A method for withdrawing anchor in a mine

Abstract

The present application discloses a method for withdrawing anchors from a mine, which includes obtaining a robot base coordinate system, obtaining a coordinate transformation matrix of the center points of the bottom sections of each anchor cable in a single row of anchor cables relative to the anchor withdrawal robot base coordinate system as a teaching point according to the robot base coordinate system; obtaining the joint angles of each joint axis that need to be accurately rotated, driving the six-axis robotic arm to perform motion synthesis so that the inlet end face of the anchor withdrawer accurately reaches the bottom section of the anchor cable; judging whether the inlet end face of the anchor withdrawer is parallel to the bottom section of the anchor cable and whether the center point of the inlet end face of the anchor withdrawer coincides with the center point of the bottom section of the anchor cable within a certain error range, and performing posture correction; the anchor withdrawer maintains the current posture, and each axis of the six-axis robotic arm moves to complete the anchor withdrawal operation. The various high-precision sensors carried by the anchor withdrawal robot body enable it to have certain autonomous planning learning and autonomous navigation capabilities, and can realize fully autonomous anchor withdrawal without the need for close human involvement, achieving truly safe operations.

Description

Technical Field

[0001] The present application relates to the technical field of mine equipment, and in particular to a mine anchor removal method. Background Art

[0002] In the prior art, the support methods for the wind and transportation lanes of the comprehensive mining working face of the mining company are all anchor net cable support. During the process of pushing the working face, due to the influence of the anchor net cable support effect, the roof of the two lanes is not easy to fall after the working face is advanced, which can easily lead to increased pressure on the roof of the working face or gas accumulation. In order to ensure that the roof of the goaf area collapses in time with the advancement of the working face, reduce the suspended roof area, and prevent roof accidents and gas accumulation in the goaf area, it is necessary to timely and effectively withdraw the anchors or anchor cables of the goaf roof to relieve the pressure of the roof.

[0003] In traditional technology, the underground roof anchor removal operation is mostly completed manually with a handheld anchor remover. After setting up the fall chain and ladder, the anchor removal worker holds the anchor remover and aims it at the bottom of the anchor cable. After the anchor cable penetrates into the anchor remover and is locked, the personnel hide in a safe place, start the hydraulic pump to start tensioning the anchor cable, and after the wedge-shaped retaining spring is withdrawn, the anchor remover releases the anchor cable, and the tray and top column fall freely, completing the pressure relief of the roof. At present, the anchor cable removal operation must be guaranteed by three people, one person to supervise and two people to operate. The recovered trays, top columns and retaining springs are stored in designated locations.

[0004] Since the anchor removal operation in traditional technology is not only inefficient, but also has certain safety risks for operators. In order to solve the above problems, some mining companies use mining anchor removal vehicles, but the mechanical anchor removal operation part of mining anchor removal vehicles is all hydraulically controlled. The performance and efficiency of the hydraulic transmission system are greatly affected by temperature, the control response speed is slow, the spatial positioning of the end anchor remover is difficult, and the positioning accuracy is low. Summary of the invention

[0005] In order to solve the above technical problems, this application proposes the following technical solutions:

[0006] In the first aspect, an embodiment of the present application provides a method for anchor removal in a mine, the method comprising: controlling a six-axis anchor removal robot to travel to any working point in the working area in the tunnel, and obtaining a robot base coordinate system by taking the coordinate point where the six-axis anchor removal robot is located as the coordinate zero point after fixing; obtaining a coordinate transformation matrix of the center point of the bottom section of each anchor cable in a single-row anchor cable relative to the anchor removal robot base coordinate system as a teaching point according to the robot base coordinate system; obtaining the joint angles that each joint axis needs to rotate precisely through the inverse kinematics algorithm of the six-axis robotic arm, and driving the six-axis robotic arm to synthesize the motion so that The inlet end face of the anchor remover accurately reaches the bottom section of the anchor cable; it is determined whether the inlet end face of the anchor remover is parallel to the bottom section of the anchor cable and whether the center point of the inlet end face of the anchor remover coincides with the center point of the bottom section of the anchor cable within a certain error range, and the posture correction is performed; the anchor remover maintains the current posture, and each axis of the six-axis robotic arm moves. The anchor remover moves forward at a uniform speed along the Z axis of the current posture matrix for a certain distance, so that the bottom of the anchor cable is anchored along the cavity of the anchor remover. When the six-dimensional force sensor gives a stop signal that the anchor remover is in place, the robotic arm stops moving, the anchor remover locks the anchor cable, and starts hydraulic control to complete the anchor removal operation.

[0007] With the above implementation method, the various high-precision sensors carried by the anchor-removing robot body enable it to have certain autonomous planning learning and autonomous navigation capabilities, and can realize fully autonomous anchor removal without the need for close human participation, achieving truly safe operation.

