Coordinated control system and method of double drilling arms of drilling and anchoring robot based on anchoring technology

Abstract

The present invention relates to a dual-drill-arm collaborative control system and method for a drilling and anchoring robot based on an anchoring process, belonging to the technical field of dual-drill-arm collaborative control of drilling and anchoring machines. The anchor drilling information acquisition module collects images of all anchor holes on a supporting steel belt, the drilling rig posture detection module is used to detect the initial spatial posture of the drilling rig, and an explosion-proof computer constructs a drill arm kinematic model, analyzes the kinematic forward and inverse solutions, and obtains the drill arm motion space. A hole sequence planning strategy is used to complete the allocation of anchor drilling tasks and the anchor drilling sequence for the left and right drill arms, and trajectory planning is completed based on a quintic polynomial interpolation method. The drill rig quickly and smoothly reaches the anchor hole and completes the anchoring task. This cycle continues to complete the anchor drilling task on a steel belt. The present invention can effectively improve the anchoring efficiency of the dual-drill-arm drilling and anchoring robot, avoid interference between the left and right drill arms during operation, avoid safety accidents, and improve the safety of the anchoring operation.

Description

Technical Field

[0001] The present invention relates to the technical field of coordinated control of double drill arms of a drilling and anchoring machine, and in particular to a coordinated control system and method of double drill arms of a drilling and anchoring robot based on an anchoring process. Background Art

[0002] Due to the complex process and harsh environment of coal mine roadway support, support tasks mainly rely on manually operated single-unit anchor drilling rigs, resulting in high labor intensity, low support efficiency, and poor safety. In recent years, multi-drill arm anchor rigs have gradually been applied to roadway support operations. However, due to the confined roadway space and complex process flow, interference between multiple drill arms during operation often occurs, and support efficiency has not been effectively improved. Therefore, to improve roadway support efficiency and enhance the degree of automation in roadway comprehensive excavation working faces, the research of multi-drill arm collaborative control systems and technologies is of great significance. Summary of the Invention

[0003] The purpose of the present invention is to provide a double-drill-arm collaborative control system and method for a drilling and anchoring robot based on an anchoring process, so as to effectively improve the anchoring operation efficiency of the double-drill-arm drilling and anchoring robot.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A collaborative control system for a double-drilling arm of a drilling and anchoring robot based on an anchoring process, the collaborative control system comprising: a drilling and anchoring robot, a control module, an explosion-proof computer, two anchor drilling information acquisition modules, and two drilling rig posture detection modules;

[0006] The two drilling arms of the anchor drilling robot are each provided with a drilling rig at the end; two anchor drilling information acquisition modules are respectively provided on the two drilling rigs in a one-to-one correspondence; two drilling rig posture detection modules are respectively provided on the two drilling arms in a one-to-one correspondence;

[0007] The two anchor drilling information acquisition modules are both connected to the explosion-proof computer, and the two anchor drilling information acquisition modules are used to collect images of all anchor drilling holes on the support steel belt and transmit the images of all anchor drilling holes to the explosion-proof computer;

[0008] The two drilling rig posture detection modules are both connected to the explosion-proof computer, and the drilling rig posture detection modules are used to detect the initial spatial posture of the drilling rig and transmit the initial spatial posture of the drilling rig to the explosion-proof computer;

[0009] An explosion-proof computer is connected to the control module. The explosion-proof computer is used to determine the position of each anchor drill hole on the support steel belt based on the images of all anchor drill holes, and to assign the anchor drilling tasks and anchor drilling sequence of the two drill arms based on the positions of all anchor drill holes. The computer then plans the trajectory of each drill arm to complete the anchor drilling task based on the anchor drilling task, anchor drilling sequence, and the initial spatial posture of the drill rig, and simultaneously sends the trajectory, anchor drilling task, and anchor drilling sequence of each drill arm to the control module.

[0010] The control module is connected to the anchor drilling robot, and is used to control the two drill arms to perform the anchor drilling operation according to the trajectory of each drill arm, the anchor drilling task and the anchor drilling sequence to complete the anchor drilling task.

[0011] Optionally, the drilling arm is a six-degree-of-freedom robotic arm;

[0012] The anchor drilling information acquisition module is a binocular camera, which is installed at the front end of the drilling rig. The optical axis direction of the binocular camera is parallel to the axis direction of the drill arm and faces the top direction of the drill arm.

[0013] Optionally, the drilling rig posture detection module includes: a plurality of tilt sensors and a plurality of rope sensors;

[0014] The plurality of inclination sensors are respectively arranged on the plurality of rotating joints of the drill arm in a one-to-one correspondence, and the plurality of rope sensors are respectively arranged on the plurality of moving joints in a one-to-one correspondence;

[0015] Multiple inclination sensors and multiple rope sensors are connected to the explosion-proof computer. The inclination sensors are used to measure the rotation angle of the rotating joint and transmit the rotation angle to the explosion-proof computer; the rope sensors are used to measure the extension and contraction of the moving joint and transmit the extension and contraction to the explosion-proof computer.

[0016] The explosion-proof computer is used to determine the spatial position of the drilling rig according to the rotation angle and the extension amount.

[0017] A collaborative control method for dual drill arms of a drilling and anchoring robot based on an anchoring process, the collaborative control method is applied to the aforementioned collaborative control system, and the collaborative control method includes:

[0018] Construct the kinematic model of the drill arm;

[0019] According to the kinematic model of the drill arm, the motion space of the drill arm is determined by using the Monte Carlo method;

[0020] Obtain images of all anchor drill holes on the support steel belt, and identify the position of each anchor drill hole on the images of all anchor drill holes;

[0021] Obtaining the rotation angle and extension amount of each joint in each drill arm, and bringing the rotation angle and extension amount of each joint of the drill arm into the drill arm kinematic model to determine the initial spatial pose of the two drill rigs;

[0022] According to the positions of all anchor holes and the motion space of the drill arm, the hole sequence planning strategy is used to allocate the anchor drilling tasks and the order of the two drill arms.

[0023] According to the anchor drilling tasks and anchor drilling sequence of the two drill arms and the initial spatial positions of the two drill rigs, based on the drill arm kinematic model, the kinematic analysis of the drill arm is used to calculate the motion of each joint of each drill arm in the anchor drilling task;

[0024] Based on the location of the anchor hole, the anchor drilling tasks of the two drill arms, the anchor drilling sequence, and the initial spatial positions of the two drill rigs, the trajectory of each drill arm to complete the anchor drilling task is planned using the quintic polynomial interpolation method.

[0025] The two drill arms are controlled to perform the anchor drilling operation according to their respective planned trajectories and the movement of each joint of each drill arm in the anchor drilling task to complete the anchor drilling task.

