calculated as:；
Scheme A7: sequentially allocating a corresponding number of mining robots (namely, a1 st mine hole, a rn1 mining robot, a2 nd mine hole, a rn2 mining robot, and so on for the 1 st mine hole, a rnn mining robot and a1 inspection robot for each mine hole) for the 1 st to n th mine holes according to the sequence of rn1～rnn;
Scheme A8: acquiring a default rotation speed of a mining robot drill bit, and recording the default rotation speed as v0; setting the rotating speeds of mining robot drills in the 1 st to n th mine holes to v0, executing mining tasks, and entering a task scheduling module.
Task scheduling module: the method comprises the steps of acquiring the temperature and the atmospheric pressure of a mine inlet (of an associated mining robot), performing secondary processing on mine hole data, and adjusting the rotating speed of a mining mine hole robot drill bit in each mine hole; analyzing the enrichment degree of the coal mine in each mine hole according to the mining image; according to the enrichment degree and the candidate number, secondarily distributing mining robots for each mine hole, and adjusting the mining area and the transverse mining depth of each mine hole;
flow B: the workflow of the task scheduling module is as follows:
Scheme B1: acquiring Z-axis data Z1～zn corresponding to the 1 st to n th mine holes in the set B; wherein n represents the number of mine holes;
flow B2: acquiring the temperature and the atmospheric pressure of a mine inlet, and respectively marking the temperature and the atmospheric pressure as To and Po;
Calculation formula 21 defining the mine hole pressure:；
calculation formula 22 defining mine cavity temperature:；
Wherein, Pi and Ti respectively represent the atmospheric pressure and the temperature in the ith mine cavity, i represents 1 to n; ρ represents the air density; g represents the acceleration of gravity, g is 9.8m/s2; g represents a temperature gradient, and G is 0.03OC/m;hi represents the corresponding ordinate of the ith mine hole in the set B, namely z1～zn;
Flow B3: summarizing the concentration of dangerous gases in 1 st to n th mine holes, and marking as c1、c2～cn; reading a concentration threshold value of the dangerous gas in a database, and recording the concentration threshold value as cc; adjusting the rotating speed of a mining robot drill bit;
Database: storing a concentration threshold of the hazardous gas;
It should be noted that, the "hazardous gas" in the present invention refers to flammable and explosive harmful gases like carbon monoxide, hydrogen sulfide, sulfur dioxide, methane, etc.; cc generally has a value of 6mg/m3; the user or related technician can adjust the value of cc according to the actual need.
Scheme B31: adjusting the rotating speed of a mining robot drill bit in the 1 st mine hole;
definition judgment formula 23: lim (co/cc) →1;
Substituting c1 into co, and judging whether the judgment formula 23 is satisfied;
If so, the dangerous gas concentration in the mine cavity is safe, the rotating speed of the drill bit of the mining robot is improved, and the process B32 is entered;
If so, indicating that the concentration of dangerous gas in the mine cavity is dangerous, reducing the rotating speed of the drill bit of the mining robot, and entering a process B33;
Flow B32: on the basis of vo, the rotating speed of the mining robot drill bit is improved; the specific flow of the flow B32 includes: flow B321 to flow B324;
Scheme B321: substituting z1 into hi in the calculation formula 21 and the calculation formula 22 respectively, and calculating and obtaining the pressure P1 and the temperature T1 of the 1 st mine hole;
Flow B322: defining equation 24: ΔXi＝Xi -Xo; wherein Xi and Xo represent the calculation parameters of calculation formula 24; wherein i represents the corresponding subscript of Xi;
Scheme B323: substituting P1, po, T1 and To into Xi and Xo in the calculation formula 24 in sequence, and calculating the pressure variation delta P1 and the temperature variation delta T1 of the 1 st mine hole;
Calculating an influence coefficient a1 of the pressure in the 1 st mine hole, a1=Δp1/P1; the influence coefficient of temperature a2, a2=Δt1/T1;
flow B324: calculating the rotation speed vv1, vv 1= (1+a2/a 1) vo of the 1 st mine tunnel robot after adjustment;
Scheme B33: on the basis of vo, reducing the rotating speed of the mining robot drill bit;
Repeating the flow B321 to the flow B323 to obtain a1 and a2;