[0008] In combination with the first aspect, in a first possible implementation method of the first aspect, the coordinate transformation matrix of the center point of the bottom section of each anchor cable in a single row of anchor cables relative to the base coordinate system of the anchor withdrawal robot is obtained according to the robot base coordinate system as a teaching point, including: obtaining the posture matrix and depth information of the spatial three-dimensional coordinate points of all objects including the bottom section of the anchor cable through the first RGB-D depth camera and the second RGB-D depth camera set on the six-axis anchor withdrawal robot, and obtaining the first three-dimensional posture matrix G1 of the center point of the bottom section of the anchor cable; according to the relative installation positions of the first RGB-D depth camera and the second RGB-D depth camera, coordinate transformation and external parameter calibration method are performed to obtain the coordinate transformation matrix of the first three-dimensional posture matrix G1 relative to the base coordinate system B of the anchor withdrawal robot. The robot arm is initially extended to a fixed height to obtain the second three-dimensional posture matrix G2 of the center point of the bottom section of the anchor cable. According to the relative installation position of the second RGB-D depth camera, the kinematic coordinate transformation matrix of each axis of the six-axis robot arm and the internal parameter calibration method, the coordinate transformation matrix of the second three-dimensional posture matrix G2 relative to the anchor removal robot base coordinate system B is obtained. Control the first RGB-D depth camera or the third RGB-D depth camera to shoot the Mark mark point installed at the bottom of the anchor remover to obtain the three-dimensional posture matrix T of the Mark mark point; according to the relative installation position of the first RGB-D depth camera or the third RGB-D depth camera, the relative position of the Mark mark point and the second RGB-D depth camera, and the third three-dimensional posture matrix G3 of the center point of the bottom section of the anchor cable obtained by the second RGB-D depth camera, through coordinate transformation and external parameter calibration method, obtain the coordinate transformation matrix of the third three-dimensional posture matrix G3 relative to the base coordinate system B of the anchor remover robot Will and After weighted calculation, the coordinate transformation matrix of the center point of the bottom section of a single row of anchor cables in the working area relative to the base coordinate system of the anchor removal robot is obtained:

[0009] In combination with the first possible implementation method of the first aspect, in the second possible implementation method of the first aspect, the first RGB-D depth camera and the second RGB-D depth camera set on the six-axis anchor removal robot are used to obtain the posture matrix and depth information of the spatial three-dimensional coordinate points of all objects including the bottom cross-section of the anchor cable, and the first three-dimensional posture matrix G1 of the center point of the bottom cross-section of the anchor cable is obtained, including: controlling the first RGB-D depth camera and the third RGB-D depth camera of the anchor removal robot to simultaneously shoot the top plate, and obtaining the posture matrix and depth information of the spatial three-dimensional coordinate points of all objects including the bottom cross-section of the anchor cable; obtaining the first three-dimensional posture matrix G1 of the center point of the bottom cross-section of the anchor cable through image feature point recognition processing algorithm and screening.

[0010] In combination with the second possible implementation method of the first aspect, in the third possible implementation method of the first aspect, the control robot arm is initially extended to a fixed height, and the second three-dimensional posture matrix G2 of the center point of the bottom section of the anchor cable is obtained. According to the relative installation position of the second RGB-D depth camera, the kinematic coordinate transformation matrix of each axis of the six-axis robot arm and the internal parameter calibration method, the coordinate transformation matrix of the second three-dimensional posture matrix G2 relative to the base coordinate system B of the anchor removal robot is obtained. The method includes: according to the tunnel roof height information measured in the early stage, the six-axis robot arm initially extends to a fixed height and records it as the teaching point; the second RGB-D depth camera starts to shoot the roof to obtain the depth information of the spatial three-dimensional coordinate points of all objects including the bottom section of the anchor cable; through the image feature point recognition processing algorithm and screening, the second three-dimensional posture matrix G2 of the center point of the bottom section of the anchor cable is obtained; and then according to the relative installation position of the second RGB-D depth camera, the kinematic coordinate transformation matrix of each axis of the six-axis robot arm and the internal parameter calibration method, the coordinate transformation matrix of the second three-dimensional posture matrix G2 of the center point of the bottom section of the anchor cable within the camera field of view relative to the base coordinate system B of the anchor removal robot is obtained.

[0011] In combination with the third possible implementation method of the first aspect, in the fourth possible implementation method of the first aspect, according to the relative installation position of the first RGB-D depth camera or the third RGB-D depth camera, the relative position of the Mark identification point and the second RGB-D depth camera, and the third three-dimensional posture matrix G3 of the center point of the bottom section of the anchor cable obtained by the second RGB-D depth camera, the coordinate transformation matrix of the third three-dimensional posture matrix G3 relative to the base coordinate system B of the unanchoring robot is obtained through coordinate transformation and external parameter calibration method. The method comprises: photographing the Mark mark point installed at the bottom of the anchor remover with a first RGB-D depth camera or a third RGB-D depth camera to obtain a three-dimensional posture matrix T of the Mark mark point; obtaining a coordinate transformation matrix of the third three-dimensional posture matrix G3 of the center point of the bottom section of the anchor cable within the camera field of view relative to the base coordinate system B of the anchor remover robot through coordinate transformation and external parameter calibration method according to the relative installation position of the first RGB-D depth camera or the third RGB-D depth camera, the relative position of the Mark mark point and the second RGB-D depth camera, and the third three-dimensional posture matrix G3 of the center point of the bottom section of the anchor cable obtained by the second RGB-D depth camera.