[0026] Optionally, the constructing of the drill arm kinematic model specifically includes:

[0027] Based on the improved DH coordinate system construction method, the coordinate systems of each joint of the drill arm are established, and the DH parameters of each joint in the drill arm are determined;

[0028] According to the coordinate systems of each joint of the drill arm, the coordinate system transformation relationship of the adjacent connecting rods in the drill arm is established as follows: in, represents the transformation matrix between the link coordinate system {i} and the link coordinate system {i-1}, θ i represents the joint variable of joint i, α i-1 represents the torsion angle of the connecting rod between joint i-1 and joint i, a i-1 represents the length of the connecting rod between joint i-1 and joint i, d i represents the link offset between joint i-1 and joint i, i = 1, 2, 3, 4, 5, 6;

[0029] According to the coordinate system transformation relationship of the adjacent connecting rods in the drill arm and the DH parameters of each joint in the drill arm, the kinematic model of the drill arm is determined as follows: in, Represents the transformation matrix of the drilling rig coordinate system relative to the drill arm base coordinate system, (n x ,n y ,n z )、(o x ,o y ,o z ) and (a x ,a y ,a z ) represent the first, second, and third three-dimensional unit orthogonal vectors describing the posture of the drilling rig relative to the drill arm base coordinate system, (p x,p y ,p z ) represents the three-dimensional position of the drill rig relative to the base coordinate system of the drill arm;

[0030] n x = cθ1c(θ2 + θ4)sθ6 + sθ1cθ5cθ6 - cθ1s(θ2 + θ4)sθ5cθ6

[0031] n y = -sθ1s(θ2 + θ4)sθ5cθ6 - cθ1cθ5cθ6 + sθ1c(θ2 + θ4)sθ6

[0032] n z = -c(θ2 + θ4)sθ5cθ6 - s(θ2 + θ4)sθ6

[0033] o x = cθ1s(θ2 + θ4)sθ5sθ6 - sθ1cθ5sθ6 + cθ1c(θ2 + θ4)cθ6

[0034] o y = sθ1s(θ2 + θ4)sθ5sθ6 + cθ1cθ5sθ6 + sθ1c(θ2 + θ4)cθ6

[0035] o z = c(θ2 + θ4)sθ5sθ6 - s(θ₂ + θ₄)cθ6

[0036] a x = cθ1s(θ2 + θ4)cθ5 + sθ1sθ5

[0037] a y = sθ1s(θ2 + θ4)cθ5 - cθ1sθ5

[0038] a z = c(θ2 + θ4)cθ5

[0039] p x = -sθ1d4 + cθ1cθ2(1000 + d3)

[0040] p y = cθ1d4 + sθ1cθ2(¨1000 + d3)

[0041] p z = sθ2(1000 + d3)

[0042] In the formula, c represents the cosine symbol, and s represents the sine symbol.

[0043] Optionally, the improved DH coordinate system construction method specifically includes:

[0044] The direction along joint i is axis Z i The direction along the common perpendicular is X i axis;

[0045] Determine Y using the right-hand rule i The direction of the axis;

[0046] The intersection of joints i and i+1 or the intersection of the common perpendicular line and joint i is used as the origin of the link coordinate system {i}.

[0047] Optionally, according to the kinematic model of the drill arm, a Monte Carlo method is used to determine the motion space of the drill arm, specifically including:

[0048] The preset value range of each joint variable of the drill arm is [θ imin ,θ imax ], and set the number of random times to N; where θ imin represents the minimum joint variable, θ imax represents the maximum joint variable;

[0049] Initialize the current loop number k=1;

[0050] Use the random function to generate n random points between 0 and 1, and use the formula θ i =θ imin +(θ imax -θ imin )*rand, calculate the random value of each joint variable; where rand represents the value of the random point;

[0051] According to the random values ​​of the joint variables, the spatial coordinates of the drill end at the current cycle number are determined using the drill arm kinematic model;

[0052] Draw the spatial coordinates of the end of the drilling rig for the current cycle number;

[0053] Determine whether k is greater than or equal to N, and obtain a first determination result;

[0054] If the first judgment result indicates no, then increase the value of k by 1 and return to the step of "generating n random points between 0 and 1 using the random function, and using the formula θ i =θ imin +(θ imax -θ imin )*rand, calculate the random value of each joint variable";

[0055] If the first judgment result indicates yes, all spatial points are used to form a drill arm motion space.

[0056] Optionally, the anchor drilling tasks and anchor drilling sequence of the two drill arms are allocated using a hole sequence planning strategy based on the positions of all anchor drilling holes and the drill arm motion space, specifically including:

[0057] A dual-drill-arm collaborative control model is constructed based on the tunnel space, the positions of all anchor drill holes, and the drill arm motion space; the anchor drill holes include roof anchor points, left side anchor points, and right side anchor points;

[0058] When performing roof support according to the dual-drill boom coordinated control model, when the number of roof anchor points is 2j+1, determine whether the drilling rig working radius R is greater than the distance d0 between adjacent anchor points to obtain a second judgment result; where j is an integer;

[0059] If the second judgment result indicates no, the left drill boom starts from anchor point j to anchor point j-1 and completes the anchoring operation. At the same time, the right drill boom starts from anchor point j+2 to anchor point j+3 and completes the anchoring operation at roof anchor point j+1.

[0060] If the second judgment result indicates yes, the left drill boom starts from anchor point j to anchor point j-1 to complete the anchoring operation, and the right drill boom starts from anchor point j to anchor point j+1 to complete the anchoring operation, and then continues from anchor point j+1 to anchor point 2j+1 to complete the roof anchoring operation task; wherein, the distance from anchor point J to anchor point j is greater than or equal to 2R;

[0061] When performing roof support according to the dual-drill boom coordinated control model, when there are 2j roof anchor points, determine whether the drilling rig working radius R is greater than d0 / 2 to obtain a third judgment result;

[0062] If the third judgment result indicates no, the left drill arm starts from anchor point j to anchor point j-1 and completes the anchoring operation, while the right drill arm starts from anchor point j+1 to anchor point j+2 and completes the anchoring operation;

[0063] If the third judgment result indicates yes, the left drill boom starts from anchor point j to anchor point j-1 to complete the anchoring operation, and the right drill boom starts from anchor point j to anchor point j+1 to complete the anchoring operation, and then continues from anchor point j+1 to anchor point 2j to complete the roof anchoring operation task; wherein, the distance from anchor point J to anchor point j is greater than or equal to 2R;

[0064] After the roof support is completed, the left drill arm is controlled to complete the left side anchoring operation task alone, and the right drill arm is controlled to complete the right side anchoring operation task alone.

