An image recognition-based unmanned drilling construction system and method for foundation pit anchor rods

Abstract

The application discloses a kind of based on image recognition's foundation pit anchor rod unmanned drilling construction system, including projection device and drilling machine: projection device can the working position information of the drilling machine and the position information of anchor rod hole are respectively made into projection point, and project to the corresponding position on foundation pit;Drilling machine is provided with camera module and the control system with image recognition function, camera module is used to capture the image in foundation pit, and the information captured is passed to control system, control system can according to the image of captured foundation pit, identify the projection point in image and the information carried by each projection point, and based on the information identified the position and working state of the drilling machine are controlled adjustment.The application realizes the intelligent construction of foundation pit support engineering, unmanned drilling construction in construction site, reduces the risk of foundation pit support engineering.Because the present application can 24 hours uninterrupted construction, greatly reduce the construction period and manpower of anchor rod in foundation pit support engineering.

Description

Technical Field

[0001] This invention relates to the field of foundation pit support construction in building engineering, and specifically to an unmanned drilling system and method for foundation pit anchor bolts based on image recognition. Background Technology

[0002] Due to its technical complexity, wide scope, and high risks, foundation pit support engineering is characterized by slow construction speed, long construction period, and high cost. From excavation to the completion of all underground concealed works, it often involves multiple rainfalls, surrounding loads, vibrations, improper construction, and many other unfavorable conditions, leading to frequent foundation pit collapses. With the continuous advancement of urbanization and the trend towards high-rise buildings in cities, the depth and area of ​​foundation pits are constantly increasing, the distance between foundation pits and surrounding buildings is decreasing, and underground pipelines and rail transit tunnels are denser, further increasing the difficulty and duration of foundation pit support engineering construction. Therefore, foundation pit support engineering has become crucial for reducing the overall project cost and shortening the construction period.

[0003] Anchor bolt support is a reinforcement method used in foundation pit support engineering. It features good support effect, material saving, and high degree of mechanization. However, the automation level of anchor bolt support operations is currently low. Steps such as positioning, drilling, and installation still rely on manual labor, resulting in construction quality and speed depending on the workers' skill level and proficiency. Consequently, the construction period required for foundation pit support projects remains long.

[0004] The installation of anchor bolts in foundation pits often involves a lot of repetitive work. For example, within the same foundation pit, the type, size, and length of the anchor bolts used, as well as the diameter, length, and angle of the holes drilled, are often the same or vary in a regular manner. Therefore, it is very suitable for programmed automated operation.

[0005] Image recognition technology has made significant progress. Currently, it has been effectively applied in various fields such as national security, finance, industrial production lines, and food inspection. Furthermore, the application threshold for image recognition technology is becoming increasingly lower; for example, most mainstream smartphones now feature image recognition-based smart cameras.

[0006] Therefore, an image recognition-based unmanned drilling system and method for foundation pit anchor bolts is proposed to save construction time and manpower in foundation pit support projects. Summary of the Invention

[0007] The main objective of this invention is to provide an image recognition-based unmanned drilling system and method for foundation pit anchor bolts that can save construction time and manpower in foundation pit support projects.

[0008] To achieve the above objectives, the present invention provides an image recognition-based unmanned drilling system for foundation pit anchor bolts, comprising a projection device and a drilling rig:

[0009] The projection device can convert the working position information of the drilling rig and the position information of the anchor bolt holes into projection points and project them onto the corresponding positions of the foundation pit.

[0010] The drilling rig is equipped with a camera module and a control system with image recognition function. The camera module is used to capture images inside the foundation pit and transmit the captured information to the control system. The control system can identify the projection points in the image and the information carried by each projection point based on the captured foundation pit image, and control and adjust the position and working status of the drilling rig based on the identified information.

[0011] Furthermore, the control system can calculate the position of the drilling rig based on each of the projection points, automatically plan the travel route, and then control the drilling rig to move according to the travel route.

[0012] Furthermore, the projection device can project images of different shapes and / or colors as projection points, and the control system can identify projection information such as the shape and / or color of the projection points in the image.

[0013] Furthermore, the projection device has at least two sets of laser lights, which can simultaneously project onto the bottom surface and the side walls of the pit.