[0012] In combination with any of the first to fourth possible implementations of the first aspect, in a fifth possible implementation of the first aspect, the coordinate transformation matrix of the center point of the bottom section of each anchor cable i in the single-row anchor cable relative to the base coordinate system of the anchor removal robot is As a teaching point.

[0013] In combination with the fifth possible implementation method of the first aspect, in the sixth possible implementation method of the first aspect, the depth data obtained by shooting the top plate with the third RGB-D depth camera is used to determine whether the lifting platform needs to raise the base height of the anchor unloading robot. During the lifting process, the electronic control system determines whether the mapping point of the center of gravity of the entire machine body is within the support range of the crawler walking mechanism based on the feedback information from the inclination sensor installed on the lifting platform.

[0014] In combination with the sixth possible implementation of the first aspect, in the seventh possible implementation of the first aspect, the six-axis manipulator inverse kinematics algorithm is used to obtain the joint angles of each joint axis that need to be accurately rotated, and the six-axis manipulator is driven to synthesize the motion so that the inlet end face of the anchor remover accurately reaches the bottom section of the anchor cable, including: The teaching point data is transmitted to the anchor remover robot control system; the joint angles of each joint axis that need to be accurately rotated are obtained through the six-axis robot inverse kinematics algorithm; the six-axis robot is driven to synthesize the motion so that the inlet end face of the anchor remover accurately reaches the bottom section of the anchor cable, and the inlet end face of the anchor remover is parallel to the bottom section of the anchor cable.

[0015] In combination with the seventh possible implementation method of the first aspect, in the eighth possible implementation method of the first aspect, the method of judging whether the inlet end face of the anchor remover is parallel to the bottom cross-section of the anchor cable and the center point of the inlet end face of the anchor remover coincides with the center point of the bottom cross-section of the anchor cable within a certain error range, and performing posture correction includes: using the first RGB-D depth camera or the third RGB-D depth camera to photograph the Mark identification point installed at the bottom of the anchor remover again to obtain the three-dimensional posture matrix T of the Mark identification point; and then judging whether the inlet end face of the anchor remover is parallel to the bottom cross-section of the anchor cable and the center point of the inlet end face of the anchor remover coincides with the center point of the bottom cross-section of the anchor cable within a certain error range through coordinate transformation and external parameter calibration method, and performing posture correction.

[0016] In combination with the first aspect or any possible implementation of the first to eighth aspects, in a ninth possible implementation of the first aspect, after unanchoring is completed, the operation steps before unanchoring are repeated, and the next unanchoring operation is performed after the posture is corrected. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a process flow of a mine anchor withdrawal method provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of the structure of a six-axis anchor removal robot for mining provided in an embodiment of the present application;

[0019] Figure 3 Provided for the embodiments of this application Figure 2 Left view of

[0020] Figure 4 A schematic diagram of the structure of a wireless teaching pendant provided in an embodiment of the present application;

[0021] Figure 5 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0022] Figure 1-5 In the symbol, it is represented as:

[0023] 1-chassis, 2-crawler walking mechanism, 3-front support cylinder, 4-rear anti-slip cylinder, 5-lidar, 6-first RGB-D depth camera, 7-lifting cylinder, 8-support chain plate, 9-lifting platform, 10-tilt sensor, 11-robotic arm console, 12-end tool gripper, 13-second RGB-D depth camera, 14-six-dimensional force sensor, 15-first robotic arm joint, 16-second robotic arm joint, 17-third robotic arm joint, 18-fourth robotic arm joint, 19-fifth robotic arm joint, 20-sixth robotic arm joint, 21-first explosion-proof servo motor, 22-second explosion-proof servo motor, 23-third explosion-proof servo motor, 24-fourth explosion-proof servo motor, 25-fifth explosion-proof servo motor, 26-sixth explosion-proof servo motor, 27- Anchor remover fixing block, 28-anchor remover, 29-Mark identification point, 30-explosion-proof and intrinsically safe control box, 31-intrinsically safe display screen, 32-explosion-proof cable lead-in end, 33-methane concentration sensor, 34-third RGB-D depth camera, 35-explosion-proof three-phase asynchronous motor, 36-first explosion-proof chamber, 37-second explosion-proof chamber, 38-third explosion-proof chamber, 39-intrinsically safe chamber. DETAILED DESCRIPTION

[0024] The present solution is described below in conjunction with the accompanying drawings and specific implementation methods.