[0065] Optionally, the calculation of the motion amount of each joint of each drill arm in the anchor drilling task by using the drill arm kinematic analysis based on the drill arm kinematic model according to the anchor drilling tasks, the anchor drilling sequence, and the initial spatial positions of the two drill rigs, specifically includes:

[0066] The kinematic model of the drill arm is transformed to obtain the calculation formula of the joint motion of each joint of the drill arm:

[0067]

[0068]

[0069]

[0070] θ4=arctan2(b,a)

[0071]

[0072] θ6=arctan2(s1o x +c1o y ,-(s1n x +c1n y ))

[0073] Where s1 represents sinθ1, c1 represents cosθ1, b and a represent the first and second parameters respectively, and a=s2c2a x +s2s1a y +c2a z , b=c2c1a x +c2s1a y -s2a z , s2 represents sinθ2, c2 represents cosθ2;

[0074] According to the anchor drilling tasks and anchor drilling sequence of the two drill arms and the initial spatial positions of the two drill rigs, the joint motion calculation formula of each drill arm joint is used to calculate the joint motion of each drill arm when it reaches its assigned anchor drilling position.

[0075] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0076] The present invention discloses a dual-drill-arm collaborative control system and method for an anchor drilling robot based on an anchoring process. The anchor drilling information acquisition module collects images of all anchor holes on a supporting steel belt. The drill rig posture detection module is used to detect the initial spatial posture of the drill rig. An explosion-proof computer constructs a drill arm kinematic model, analyzes the kinematic forward and inverse solutions, and calculates the drill arm motion space. A hole sequence planning strategy is used to allocate anchor drilling tasks and sequence the anchor drilling operations between the left and right drill arms. Trajectory planning is performed based on a quintic polynomial interpolation method. The drill rig quickly and smoothly reaches the anchor hole, completing the anchoring task. This cycle continues until the anchor drilling task on a single steel belt is completed. The present invention can effectively improve the anchoring efficiency of the dual-drill-arm anchor drilling robot, avoid interference between the left and right drill arms during operation, prevent safety accidents, and enhance the safety of anchoring operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0078] Figure 1 Schematic diagram of information transmission principle of the double-drilling-arm collaborative control system of the anchor drilling robot based on the anchoring process provided by an embodiment of the present invention;

[0079] Figure 2 A structural diagram of a double-drilling-arm collaborative control system for a drilling and anchoring robot based on an anchoring process according to an embodiment of the present invention;

[0080] Figure 3 A flowchart of a collaborative control method for dual drilling arms of a drilling and anchoring robot based on an anchoring process provided by an embodiment of the present invention;

[0081] Figure 4 Schematic diagram of a collaborative control method for dual drilling arms of an anchor drilling robot based on an anchoring process provided by an embodiment of the present invention;

[0082] Figure 5 A schematic diagram of a motion coordinate system of a robotic arm based on an improved DH method provided in an embodiment of the present invention;

[0083] Figure 6 A schematic diagram of the principle of the Monte Carlo method provided in an embodiment of the present invention;

[0084] Figure 7 A schematic diagram of a mathematical model for collaborative control of dual drill arms provided in an embodiment of the present invention;

[0085] Figure 8 A schematic diagram of hole sequence planning when the number of top plate anchoring points is 2i+1 provided in an embodiment of the present invention;

[0086] Figure 9 A schematic diagram of hole sequence planning when the number of top plate anchoring points is 2i provided in an embodiment of the present invention.

[0087] Explanation of symbols: 1-control module, 2-drilling and anchoring robot, 3-drilling arm, 4-binocular camera, 5-top plate steel belt, 6-anchor drilling hole. DETAILED DESCRIPTION

[0088] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0089] The purpose of the present invention is to provide a double-drill-arm collaborative control system and method for a drilling and anchoring robot based on an anchoring process, so as to effectively improve the anchoring operation efficiency of the double-drill-arm drilling and anchoring robot.

[0090] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0091] In order to solve the problems of easy interference, low efficiency and poor safety of existing multi-drill arm anchor drilling vehicles during anchoring operations in narrow spaces, the present invention provides a dual-drill arm collaborative control system for drilling and anchoring robots based on anchoring technology, such as Figure 1 As shown, the collaborative control system includes: a drilling and anchoring robot 2, a control module 1, an explosion-proof computer, two anchor drilling information acquisition modules and two drilling rig posture detection modules.

[0092] The two drilling arms 3 of the anchor drilling robot 2 are each equipped with a drilling rig; two anchor drilling information acquisition modules are mounted on each drilling rig, one for each drill rig; and two drilling rig posture detection modules are mounted on each drilling arm 3, one for each drill rig. Both anchor drilling information acquisition modules are connected to an explosion-proof computer via Ethernet. These modules are used to capture images of all anchor drill holes 6 on the support steel belt and transmit these images to the explosion-proof computer. Both drilling rig posture detection modules are connected to the explosion-proof computer and are used to detect the initial spatial posture of the drilling rig and transmit this information to the explosion-proof computer.

[0093] The explosion-proof computer is connected to the control module 1. The explosion-proof computer is used to determine the position of each anchor drill hole 6 on the support steel belt based on the images of all anchor drill holes 6, and to assign the anchor drilling tasks and anchor drilling sequence of the two drill arms 3 based on the positions of all anchor drill holes 6. Then, based on the anchor drilling tasks, anchor drilling sequence and the initial spatial posture of the drilling rig, the trajectory of each drill arm 3 to complete the anchor drilling task is planned, and the trajectory, anchor drilling task and anchor drilling sequence of each drill arm 3 are simultaneously sent to the control module 1. The control module 1 is connected to the anchor drilling robot. The control module 1 is used to control the two drill arms 3 to perform the anchor drilling operation and complete the anchor drilling task based on the trajectory, anchor drilling task and anchor drilling sequence of each drill arm 3.

[0094] Among them, the explosion-proof computer receives the image information collected by the anchor drilling hole 6 information acquisition module and processes it to obtain the spatial coordinate information and relative position relationship of all anchor drilling holes 6 on a steel belt; completes task allocation through the hole sequence planning strategy, determines the corresponding anchor drilling tasks and anchor drilling sequence of the left and right drill arms 3; completes drill arm trajectory planning based on the fifth-order polynomial, determines the joint variables, and sends the control signal to the control module 1. The control unit module mainly receives control signals from the explosion-proof computer, controls the various joints of the drill arm 3 to move according to the settings, quickly and stably reaches the anchor drilling task point, and completes the anchor drilling task. The hole sequence planning is to allocate the anchor drilling tasks and determine the anchor drilling operation sequence based on the anchoring process requirements (top plate first, then side wall, from the middle to both sides), anchor drilling space information, left and right drill arm movement space, etc., to avoid disordered operation of the left and right drill arms 3 and interference. Trajectory planning involves calculating the variation in each arm's joints based on the arm's kinematic model and the target anchor drilling location. Based on sensor-based detection of the drill's starting position, trajectory planning is performed using a quintic polynomial interpolation method, ensuring the drill reaches the target anchor drilling location smoothly and quickly, completing the anchor drilling task. Once the drill completes the anchor drilling task, trajectory planning and motion control for the next anchor drilling hole are performed based on the hole sequence planning results. This cycle repeats until the arm's anchor drilling task is complete.