calculating the rotation speed vv1, vv 1= |1-a2/a 1|vo of the 1 st mine tunnel robot after adjustment;
Scheme B34: after the rotation speed of the inspection robot is changed from vo to v1, the rotation speed of a drill bit of the inspection robot in the 1 st mine hole and the concentration of dangerous gas are obtained in real time and respectively recorded as nv and nc;
judging whether nc is less than or equal to cc is established or not, and determining the rotation speed v2 of the inspection robot after secondary adjustment;
If so, the rotation speed of the inspection robot is increased, and vv2= (1+c1/nc) ×vv1;
If not, the rotation speed of the inspection robot is reduced, and vv2= |1-c1/nc|vv 1;
Scheme B35: repeatedly executing the process B34 to acquire and compare the concentration of the dangerous gas and adjust the rotating speed; each time the process B34 is executed, v2 is increased or decreased on the basis of the original process until the mining robot of the 1 st mine hole finishes the mining operation, and the adjustment of the rotation speed of the drill bit of the mining robot of the 1 st mine hole is finished;
Flow B36: expanding the expression range of hi in equations 21 and 22 to: z2～zn, the expression range of co in decision 23 extends to: c2～cn; repeating the same steps of adjusting the rotation speed of the mining robot bit in the 1 st mine hole from the flow B31 to the flow B35, and adjusting the rotation speed of the mining robot bit in the 2 nd mine hole to the n nd mine hole;
it should be noted that, in the present invention, the theoretical explanation of the flow B32 and the flow B33 is as follows:
ideal gas state equation: pv=n×r×t; wherein p represents the gas pressure, V represents the gas volume, n represents the amount of the gas substance, R represents the ideal gas constant, and T represents the thermodynamic temperature of the gas; according to the ideal gas state equation, the (diffusion) volume of the gas is in direct proportion to the temperature and in inverse proportion to the pressure; so a2 is the numerator a1 as denominator.
Flow B4: analyzing the enrichment degree of the coal mine in each mine hole according to the mining image; according to the enrichment degree and the candidate number, mining robots are secondarily distributed to each mine hole;
scheme B41: importing CIFAR libraries and a fast R-CNN model; selecting three pn-sheet coal mine image sets in CIFAR picture libraries as training sets, verification sets and test sets (of a fast R-CNN model), and training the fast R-CNN model to obtain a coal mine identification model;
The "pn" in the invention represents the number of elements in the training set, the verification set and the test set, and the pn generally takes a value of 3000; the user and the related technicians can adjust the pn value according to actual needs.
Flow B42: summarizing the corresponding cross sectional areas of each mine hole, and respectively marking as s1、s2～sn;
Summarizing mining images corresponding to each mine hole, and uploading the mining images serving as input data into a coal mine identification model to obtain coal-containing areas of each mine hole, wherein the coal-containing areas are respectively recorded as cs1、cs2～csn;
Defining a calculation formula 25, and calculating the coal mine enrichment degree f1～fn of the 1 st to n th mine holes;
calculation formula 25: fi＝csi/si; wherein i represents 1 to n;
Scheme B43: calculating the average value of f1～f2, and recording the average value as af;
Arranging 1 st to n th mine holes corresponding to f1～f2 according to the descending order of f1～f2 to obtain a secondary supplementary sequence, and marking the secondary supplementary sequence as a sequence C; the coal mine enrichment of the mine holes in the sequence C is denoted as rf1、rf2～rfn;
In the present invention, "rf1～rfn" means f1～fn arranged in the order of sequence C; the subscripts of 'rf1～rfn' and 'f1～fn' corresponding to the 1 st to n th mine holes are different or not identical.
Scheme B44: acquiring the number of mining robots corresponding to the mine holes in the sequence C, and respectively marking the number as rrn1、rrn2～rrnn; acquiring the candidate number sn of the mining robots;
In the present invention, "rrn1～rrnn" means rn1～rnn arranged in the order of sequence C; the "rrn1～rrnn" subscripts and the "rn1、rn2～rnn" subscripts corresponding to the 1 st to nth mine holes are different or not identical.