[0025] Figure 1 A schematic diagram of a mine anchor withdrawal method provided in an embodiment of the present application, see Figure 1 The mine anchor withdrawal method provided in this embodiment includes:

[0026] S101, control the six-axis anchor removal robot to travel to any working point in the working area of ​​the tunnel, and after fixing, use the coordinate point where the six-axis anchor removal robot is located as the coordinate zero point to obtain the robot base coordinate system.

[0027] See also Figure 2 and Figure 3 The six-axis anchor removal robot for mining used in the mine anchor removal method provided in the embodiment of the present application includes: a mobile base, a lifting device arranged on the mobile base, the first end of the lifting device is fixed on the mobile base, and the second end is vertically movable; a mechanical arm is arranged on the second end of the lifting device, the first end of the mechanical arm is fixedly connected to the second end of the lifting device, and the second end of the mechanical arm is arranged with an anchor removal device, and a controller is arranged on the mobile base, and the controller is electrically connected to the lifting device, the mechanical arm and the anchor removal device respectively.

[0028] The mobile base includes a chassis 1, a crawler-type walking mechanism 2 arranged at the bottom of the chassis 1, a front supporting oil cylinder 3 and a rear anti-slip oil cylinder 4 are respectively arranged on both sides of the crawler-type walking mechanism 2 at the bottom of the chassis 1, and a laser radar 5 and a first RGB-D depth camera 6 are arranged at the front top of the chassis 1, and the laser radar 5 and the first RGB-D depth camera 6 are both electrically connected to the controller. The crawler-type walking mechanism 2 is driven by the hydraulic system on the chassis 1, and the actions of each cylinder and hydraulic motor are controlled by the hydraulic solenoid valve group and the hydraulic oil pipe, and the hydraulic sensor feeds back the operating status of the hydraulic system. The front supporting oil cylinder 3 and the rear anti-slip oil cylinder 4 support the anchor removal robot to avoid unstable center of gravity.

[0029] The lifting device includes a lifting cylinder 7 and a supporting chain plate 8 arranged on the chassis 1, the first ends of the lifting cylinder 7 and the supporting chain plate 8 are fixedly arranged on the chassis 1, and the second ends of the lifting cylinder 7 and the supporting chain plate 8 are fixedly connected to the bottom of the lifting platform 9. A tilt sensor 10 is arranged on one side of the top of the lifting platform 9, and the tilt sensor 10 is electrically connected to the controller.

[0030] The robotic arm includes a robotic arm console 11 fixed on the top of the lifting platform 9, and the robotic arm console 11 is provided with a plurality of robotic arm joints movably connected in sequence, each of the robotic arm joints is respectively provided with a servo motor, and an end tool gripper 12 is provided at the end of the last robotic arm joint, and the end tool gripper 12 is fixedly connected to the anchor removal device; a second RGB-D depth camera 13 and a six-dimensional force sensor 14 are provided at the end of the last robotic arm joint, and the servo motor, the second RGB-D depth camera 13 and the six-dimensional force sensor 14 are all electrically connected to the controller.

[0031] The six-axis robot arm includes six explosion-proof servo motors, six robot arm joints, six internal RV reducers, a transmission mechanism, a hydraulic oil pipe laid on the hanging arm, and a blower horn hose laid on the hanging arm. The explosion-proof servo motor contains an encoder inside. After the explosion-proof servo motor rotates to drive the robot arm joint movement synthesis, the end actuator can accurately reach multiple designated target points in space. The first robot arm joint 15, the second robot arm joint 16, the third robot arm joint 17, the fourth robot arm joint 18, the fifth robot arm joint 19 and the sixth robot arm joint 20 are movably connected in sequence, and the first explosion-proof servo motor 21, the second explosion-proof servo motor 22, the third explosion-proof servo motor 23, the fourth explosion-proof servo motor 24, the fifth explosion-proof servo motor 25 and the sixth explosion-proof servo motor 26 for driving the robot arm joints are respectively provided corresponding to the above-mentioned robot arm joints.

[0032] The anchor undocking device includes an anchor undocking device fixing block 27, an anchor undocking device 28 disposed on the top of the anchor undocking device fixing block 27, and a mark identification point 29 disposed on the bottom of the anchor undocking device fixing block 27. According to different specifications of the anchor undocking device 28, the end tool gripper 12 of a matching model can be replaced. Furthermore, the configuration of the end tool gripper 12 is changed, and the anchor undocking device 28 can be replaced with other tool devices.