[0095] Reference Figure 2 , a number of circular holes (anchor drilling holes 6) are set on the support steel belt, and the anchor net, steel belt and roof are anchored together by bolts. The steel belt is placed on the temporary support device of the drilling and anchor robot 2 and pressed against the tunnel roof.

[0096] In one example, the drilling and anchoring robot 2 is composed of a cantilever tunnel boring machine integrated with two six-degree-of-freedom robotic arms. The two six-degree-of-freedom robotic arms are symmetrically distributed on both sides of the drilling and anchoring robot 2 body. The drilling rig serves as the end effector of the drilling arm 3 to complete the tunnel roof and side wall anchoring operations.

[0097] The anchor drilling information acquisition module consists of a binocular camera 4 mounted at the front end of the drill rig. The camera's optical axis is parallel to the axis of the drill arm 3 and faces the top of the arm. The image data of all anchor drill holes 6 on a strip of steel is collected by the camera and transmitted to an explosion-proof computer via Ethernet. If the computer determines that the number of anchor drill holes 6 is less than the number of anchor drill holes on the strip, the drill arm 3 is adjusted, and the image of the strip is recaptured and transmitted to the computer for processing, obtaining information such as the spatial location of the anchor drill holes 6. This information is then collected until the number of anchor drill holes on the strip is confirmed, concluding the acquisition process.

[0098] The drill rig posture detection module includes multiple inclination sensors and multiple draw-wire sensors. The inclination sensors are positioned one-to-one on the multiple rotating joints of the drill boom 3, while the draw-wire sensors are positioned one-to-one on the multiple moving joints. Both the inclination sensors and the draw-wire sensors are connected to an explosion-proof computer. The inclination sensors measure the rotation angles of the rotating joints and transmit these angles to the computer. The draw-wire sensors measure the extension and contraction of the moving joints and transmit these values ​​to the computer. The computer then determines the spatial posture of the drill rig based on these angles.

[0099] When the system is working, the drilling and anchoring robot's drill arm 3 approaches the steel belt as set, and the binocular vision system (binocular camera 4) collects the image of the top plate steel belt and transmits it to the explosion-proof computer, and solves the spatial coordinates of the center of the anchor drill hole on the steel belt in real time until the spatial coordinates and relative positions of all anchor drill holes on a steel belt are obtained; the anchor drilling task is allocated based on the hole sequence planning strategy, the drill arm posture detection module realizes the initial posture detection of the drilling rig, determines the target posture of the drilling rig according to the anchor drilling operation task, and completes the trajectory planning based on the fifth-order polynomial. The explosion-proof computer sends this information to the control unit module, and the module sends a control instruction to control the movement of the drill arm 3, so that the drilling rig moves to the bottom of the anchor drill hole 6 to complete the anchor drilling operation task.

[0100] The embodiment of the present invention also provides a method for collaborative control of double drilling arms of a drilling and anchoring robot based on an anchoring process, such as Figure 3-4 As shown, the collaborative control method is applied to the aforementioned collaborative control system, and the collaborative control method includes:

[0101] Step S1: constructing a kinematic model of the drill arm.

[0102] Complete kinematic modeling based on the structure and parameters of the drilling and anchoring robot, and analyze the kinematic positive solution;

[0103] Specifically, according to the structure and parameters of the drilling arm of the anchor drilling robot, the six-degree-of-freedom drilling arm is analyzed according to the improved DH coordinate system construction rule. First, the six joint axes are found, and the direction along the joint axis i is the axis Z. iThe intersection of joint axis i and i+1 or the intersection of the common perpendicular line and joint axis i is taken as the origin of the link coordinate system {i}; specify X i The axis is along the direction of the common perpendicular line. If the joint axis i and i+1 intersect, then X i The axis is perpendicular to the plane where the joint axes i and i+1 are located; finally, determine Y according to the right-hand rule i Based on this principle, the coordinate systems of each joint of the drill arm are established, such as Figure 5 As shown, the {0} coordinate system coincides with the {1} coordinate system and is fixed on the base.

[0104] According to the established DH coordinate system, the DH parameter table of the six-degree-of-freedom drill arm is shown in Table 1, where a i-1 is the connecting rod length, is the torsion angle of the connecting rod, and the revolute joint θ i Joint variable, d i is the connecting rod offset.

[0105] Table 1 Parameters of six-degree-of-freedom drill boom DH

[0106]

[0107] Specifically, based on the parameter table established by the improved DH coordinate system construction method and the parameters of the corresponding connecting rods of the drill arm, the conversion relationship of the drill arm end effector (drilling rig) relative to the drill arm base coordinate system can be obtained through the coordinate system conversion of adjacent connecting rods, that is, the forward kinematic model of the drill arm, and the spatial position of the drill rig target position relative to the drill arm base coordinate system can be obtained. The conversion relationship between the coordinate system {i} and the coordinate system {i-1} can be expressed by the transformation matrix express:

[0108]

[0109] therefore, The general expression is:

[0110]

[0111] Substituting the DH parameter table of the drilling and anchoring robot's drill arm and the corresponding connecting rod parameters into the above formula, we can obtain:

[0112]

[0113]

[0114]

[0115]

[0116]

[0117]

[0118] After calculation, the transformation relationship of the end effector (drill) coordinate system relative to the base coordinate system is:

[0119]

[0120] Where:

[0121] n x = cosθ1cos(θ2 + θ4)sinθ6 + sinθ1cosθ5cosθ6 - cosθ1sin(θ2 + θ4)sinθ5cosθ6

[0122] o x = cosθ1sin(θ2 + θ4)sinθ5sinθ6 - sinθ1cosθ5sinθ6 + cosθ1cos(θ2 + θ4)cosθ6

[0123] a x = cosθ1sin(θ2 + θ4)cosθ5 + sinθ1sinθ5

[0124] p x = -sinθ1d4 + cosθ1cosθ2(1000 + d3)

[0125] n y = -sinθ1sin(θ2 + θ4)sinθ5cosθ6 - cosθ1cosθ5cosθ6 + sinθ1cos(θ2 + θ4)sinθ6

[0126] o y = sinθ1sin(θ2 + θ4)sinθ5sinθ6 + cosθ1cosθ5sinθ6 + sinθ1cos(θ2 + θ4)cosθ6

[0127] a y = sinθ1sin(θ2 + θ4)cosθ5 - cosθ1sinθ5

[0128] p y = cosθ1d4 + sinθ1cosθ2(1000 + d3)

[0129] n z = -cos(θ2 + θ4)sinθ5cosθ6 - sin(θ2 + θ4)sinθ6

[0130] o z = cos(θ2 + θ4)sinθ5sinθ6 - sin(θ2 + θ4)cosθ6

[0131] a z = cos(θ2 + θ4)cosθ5

[0132] p z = sinθ2(1000 + d3)

[0133] In the formula, c i、s i Represents cosθ respectively i and sinθ i , the unit orthogonal vectors n, o and a describe the posture of the drill arm end effector (drilling rig) relative to the drill arm base coordinate system, p describes the position of the drill arm end effector (drilling rig) relative to the drill arm base coordinate system, θ1, θ2, d3, θ4, θ5, θ6 represent the five rotation variables and one translation variable of the drill arm respectively.