Scheme B45: defining a judgment formula 26 and a calculation formula 27, substituting rrn1～rrnn into the judgment formula 26, and judging whether the judgment formula 26 is satisfied;
If so, marking the corresponding ore holes as the optimal ore holes, calculating the number urn of the secondary distribution mining robots of the optimal ore holes according to a calculation formula 27, and entering a flow B46;
If not, not processing;
Judgment formula 26: rfi is more than or equal to af;
Calculation formula 27: urni＝（1＋rfi/af）*rrni; wherein i represents 1 to n; urni represents the number of secondary assigned mining robots for the ith mine hole in sequence C, urni is rounded up;
scheme B46: calculating the number of remaining candidate mining robots, denoted dsn, dsn =sn- (urni－rrni); wherein i represents 1 to n;
judging whether dsn is more than or equal to 0 or not;
If so, repeating the flow B45, and reducing urnj on the original basis until dsn =0 for each execution of the flow B45, dsn; wherein j represents 1 to n; urnj represents the number of secondary assigned mining robots for the jth mine hole in sequence C, urnj is not equal to urni;
If not, not processing;
flow B5: adjusting the mining area and the transverse mining depth of each mine hole;
Flow B51: summarizing the vertical distance from the 1 st to the n th mine holes (the deepest) to the mine entrance, and marking as l1、l2～ln; summarizing the cross-sectional area s1、s2～sn corresponding to each mine hole; wherein n represents the number of mine holes;
flow B52: defining a calculation formula 28, and calculating the atmospheric bearing forces AN1～ANn of the 1 st to n th mine holes; equation 28 is as follows:
ANi＝Pi*si*li; wherein i represents 1 to n; pi represents the atmospheric pressure of the ith mine hole; (calculation formula 21 of the above-mentioned flow B2)
Flow B53: reading the soil density of the mine tunnel in a database, and marking the soil density as ρt;
Summarizing the transverse distances w1, w 2-wn of the 1 st to n th mine holes; defining a calculation formula 29, and calculating effective earth pressure TN1～TNn of 1 st to n th mine holes; equation 29 is as follows:
TNi＝wi*li*zi ρt g; wherein i represents 1 to n; zi represents the Z-axis data corresponding to the ith mine hole in set B;
Database: storing the soil density of the mine tunnel;
Flow B54: adjusting the mining area and the transverse mining depth of the 1 st mine hole; the specific flow of flow B54 includes: flow B541 to flow B543;
flow B541: judging whether AN1 and TN1 corresponding to the 1 st mine hole meet the condition that AN1 is larger than or equal to TN1;
If not, indicating that the 1 st mine hole has collapse danger, not adjusting the mining area and the transverse mining depth of the 1 st mine hole, and removing soil above the 1 st mine hole to enter a process B542;
If yes, adjusting the mining area and the transverse mining depth of the 1 st mine hole, skipping the process B542, and entering the process B543;
Flow B542: the volume of soil removed above the 1 st mine hole gV, gV is calculated as follows:
gV＝（TN1/AN1－1）*w1*l1*z1；
flow B543: adjusting the mining area and the transverse mining depth of the 1 st mine hole;
calculate the additional expansion volume uV of the 1 st mine hole, uv= (AN1/TN1－1）*s1*z1;
calculating the additional expansion mining area uS of the 1 st mine hole, wherein uS= (uV)3/5;
Calculating the additional expansion mining depth uL of the 1 st mine hole, ul= (uV)2/5;
flow B55: the same flow of adjusting the mining area and the transverse mining depth of the 1 st mine hole is repeated, and the mining areas and the transverse mining depths of the 2 nd to n nd mine holes are adjusted.
And a user interaction module: for summarizing the mining images and the positions of the inspection and mining robots and for transmission to the user.
The above formulas are all formulas for removing dimensions and taking numerical calculation, the formulas are formulas for obtaining the latest real situation by collecting a large amount of data and performing software simulation, preset parameters in the formulas are set by a person skilled in the art according to the actual situation, if weight coefficients and proportion coefficients exist, the set sizes are specific numerical values obtained by quantizing the parameters, the subsequent comparison is convenient, and the proportional relation between the weight coefficients and the proportion coefficients is not influenced as long as the proportional relation between the parameters and the quantized numerical values is not influenced.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.