[0033] The controller includes an explosion-proof and intrinsically safe control box 30 arranged at the top tail end of the chassis 1, and an intrinsically safe display screen 31 and an explosion-proof cable lead-in end 32 are arranged on the explosion-proof and intrinsically safe control box 30. The explosion-proof and intrinsically safe control box 30 is divided into multiple explosion-proof chambers and an intrinsically safe chamber 39. A methane concentration sensor 33, a third RGB-D depth camera 34 and an explosion-proof three-phase asynchronous motor 35 are arranged on the top of the explosion-proof and intrinsically safe control box 30. In the present application, the explosion-proof chamber includes a first explosion-proof chamber 36, a second explosion-proof chamber 37 and a third explosion-proof chamber 38, which are respectively arranged around the intrinsically safe chamber 39. The explosion-proof blower motor is installed in the explosion-proof chamber. The cable interface includes a flameproof housing cable lead-in device, an intrinsically safe cable gland, a power cable explosion-proof plug and an explosion-proof socket. The anchor removal robot body supplies power to the entire electric control system through a towing cable, and the power supply voltage is three-phase 660VAC.

[0034] In this embodiment, the staff can hold the wireless teaching pendant and remotely control the anchor removal robot to enter the working area. The wireless teaching pendant can display image video information and navigation information, control the anchor removal robot to walk according to instructions, and teach the positioning of spatial target points. Figure 4 The wireless teaching pendant includes a mining intrinsically safe teaching pendant housing, a battery, an antenna, intrinsically safe buttons and an inch display screen. The wireless teaching pendant is held by the staff to perform various operations of the anchor removal robot. At the same time, the image information taken by the depth camera can be viewed in real time through the display screen, and the spatial three-dimensional posture coordinate data of multiple target points can be determined as teaching points based on the image feature point recognition and processing results of the control system.

[0035] The anchor unloading robot is remotely controlled by the staff using a wireless teaching device to move to a certain point in the working area of ​​the tunnel, which is close to the side of the tunnel. During the movement, the laser radar installed on the chassis performs plane scanning and obstacle avoidance. After the anchor unloading robot arrives at the working point, its front support cylinder and rear anti-slip cylinder are in place. At this time, the coordinate point of the anchor unloading robot is set as the coordinate zero point. The tunnel roof vertically mapped to the working area is a single row of anchor cables. The anchoring structure of a single anchor cable is as follows: Figure 5 shown.

[0036] S102, obtaining, according to the robot base coordinate system, a coordinate transformation matrix of the center point of the bottom section of each anchor cable in a single row of anchor cables relative to the anchor removal robot base coordinate system as a teaching point.

[0037] At this time, the first RGB-D depth camera and the third RGB-D depth camera of the anchor removal robot simultaneously shoot the top plate to obtain the posture matrix and depth information of the spatial three-dimensional coordinate points of all objects including the bottom section of the anchor cable. Through the image feature point recognition processing algorithm and screening, the first three-dimensional posture matrix {G1} of the center point of the bottom section of the anchor cable is obtained. Then, according to the relative installation positions of the two depth cameras, coordinate transformation and external parameter calibration method are performed to obtain the coordinate transformation matrix of the first three-dimensional posture matrix {G1} of the center point of the bottom section of the anchor cable within the camera field of view relative to the base coordinate system {B} of the anchor removal robot.

[0038] The depth data obtained by the third RGB-D depth camera shooting the top plate is used to determine whether the lifting platform needs to raise the base height of the anchor removal robot. During the lifting process, the electronic control system determines whether the mapping point of the center of gravity of the entire machine body is within the support range of the crawler walking mechanism based on the feedback information from the inclination sensor installed on the lifting platform.

[0039] According to the tunnel roof height information measured in the early stage, the six-axis robot initially extends to a fixed height (recorded as the teaching point a), so that the vertical distance between the second RGB-D depth camera installed on the J5 axis of the anchor removal robot and the roof is within 1.5m. The second RGB-D depth camera starts to shoot the roof to obtain the depth information of the spatial three-dimensional coordinate points of all objects including the bottom section of the anchor cable. Through the image feature point recognition processing algorithm and screening, the second three-dimensional posture matrix {G2} of the center point of the bottom section of the anchor cable is obtained. Then, according to the relative installation position of the second RGB-D depth camera, the kinematic coordinate transformation matrix of each axis of the six-axis robot and the internal parameter calibration method, the coordinate transformation matrix of the second three-dimensional posture matrix {G2} of the center point of the bottom section of the anchor cable within the camera field of view relative to the base coordinate system {B} of the anchor removal robot is obtained.

[0040] At this time, the first RGB-D depth camera or the third RGB-D depth camera shoots the Mark identification point installed at the bottom of the anchor remover to obtain the three-dimensional posture matrix {T} of the Mark identification point. According to the relative installation position of the first RGB-D depth camera or the third RGB-D depth camera, the relative position of the Mark identification point and the second RGB-D depth camera, and the third three-dimensional posture matrix {G3} of the center point of the bottom section of the anchor cable obtained by the second RGB-D depth camera, the coordinate transformation matrix of the third three-dimensional posture matrix {G3} of the center point of the bottom section of the anchor cable within the camera's field of view relative to the base coordinate system {B} of the anchor remover robot is obtained through coordinate transformation and external parameter calibration method.