[0134] Step S2: Determine the motion space of the drill arm using the Monte Carlo method based on the kinematic model of the drill arm.

[0135] Specifically, the workspace refers to the set of spatial points that the end effector of the robot arm can reach, that is, the spatial position that the drilling rig can reach. This case uses the Monte Carlo method and the MATLAB Robot Toolbox to solve the motion space of the double drill arm of the anchor drilling robot. A large number of sampling points are randomly selected to construct the complete motion space of the drill arm as much as possible. Figure 6 The figure shows the Monte Carlo method to solve the drill arm motion space solution, and its implementation steps are:

[0136] (1) First, the drill arm motion model is constructed, and the joint variables θ of the robot arm are i (d i ) ranges from [θ imin ,θ imax ], set the number of random times to N;

[0137] (2) Use the random function rand to generate n random points between 0 and 1, with (θ imax -θ imin )*rand is the random step size, solving the random value of each joint variable, that is,

[0138] θ i =θ imin +(θ imax -θ imin )*rand (4)

[0139] (3) Substituting the random value of the joint variable obtained from formula (4) into formula (3) can obtain the spatial coordinates of the drilling rig end and draw the spatial points of the coordinates;

[0140] (4) Repeat steps (2) and (3) N times to obtain the motion space profile of the double drill arm. The larger the value of N, the closer the motion space profile is to the actual situation.

[0141] Step S3: acquiring images of all anchor drill holes on the support steel belt, and identifying the position of each anchor drill hole on the images of all anchor drill holes.

[0142] The binocular vision system collects images of the steel strip and transmits them to the explosion-proof computer. The explosion-proof computer completes the identification of the anchor holes on the steel strip and obtains the spatial posture information of the anchor holes. If the number of anchor holes with obtained spatial posture information is less than the number of anchor holes on the steel strip, the drilling rig posture is adjusted (that is, the binocular vision system posture is adjusted), and the image is re-collected and transmitted to the explosion-proof computer for processing. The above steps are repeated until the spatial posture information and relative position information of all anchor holes on the steel strip are obtained.

[0143] Based on the aforementioned forward kinematic analysis of the manipulator, the values ​​of each joint variable are substituted into formula (3) to obtain the spatial pose of the drill arm end effector (drilling rig) relative to the drill arm base coordinate system. Through coordinate system transformation, its spatial pose relative to the coordinate system of the drilling and anchoring robot body can be obtained.

[0144] Step S4: Obtain the rotation angle and extension amount of each joint in each drill arm, and bring the rotation angle and extension amount of each joint of the drill arm into the drill arm kinematic model to determine the initial spatial posture of the two drilling rigs.

[0145] The tilt sensors and rope sensors arranged on each joint of the drill arm are used to collect the rotation angle and extension amount of each joint.

[0146] In step S5, according to the positions of all anchor drilling holes and the motion space of the drill arm, the anchor drilling tasks and the anchor drilling sequence of the two drill arms are allocated using a hole sequence planning strategy.

[0147] Specifically, the hole sequence planning strategy in step S5 mainly includes determining the anchor drilling in the left and right drill arm movement space, task allocation, and hole sequence planning. A mathematical model for the coordinated control of the dual drill arms is constructed based on the tunnel space, such as Figure 7 As shown, XOY is the absolute coordinate system of the cross section of the coal mine tunnel, L i 、R i Respectively represent the i-th drilling position of the left and right sides, D i It represents the i-th drilling position of the tunnel roof, and the working spaces of the two drill arms are S L and S R. When completing the anchoring task, the drill arms can independently complete the anchoring operation of the target points within their respective workspaces. If the number of anchoring points is odd, the middle anchoring point will be finally anchored by the left drill arm. Therefore, in order to complete the anchoring task efficiently and quickly, the drilling rigs need to work together. Due to the structure of the drilling rig itself, in order to avoid interference and mutual influence between the operation processes of the two drill arms, it is necessary to consider the collaborative control of the two drill arms to avoid interference between the drill arms and improve the anchoring efficiency. Since the two drill arms are symmetrically distributed on both sides of the anchoring robot body, the anchoring tasks on both sides are completed separately by the corresponding side drill arms. The collaborative control model is mainly for the roof anchoring task. It is necessary to plan the number of roof anchoring points and the operation sequence of the left and right drill arms so that the two drill arms can work together to efficiently complete the tunnel support task.

[0148] According to regulations, tunnel support must first complete roof support before proceeding to side support. Roof support requires sequential construction from the center toward the sides. Therefore, the two drill arms of the proposed drilling and anchoring robot are most likely to interfere with each other during anchoring operations in the center of the roof. As the roof anchoring operation progresses from the center toward the sides, the two drill arms become increasingly distant, preventing interference. Therefore, this study focuses on collaborative anchoring tasks near the center of the tunnel roof, determining whether interference is likely by measuring the Euclidean distance between the anchor points of the left and right drill arms.

[0149] like Figure 8-9 The figure shows the operation sequence of the robot arm, which mainly studies the operation sequence and distribution principle of the intermediate anchor point. Figure 8 Indicates that the top plate anchorage point is an odd number. Figure 9 Indicates that the roof anchorage points are even. Assuming that the distance between adjacent anchorage points is d0 and the drilling rig working radius is R, to ensure that the two drill arms do not interfere with each other during the anchoring operation, we have:

[0150] (m+1)d0≥2R (5)

[0151] Where m represents the number of anchor holes between the anchor drilling positions of the left and right drilling rigs.

[0152] (1) The number of top plate anchoring points is 2i+1

[0153] When the roof anchor point is 2i+1, if 2R≤2d0, that is, R≤d0, the left drill boom starts from anchor point i to anchor point i-1 and completes the anchoring operation. At the same time, the right drill boom starts from anchor point i+2 to anchor point i+3 and completes the anchoring operation at roof anchor point i+1.

[0154] If 2d0≤2R≤3d0, that is, d0≤R≤3 / 2d0, the left drill arm starts from anchor point i to anchor point i-1 to complete the anchoring operation, while the right drill arm starts from anchor point i+3 to anchor point i+1 to complete the anchoring operation, and then continues from anchor point i+4 to anchor point 2i+1 to complete the roof anchoring operation task;

[0155] If 2R≥3d0, the top plate anchoring task is completed in the same way.