[0041] Will and After weighted calculation, the coordinate transformation matrix of the center point of the bottom section of the single-row anchor cable in the working area {G} relative to the base coordinate system {B} of the anchor removal robot is obtained: The coordinate transformation matrix of the center point of the bottom section of each anchor cable i in the single-row anchor cable relative to the base coordinate system of the anchor removal robot is As a teaching point.

[0042] S103, obtaining the joint angles of each joint axis that need to be accurately rotated through the inverse kinematics algorithm of the six-axis robot arm, and driving the six-axis robot arm to perform motion synthesis so that the inlet end face of the anchor remover accurately reaches the bottom section of the anchor cable.

[0043] Use the wireless teach pendant to The teaching point data is transmitted to the control system of the anchor remover robot. The joint angles of each joint axis that need to be accurately rotated are obtained through the inverse kinematics algorithm of the six-axis robotic arm. The six-axis robotic arm is driven to synthesize the motion so that the inlet end face of the anchor remover accurately reaches the bottom section of the anchor cable, and the inlet end face of the anchor remover is parallel to the bottom section of the anchor cable (recorded as teaching point b).

[0044] S104, determining whether the inlet end face of the anchor remover is parallel to the bottom section of the anchor cable and whether the center point of the inlet end face of the anchor remover coincides with the center point of the bottom section of the anchor cable within a certain error range, and performing posture correction.

[0045] At this time, the first RGB-D depth camera or the third RGB-D depth camera takes another photo of the Mark mark point installed at the bottom of the anchor remover to obtain the three-dimensional posture matrix {T} of the Mark mark point, and then uses coordinate transformation and external parameter calibration method to determine whether the inlet end face of the anchor remover is parallel to the bottom section of the anchor cable and whether the center point of the inlet end face of the anchor remover coincides with the center point of the bottom section of the anchor cable within a certain error range, and then performs posture correction.

[0046] S105, the anchor remover maintains the current posture, and each axis of the six-axis robotic arm moves. The anchor remover moves forward at a constant speed along the Z axis of the current posture matrix for a certain distance, so that the bottom of the anchor cable enters the anchor along the cavity of the anchor remover. When the six-dimensional force sensor gives a stop signal that the anchor remover is in place, the robotic arm stops moving, the anchor remover locks the anchor cable, and starts hydraulic control to complete the anchor removal operation.

[0047] After the anchor is unfastened, each axis of the six-axis robot arm moves, so that the anchor unfastener retreats a distance at a uniform speed along the Z axis of the current posture matrix to reach the teaching point b, and then reaches the teaching point a through the synthesis of the motion of each axis. The second RGB-D depth camera takes a picture of the top plate again, and after image feature point recognition and processing, the three-dimensional posture matrix {G} of the center point of the bottom section of the anchor cable is obtained. Then, according to the coordinate transformation matrix and the internal parameter calibration method, The first RGB-D depth camera or the third RGB-D depth camera shoots the Mark mark point installed at the bottom of the anchor remover to obtain the three-dimensional posture matrix {T} of the Mark mark point. Through coordinate transformation and external parameter calibration method, right and After weighted calculation, the coordinate transformation matrix of the center point of the next anchor bottom section is obtained: Use the wireless teach pendant to The teaching point data is transmitted to the control system of the anchor remover robot. The joint angles that need to be accurately rotated for each joint axis are obtained through the inverse kinematics algorithm of the six-axis robotic arm. The six-axis robotic arm is driven to synthesize the motion so that the inlet end face of the anchor remover accurately reaches the bottom section of the anchor cable, and the inlet end face of the anchor remover is parallel to the bottom section of the anchor cable. After the posture is corrected, the next anchor remover operation is carried out.

[0048] Before the next anchor removal operation, the above parameters are recalibrated because the zero coordinate system of the anchor removal robot is offset due to vibration or displacement of the crawler walking mechanism during the previous anchor removal. The value is no longer accurate.

[0049] During the anchor removal process, the control system and sensor system always predict whether the center of gravity of the anchor removal robot is within the safe range. Otherwise, the anchor removal robot will control the crawler-type walking mechanism to reach another safe position and fix it, and perform the automatic anchor removal operation according to the above process. After the single row of anchor cables on the top plate is processed, the walking mechanism of the anchor removal robot retreats a certain distance and starts the anchor removal work of the next row of anchor cables in a cycle. Its working path is an S-shaped line from the inside of the tunnel to the outside of the tunnel.