[0156] (2) There are 2i anchor points on the top plate

[0157] When the roof anchor point is 2i, if 2R≤d0, that is, R≤1 / 2d0, the left drill arm starts from anchor point i and moves toward anchor point i-1 to complete the anchoring operation, while the right drill arm starts from anchor point i+1 and moves toward anchor point i+2 to complete the anchoring operation;

[0158] If d0≤2R≤2d0, that is, 1 / 2d0≤R≤d0, the left drill arm starts from anchor point i to anchor point i-1 to complete the anchoring operation, while the right drill arm starts from anchor point i+2 to anchor point i+1 to complete the anchoring operation, and then continues from anchor point i+3 to anchor point 2i to complete the roof anchoring operation task;

[0159] If 2d0≤2R≤3d0, that is, d0≤R≤3 / 2d0, the left drill arm starts from anchor point i to anchor point i-1 to complete the anchoring operation, while the right drill arm starts from anchor point i+3 to anchor point i+1 to complete the anchoring operation, and then continues from anchor point i+4 to anchor point 2i to complete the roof anchoring operation task;

[0160] If 2R≥3d0, the top plate anchoring task is completed in the same way.

[0161] When tunnel excavation is carried out at the excavation working face, anchor cables and anchor rods are used alternately. For the working tasks of anchor cables, their strategies are consistent with those of anchor rods and they obey the optimal matching strategy of anchor rods.

[0162] Step S6, according to the anchor drilling tasks, anchor drilling sequence and initial spatial positions of the two drill rigs of the two drill arms, based on the drill arm kinematic model, the kinematic analysis of the drill arm is used to calculate the motion amount of each joint of each drill arm in the anchor drilling task.

[0163] Specifically, inverse kinematics analysis is the opposite of forward kinematics analysis. It primarily involves determining the motion of each joint in the drill arm's end effector, given the known position of the end effector in a spatial coordinate system. Using an inverse transformation approach to find the inverse kinematic solution, the transformation matrix of the drill arm's end effector relative to the base coordinate system is known to be 06T. With the values ​​in this matrix known, the joint variables required for each drill arm joint to reach the target position can be determined.

[0164] From the forward kinematics of the robotic arm, we know that

[0165]

[0166] Move the part containing θ1 to the left side of the equation, and we have:

[0167]

[0168] in:

[0169]

[0170] Let the elements (2,4) on both sides of equation (4) be equal, then:

[0171] -s1p x +c1p y =d4 (8)

[0172] Using trigonometric identity transformation to process the above formula, we can get:

[0173]

[0174] Similarly, let the elements (1,4) and (3,4) on both sides of equation (4) be equal, then:

[0175] c1p x +s1p y =c2(1000+d3) (9)

[0176] -s1p x +c1p y =d4 (10)

[0177] Rearranging the above formula yields:

[0178]

[0179] Similarly, using trigonometric identity transformation to process equation (8) we can get:

[0180]

[0181] Moving the part of equation (3) containing θ1, θ2, and d3 to the left side of the equation, we have:

[0182]

[0183] Let the elements (2,3) on both sides of equation (12) be equal, then:

[0184] s1a x +c1a y =s5 (13)

[0185] Similarly, if Then there is

[0186]

[0187] Let the elements (1,3) and (3,3) on both sides of equation (12) be equal, then:

[0188] s2c1a x +s2s1a y +c1a z =c4c5 (15)

[0189] c2c1a x +c2s1a y -s2a z =s4c5 (16)

[0190] like Then there is

[0191] θ4=arctan2(b,a) (17)

[0192] Where a = s2c2a x +s2s1a y +c2a z , b=c2c1a x +c2s1a y -s2a z .

[0193] Let the elements (2,1) and (2,2) on both sides of equation (12) be equal, then:

[0194] s1n x +c1n y =c5c6 (18)

[0195] s1o x +c1o y =-c5c6 (19)

[0196] like Then there is

[0197] θ6=arctan2(s1o x +c1o y ,-(s1n x +c1n y )) (20)

[0198] Analysis shows that the changes in each joint when the double drill arm reaches the position in the motion space may exist in multiple sets of solutions.

[0199] Step S7, based on the location of the anchor drilling hole, the anchor drilling tasks of the two drill arms, the anchor drilling sequence and the initial spatial positions of the two drill rigs, a quintic polynomial interpolation method is used to plan the trajectory of each drill arm to complete the anchor drilling task.

[0200] Specifically, a quintic polynomial interpolation method is used for drill arm trajectory planning. This method addresses the uneven changes in joint angular velocity and the abrupt acceleration changes. The two drill arms are symmetrically arranged on either side of the anchoring robot. Therefore, the left and right drill arms are assigned to anchor the left and right sections of the roof and sidewalls, respectively. This paper examines the drill arm trajectory planning problem, focusing on the right drill arm.

[0201] Assume that the motion function of the drill arm joint with respect to time is

[0202] s(t)=a0+a1t+a2t 2 +a3t 3 +a4t 4 +a5t 5 (twenty one)

[0203] The functional expressions of angular velocity and angular acceleration are:

[0204]

[0205] s(t0), s(t f ) represent the initial position and target position of the joint respectively, so the initial position and target position, angular velocity and angular acceleration are substituted into the formula:

[0206]

[0207] If we write the above formula in matrix form, we have:

[0208]

[0209] Let AB=P, then B=A -1 C. Solving the above equation we can get the coefficients of the quintic polynomial.

[0210] Step S8: Control the two drill arms to perform the anchor drilling operation according to their respective planned trajectories and the movement amount of each joint of each drill arm in the anchor drilling task, thereby completing the anchor drilling task.

[0211] Repeat this step one by one according to the planned sequence to complete the task of anchor drilling and anchoring on a row of steel belts.

[0212] Compared with the existing technology, the present invention is used for the coordinated control of the dual arms of a dual-arm drilling and anchoring robot during the roof anchoring process. When the system is working, the binocular vision system collects images of the steel belt and obtains the position information of all anchor holes on the steel belt; constructs a kinematic model of the drill arm, analyzes the kinematic forward and inverse solutions, and calculates the motion space of the drill arm; collects the initial position of the drill arm through the inclination sensor and pull rope sensor arranged on the drill arm; completes the allocation of anchor drilling tasks and the anchor drilling sequence of the left and right drill arms through the hole sequence planning strategy, and completes the trajectory planning based on the fifth-order polynomial interpolation method. The drill rig quickly and smoothly reaches the anchor drilling hole and completes the anchoring task. This cycle is repeated to complete the anchor drilling task on a steel belt. The present invention can effectively improve the anchoring efficiency of the dual-arm drilling and anchoring robot, avoid interference between the working processes of the left and right drill arms, avoid safety accidents, and improve the safety of the anchoring operation.