[0050] The various high-precision sensors carried by the anchor removal robot body enable it to have certain autonomous planning learning and autonomous navigation capabilities, and can achieve fully autonomous anchor removal without close human involvement, achieving truly safe operation. The anchor removal robot uses servo drive + image recognition precise positioning technology, which has inherent technical advantages, high positioning accuracy, fast action response, and portable control algorithm to meet the expansion application of other work scenarios in mines. The mechanism and center of gravity design are more reasonable. In the complex environment of the tunnel, the anchor removal robot has good passability. Combined with the external center of gravity design and the algorithm control in the control system, it ensures that the center of gravity of the anchor removal robot body is always within the safe range covered by the crawler walking mechanism 2 during operation, and will not overturn, ensuring safe operation.

[0051] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A mine anchor removal method, characterized in that: The method comprises: The six-axis anchor removal robot is controlled to travel to any working point in the working area of ​​the tunnel, and after being fixed, the coordinate point where the six-axis anchor removal robot is located is used as the coordinate zero point to obtain the robot base coordinate system. The six-axis anchor removal robot comprises: a mobile base, a lifting device arranged on the mobile base, the first end of the lifting device is fixed on the mobile base, and the second end is vertically movable; a mechanical arm is arranged on the second end of the lifting device, the first end of the mechanical arm is fixedly connected to the second end of the lifting device, and the second end of the mechanical arm is arranged with an anchor removal device, and a controller is arranged on the mobile base, and the controller is electrically connected to the lifting device, the mechanical arm and the anchor removal device respectively; According to the robot base coordinate system, a coordinate transformation matrix of the center point of the bottom section of each anchor cable in the single-row anchor cable relative to the anchor removal robot base coordinate system is obtained as a teaching point, including: The first RGB-D depth camera and the second RGB-D depth camera set on the six-axis anchor removal robot obtain the posture matrix and depth information of the spatial three-dimensional coordinate points of all objects including the bottom section of the anchor cable, and obtain the first three-dimensional posture matrix G1 of the center point of the bottom section of the anchor cable; According to the relative installation positions of the first RGB-D depth camera and the second RGB-D depth camera, coordinate transformation and external parameter calibration method are performed to obtain the coordinate transformation matrix of the first three-dimensional posture matrix G1 relative to the anchor-removing robot base coordinate system B: The robot arm is initially extended to a fixed height to obtain the second three-dimensional posture matrix G2 of the center point of the bottom section of the anchor cable. According to the relative installation position of the second RGB-D depth camera, the kinematic coordinate transformation matrix of each axis of the six-axis robot arm and the internal parameter calibration method, the coordinate transformation matrix of the second three-dimensional posture matrix G2 relative to the anchor removal robot base coordinate system B is obtained. Control the first RGB-D depth camera or the third RGB-D depth camera to shoot the Mark mark point installed at the bottom of the anchor remover to obtain the three-dimensional posture matrix T of the Mark mark point; According to the relative installation position of the first RGB-D depth camera or the third RGB-D depth camera, the relative position of the Mark identification point and the second RGB-D depth camera, and the third three-dimensional posture matrix G3 of the center point of the bottom section of the anchor cable obtained by the second RGB-D depth camera, the coordinate transformation matrix of the third three-dimensional posture matrix G3 relative to the base coordinate system B of the unanchoring robot is obtained by coordinate transformation and external parameter calibration method. Will and After weighted calculation, the coordinate transformation matrix of the center point of the bottom section of a single row of anchor cables in the working area relative to the base coordinate system of the anchor removal robot is obtained: The joint angles of each joint axis that need to be accurately rotated are obtained through the inverse kinematics algorithm of the six-axis robot, and the six-axis robot motion synthesis is driven to make the inlet end face of the anchor remover accurately reach the bottom section of the anchor cable; Determine whether the inlet end face of the anchor remover is parallel to the bottom section of the anchor cable and whether the center point of the inlet end face of the anchor remover coincides with the center point of the bottom section of the anchor cable within a certain error range, and perform posture correction; The anchor remover maintains the current posture, and each axis of the six-axis robotic arm moves. The anchor remover moves forward at a constant speed along the Z axis of the current posture matrix for a certain distance, so that the bottom of the anchor cable enters the anchor along the cavity of the anchor remover. When the six-dimensional force sensor gives a stop signal that the anchor remover is in place, the robotic arm stops moving, the anchor remover locks the anchor cable, starts hydraulic control, and completes the anchor removal operation.

2. The mine anchor removal method according to claim 1, characterized in that: The method of obtaining the posture matrix and depth information of the spatial three-dimensional coordinate points of all objects including the bottom section of the anchor cable by the first RGB-D depth camera and the second RGB-D depth camera set on the six-axis anchor removal robot, and obtaining the first three-dimensional posture matrix G1 of the center point of the bottom section of the anchor cable, includes: Control the first RGB-D depth camera and the third RGB-D depth camera of the anchor removal robot to simultaneously shoot the top plate to obtain the posture matrix and depth information of the spatial three-dimensional coordinate points of all objects including the bottom section of the anchor cable; Through the image feature point recognition processing algorithm and screening, the first three-dimensional posture matrix G1 of the center point of the bottom section of the anchor cable is obtained.