[0213] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0214] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A collaborative control system for a double-drilling arm of a drilling and anchoring robot based on anchoring technology, characterized in that: The collaborative control system includes: a drilling and anchoring robot, a control module, an explosion-proof computer, two anchor drilling information acquisition modules and two drilling rig posture detection modules; The two drilling arms of the anchor drilling robot are each provided with a drilling rig at the end; two anchor drilling information acquisition modules are respectively provided on the two drilling rigs in a one-to-one correspondence; two drilling rig posture detection modules are respectively provided on the two drilling arms in a one-to-one correspondence; The two anchor drilling information acquisition modules are both connected to the explosion-proof computer, and the two anchor drilling information acquisition modules are used to collect images of all anchor drilling holes on the support steel belt and transmit the images of all anchor drilling holes to the explosion-proof computer; The two drilling rig posture detection modules are both connected to the explosion-proof computer, and the drilling rig posture detection modules are used to detect the initial spatial posture of the drilling rig and transmit the initial spatial posture of the drilling rig to the explosion-proof computer; An explosion-proof computer is connected to the control module. The explosion-proof computer is used to determine the position of each anchor drill hole on the support steel belt based on the images of all anchor drill holes, and to assign the anchor drilling tasks and anchor drilling sequence of the two drill arms based on the positions of all anchor drill holes. The computer then plans the trajectory of each drill arm to complete the anchor drilling task based on the anchor drilling task, anchor drilling sequence, and the initial spatial posture of the drill rig, and simultaneously sends the trajectory, anchor drilling task, and anchor drilling sequence of each drill arm to the control module. The control module is connected to the anchor drilling robot, and is used to control the two drill arms to perform the anchor drilling operation according to the trajectory of each drill arm, the anchor drilling task and the anchor drilling sequence to complete the anchor drilling task; The explosion-proof computer completes task allocation based on the positions of all anchor drill holes through a hole sequence planning strategy, and determines the anchor drilling tasks and the anchor drilling sequence of the two drill arms, specifically including: A dual-drill-arm collaborative control model is constructed based on the tunnel space, the positions of all anchor drill holes, and the drill arm motion space; the anchor drill holes include roof anchor points, left side anchor points, and right side anchor points; When performing roof support according to the dual-drill boom coordinated control model, when the number of roof anchor points is 2j+1, determine whether the drilling rig working radius R is greater than the distance d0 between adjacent anchor points to obtain a second judgment result; where j is an integer; If the second judgment result indicates no, the left drill boom starts from anchor point j to anchor point j-1 and completes the anchoring operation. At the same time, the right drill boom starts from anchor point j+2 to anchor point j+3 and completes the anchoring operation at roof anchor point j+1. If the second judgment result indicates yes, the left drill boom starts from anchor point j to anchor point j-1 to complete the anchoring operation, and the right drill boom starts from anchor point j to anchor point j+1 to complete the anchoring operation, and then continues from anchor point j+1 to anchor point 2j+1 to complete the roof anchoring operation task; wherein, the distance from anchor point J to anchor point j is greater than or equal to 2R; When performing roof support according to the dual-drill boom coordinated control model, when there are 2j roof anchor points, determine whether the drilling rig working radius R is greater than d0 / 2 to obtain a third judgment result; If the third judgment result indicates no, the left drill arm starts from anchor point j to anchor point j-1 and completes the anchoring operation, while the right drill arm starts from anchor point j+1 to anchor point j+2 and completes the anchoring operation; If the third judgment result indicates yes, the left drill boom starts from anchor point j to anchor point j-1 to complete the anchoring operation, and the right drill boom starts from anchor point j to anchor point j+1 to complete the anchoring operation, and then continues from anchor point j+1 to anchor point 2j to complete the roof anchoring operation task; wherein, the distance from anchor point J to anchor point j is greater than or equal to 2R; After the roof support is completed, the left drill arm is controlled to complete the left side anchoring operation task alone, and the right drill arm is controlled to complete the right side anchoring operation task alone.

2. The double-drilling-arm coordinated control system of the anchor drilling robot based on the anchoring process according to claim 1 is characterized in that: The drilling arm is a six-degree-of-freedom robotic arm; The anchor drilling information acquisition module is a binocular camera, which is installed at the front end of the drilling rig. The optical axis direction of the binocular camera is parallel to the axis direction of the drill arm and faces the top direction of the drill arm.

3. The double-drilling-arm coordinated control system of the anchor drilling robot based on the anchoring process according to claim 1 is characterized in that: The drilling rig posture detection module includes: a plurality of tilt sensors and a plurality of pull rope sensors; The plurality of inclination sensors are respectively arranged on the plurality of rotating joints of the drill arm in a one-to-one correspondence, and the plurality of rope sensors are respectively arranged on the plurality of moving joints in a one-to-one correspondence; Multiple inclination sensors and multiple rope sensors are connected to the explosion-proof computer. The inclination sensors are used to measure the rotation angle of the rotating joint and transmit the rotation angle to the explosion-proof computer; the rope sensors are used to measure the extension and contraction of the moving joint and transmit the extension and contraction to the explosion-proof computer. The explosion-proof computer is used to determine the spatial position of the drilling rig according to the rotation angle and the extension amount.

4. A collaborative control method for dual drilling arms of a drilling and anchoring robot based on anchoring technology, characterized in that: The collaborative control method is applied to the collaborative control system according to any one of claims 1 to 3, and the collaborative control method includes: Construct the kinematic model of the drill arm; According to the kinematic model of the drill arm, the motion space of the drill arm is determined by using the Monte Carlo method; Obtain images of all anchor drill holes on the support steel belt, and identify the position of each anchor drill hole on the images of all anchor drill holes; Obtaining the rotation angle and extension amount of each joint in each drill arm, and bringing the rotation angle and extension amount of each joint of the drill arm into the drill arm kinematic model to determine the initial spatial pose of the two drill rigs; According to the positions of all anchor holes and the motion space of the drill arm, the hole sequence planning strategy is used to allocate the anchor drilling tasks and the order of the two drill arms. According to the anchor drilling tasks and anchor drilling sequence of the two drill arms and the initial spatial positions of the two drill rigs, based on the drill arm kinematic model, the kinematic analysis of the drill arm is used to calculate the motion of each joint of each drill arm in the anchor drilling task; Based on the location of the anchor hole, the anchor drilling tasks of the two drill arms, the anchor drilling sequence, and the initial spatial positions of the two drill rigs, the trajectory of each drill arm to complete the anchor drilling task is planned using the quintic polynomial interpolation method. Control the two drill arms to perform the anchor drilling operation according to their respective planned trajectories and the movement of each joint of each drill arm in the anchor drilling task to complete the anchor drilling task; The anchor drilling tasks and the anchor drilling sequence of the two drill arms are allocated using a hole sequence planning strategy based on the positions of all anchor drilling holes and the movement space of the drill arm, specifically including: A dual-drill-arm collaborative control model is constructed based on the tunnel space, the positions of all anchor drill holes, and the drill arm motion space; the anchor drill holes include roof anchor points, left side anchor points, and right side anchor points; When performing roof support according to the dual-drill boom coordinated control model, when the number of roof anchor points is 2j+1, determine whether the drilling rig working radius R is greater than the distance d0 between adjacent anchor points to obtain a second judgment result; where j is an integer; If the second judgment result indicates no, the left drill boom starts from anchor point j to anchor point j-1 and completes the anchoring operation. At the same time, the right drill boom starts from anchor point j+2 to anchor point j+3 and completes the anchoring operation at roof anchor point j+1. If the second judgment result indicates yes, the left drill boom starts from anchor point j to anchor point j-1 to complete the anchoring operation, and the right drill boom starts from anchor point j to anchor point j+1 to complete the anchoring operation, and then continues from anchor point j+1 to anchor point 2j+1 to complete the roof anchoring operation task; wherein, the distance from anchor point J to anchor point j is greater than or equal to 2R; When performing roof support according to the dual-drill boom coordinated control model, when there are 2j roof anchor points, determine whether the drilling rig working radius R is greater than d0 / 2 to obtain a third judgment result; If the third judgment result indicates no, the left drill arm starts from anchor point j to anchor point j-1 and completes the anchoring operation, while the right drill arm starts from anchor point j+1 to anchor point j+2 and completes the anchoring operation; If the third judgment result indicates yes, the left drill boom starts from anchor point j to anchor point j-1 to complete the anchoring operation, and the right drill boom starts from anchor point j to anchor point j+1 to complete the anchoring operation, and then continues from anchor point j+1 to anchor point 2j to complete the roof anchoring operation task; wherein, the distance from anchor point J to anchor point j is greater than or equal to 2R; After the roof support is completed, the left drill arm is controlled to complete the left side anchoring operation task alone, and the right drill arm is controlled to complete the right side anchoring operation task alone.

5. The method for coordinated control of double drilling arms of a drilling and anchoring robot based on anchoring technology according to claim 4 is characterized in that: The construction of the drill arm kinematic model specifically includes: Based on the improved DH coordinate system construction method, the coordinate systems of each joint of the drill arm are established, and the DH parameters of each joint in the drill arm are determined; According to the coordinate systems of each joint of the drill arm, the coordinate system transformation relationship of the adjacent connecting rods in the drill arm is established as follows: in, represents the transformation matrix between the link coordinate system {i} and the link coordinate system {i-1}, θ i represents the joint variable of joint i, α i-1 represents the torsion angle of the connecting rod between joint i-1 and joint i, a i-1 represents the length of the connecting rod between joint i-1 and joint i, d i represents the link offset between joint i-1 and joint i, i = 1, 2, 3, 4, 5, 6; According to the coordinate system transformation relationship of the adjacent connecting rods in the drill arm and the DH parameters of each joint in the drill arm, the kinematic model of the drill arm is determined as follows: in, Represents the transformation matrix of the drilling rig coordinate system relative to the drill arm base coordinate system, (n x ,n y ,n z )、(o x ,o y ,o z ) and (a x ,a y ,a z ) represent the first, second, and third three-dimensional unit orthogonal vectors describing the posture of the drilling rig relative to the drill arm base coordinate system, (p x ,p y ,p z ) represents the three-dimensional position of the drilling rig relative to the drill arm base coordinate system; n x =cθ1c(θ2+θ4)sθ6+sθ1cθ5cθ6-cθ1s(θ2+θ4)sθ5cθ6 n y =-sθ1s(θ2+θ4)sθ5cθ6-cθ1cθ5cθ6+sθ1c(θ2+θ4)sθ6 n z =-c(θ2+θ4)sθ5cθ6-s(θ2+θ4)sθ6 the x =cθ1s(θ2+θ4)sθ5sθ6-sθ1cθ5sθ6+cθ1c(θ2+θ4)cθ6 the y =sθ1s(θ2+θ4)sθ5sθ6+cθ1cθ5sθ6+sθ1c(θ2+θ4)cθ6 the z =c(θ2+θ4)sθ5sθ6-s(θ2+θ4)cθ6 a x =cθ1s(θ2+θ4)cθ5+sθ1sθ5 a y =sθ1s(θ2+θ4)cθ5-cθ1sθ5 a z =c(θ2+θ4)cθ5 p x =-sθ1d4+cθ1cθ2(1000+d3) p y =cθ1d4+sθ1cθ2(1000+d3) p z =sθ2(1000+d3) Where c represents the cosine sign and s represents the sin sign.

6. The method for coordinated control of double drilling arms of a drilling and anchoring robot based on anchoring technology according to claim 5 is characterized in that: The improved DH coordinate system construction method specifically includes: The direction along joint i is axis Z i The direction along the common perpendicular is X i axis; Determine Y using the right-hand rule i The direction of the axis; The intersection of joints i and i+1 or the intersection of the common perpendicular line and joint i is used as the origin of the link coordinate system {i}.

7. The method for coordinated control of double drill arms of a drilling and anchoring robot based on anchoring technology according to claim 5 is characterized in that: According to the kinematic model of the drill arm, the motion space of the drill arm is determined by using the Monte Carlo method, which specifically includes: The preset value range of each joint variable of the drill arm is [θ imin ,θ imax ], and set the number of random times to N; where θ imin represents the minimum joint variable, θ imax represents the maximum joint variable; Initialize the current loop number k=1; Use the random function to generate n random points between 0 and 1, and use the formula θ i =θ imin +(θ imax -θ imin )*rand, calculate the random value of each joint variable; where rand represents the value of the random point; According to the random values ​​of the joint variables, the spatial coordinates of the drill end at the current cycle number are determined using the drill arm kinematic model; Draw the spatial coordinates of the end of the drilling rig for the current cycle number; Determine whether k is greater than or equal to N, and obtain a first determination result; If the first judgment result indicates no, then the value of k is increased by 1, and the process returns to step "using a random function to generate n random points between 0 and 1, and using the formula θ i =θ imin +(θ imax -θ imin )*rand, calculate the random value of each joint variable"; If the first judgment result indicates yes, all spatial points are used to form a drill arm motion space.

8. The method for coordinated control of double drill arms of a drilling and anchoring robot based on anchoring technology according to claim 5, characterized in that: The method of calculating the motion of each joint of each drill arm in the anchor drilling task based on the drill arm kinematic model, the anchor drilling sequence, and the initial spatial positions of the two drill rigs, and the drill arm kinematic analysis, specifically includes: The kinematic model of the drill arm is transformed to obtain the calculation formula of the joint motion of each joint of the drill arm: θ4=arctan2(b,a) θ6=arctan2(s1o x +c1o y ,-(s1n x +c1n y )) Where s1 represents sinθ1, c1 represents cosθ1, b and a represent the first and second parameters respectively, and a=s2c2a x +s2s1a y +c2a z , b=c2c1a x +c2s1a y -s2a z , s2 represents sinθ2, c2 represents cosθ2; According to the anchor drilling tasks and anchor drilling sequence of the two drill arms and the initial spatial positions of the two drill rigs, the joint motion calculation formula of each drill arm joint is used to calculate the joint motion of each drill arm when it reaches its assigned anchor drilling position.

Images