3. The mine anchor removal method according to claim 2, characterized in that: The control manipulator initially extends to a fixed height, obtains the second three-dimensional posture matrix G2 of the center point of the bottom section of the anchor cable, and obtains the coordinate transformation matrix of the second three-dimensional posture matrix G2 relative to the anchor removal robot base coordinate system B according to the relative installation position of the second RGB-D depth camera, the kinematic coordinate transformation matrix of each axis of the six-axis manipulator and the internal parameter calibration method. include: According to the tunnel roof height information measured in the early stage, the six-axis robot arm initially extends to a fixed height and is recorded as the teaching point; The second RGB-D depth camera starts to shoot the top plate to obtain the depth information of the spatial three-dimensional coordinate points of all objects including the bottom section of the anchor cable; The second three-dimensional posture matrix G2 of the center point of the bottom section of the anchor cable is obtained through the image feature point recognition processing algorithm and screening; According to the relative installation position of the second RGB-D depth camera, the kinematic coordinate transformation matrix of each axis of the six-axis manipulator and the internal parameter calibration method, the coordinate transformation matrix of the second three-dimensional posture matrix G2 of the center point of the bottom section of the anchor cable within the camera's field of view relative to the base coordinate system B of the anchor removal robot is obtained.

4. The mine anchor removal method according to claim 3, characterized in that: According to the relative installation position of the first RGB-D depth camera or the third RGB-D depth camera, the relative position of the Mark identification point and the second RGB-D depth camera, and the third three-dimensional posture matrix G3 of the center point of the bottom section of the anchor cable obtained by the second RGB-D depth camera, the coordinate transformation matrix of the third three-dimensional posture matrix G3 relative to the base coordinate system B of the unanchoring robot is obtained through coordinate transformation and external parameter calibration method. include: The first RGB-D depth camera or the third RGB-D depth camera shoots the Mark mark point installed at the bottom of the anchor remover to obtain a three-dimensional posture matrix T of the Mark mark point; According to the relative installation position of the first RGB-D depth camera or the third RGB-D depth camera, the relative position of the Mark identification point and the second RGB-D depth camera, and the third three-dimensional posture matrix G3 of the center point of the bottom section of the anchor cable obtained by the second RGB-D depth camera, the coordinate transformation matrix of the third three-dimensional posture matrix G3 of the center point of the bottom section of the anchor cable within the camera viewing width relative to the base coordinate system B of the anchor removal robot is obtained through coordinate transformation and external parameter calibration method.

5. The mine anchor removal method according to any one of claims 2 to 4, characterized in that: The coordinate transformation matrix of the center point of the bottom section of each anchor cable i in the single-row anchor cable relative to the base coordinate system of the anchor removal robot is As a teaching point.

6. The mine anchor removal method according to claim 5, characterized in that: The depth data obtained by shooting the top plate with the third RGB-D depth camera is used to determine whether the lifting platform needs to raise the base height of the anchor withdrawal robot. During the lifting process, the electronic control system determines whether the mapping point of the center of gravity of the entire machine body is within the support range of the crawler walking mechanism based on the feedback information from the inclination sensor installed on the lifting platform.

7. The mine anchor removal method according to claim 6, characterized in that: The method of obtaining the joint angles of each joint axis that need to be accurately rotated by the inverse kinematics algorithm of the six-axis robot arm and driving the six-axis robot arm to perform motion synthesis so that the inlet end face of the anchor remover accurately reaches the bottom section of the anchor cable includes: Will The teaching point data is transmitted to the anchor removal robot control system; The joint angles that need to be accurately rotated for each joint axis are obtained through the inverse kinematics algorithm of the six-axis robot; The six-axis mechanical arm is driven to synthesize movement so that the inlet end face of the anchor remover accurately reaches the bottom section of the anchor cable, and the inlet end face of the anchor remover is parallel to the bottom section of the anchor cable.

8. The mine anchor removal method according to claim 7, characterized in that: The method of judging whether the inlet end face of the anchor remover is parallel to the bottom section of the anchor cable and whether the center point of the inlet end face of the anchor remover coincides with the center point of the bottom section of the anchor cable within a certain error range, and performing posture correction, includes: The first RGB-D depth camera or the third RGB-D depth camera takes another photo of the Mark mark point installed at the bottom of the anchor remover to obtain a three-dimensional posture matrix T of the Mark mark point; Then, through coordinate transformation and external parameter calibration method, it is determined whether the inlet end face of the anchor remover is parallel to the bottom section of the anchor cable and whether the center point of the inlet end face of the anchor remover coincides with the center point of the bottom section of the anchor cable within a certain error range, and the posture correction is performed.

9. The mine anchor removal method according to claim 8, characterized in that: After unanchoring is completed, repeat the steps before unanchoring, and proceed to the next unanchoring operation after the posture is corrected.

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