[0014] Furthermore, the projection device includes a camera module and a control module. The camera module is used to transmit the scene and projection effect to the outside in real time, and the control module can receive external control signals and control the projection angle of the projection device according to the control signals.

[0015] Furthermore, the projection device includes a tripod, a control box, a camera, a vertical projection laser light, and a horizontal projection laser light;

[0016] The control box is mounted on a tripod and can rotate horizontally relative to the tripod; the vertical projection laser is mounted on the control box and is used for projection in the vertical direction; the horizontal projection laser is mounted on the control box and is used for projection in the horizontal direction, and the horizontal projection laser can rotate vertically relative to the control box; the camera is mounted on the control box and can comprehensively capture information inside the pit and feed it back to the control box, and transmit the on-site information to remote operators through the control box.

[0017] Furthermore, the camera module includes a first module and a second module, which are used to capture images on the bottom surface and sidewalls of the pit, respectively;

[0018] The camera module also includes a third module. A positioning target point is set on the foundation pit. The third module is used to capture images of the positioning target point and transmit the positioning target point image information to the control system. The control system determines the spatial information of the foundation pit and the position of the drilling rig itself by reading the position of the positioning target point. The third module is also used to monitor the construction environment of the foundation pit and provide real-time feedback of the monitoring images to the operators.

[0019] Furthermore, the first module, the second module, and the third module each employ a corresponding camera for image capture; wherein, the third module includes at least one rotatable rotating camera, which can be remotely controlled by the operator.

[0020] A method for unmanned drilling construction of foundation pit anchor bolts based on image recognition, wherein the above-mentioned unmanned drilling construction system for foundation pit anchor bolts based on image recognition includes the following steps:

[0021] S1. Input the position information of each anchor hole and the drilling machine working position information corresponding to each anchor hole position into the projection device, and input the color and / or shape information of each projection point; input the correlation between drilling parameters and projection information, and the correlation between the drilling machine working position and projection information into the drilling machine.

[0022] S2. Set up a projection device in the foundation pit and project it onto the bottom and side walls of the foundation pit as well as the positioning target points pre-embedded in the foundation pit. Output the preset projection points with special colors and / or shapes, and check or correct the accuracy of the projection according to the position of the target points.

[0023] S3. Start the drilling rig. First, identify the positioning target point of the foundation pit to determine the information of the foundation pit and the position of the drilling rig itself in the foundation pit. Then, identify the projection point on the bottom of the foundation pit. Based on the color and / or shape of the projection point on the bottom of the foundation pit, read the preset working position and other information, and automatically plan the route to travel to the designated working position.

[0024] S4. After arriving at the designated working position, identify the projection point on the side wall of the pit, and read the preset drilling parameters according to the color and / or shape of the identified point, and then carry out the drilling operation until all the predetermined drilling work at this preset position is completed.

[0025] S5. Repeat steps S3 and S4 until all drilling operations corresponding to this projection are completed.

[0026] Furthermore, the drilling parameters include the depth, orientation, and diameter parameters of the anchor bolt hole, and the projection information includes the color and / or shape information of the projection.

[0027] The beneficial effects of this invention are reflected in:

[0028] This invention utilizes a projection device to project the location information of anchor bolt holes and the corresponding drilling rig positions onto the corresponding locations in the foundation pit. During operation, the drilling rig uses a camera module and control system to identify and analyze each projection point, calculating its own position based on the location information of each projection point. The control system then adjusts the drilling rig's position until it reaches the designated location, after which the automatic drilling function is activated. This achieves intelligent construction and unmanned drilling on-site in foundation pit support engineering, reducing the risks associated with the project. Because this invention allows for 24-hour continuous construction, it significantly reduces the construction period and manpower required for anchor bolt installation in foundation pit support engineering. Attached Figure Description

[0029] Figure 1 This is a working layout diagram of the unmanned drilling construction system for foundation pit anchor bolts based on image recognition described in this invention;

[0030] Figure 2 This is a structural view of the projection device described in this invention;

[0031] Figure 3 This is a structural view of the drilling rig described in this invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1-Projection device, 11-Tripod, 12-Control box, 13-Camera, 14-Vertical projection laser, 15-Horizontal projection laser, 2-Drilling rig, 21-First module, 22-Second module, 23-Third module, 3-Projection point, 4-Foundation pit, 41-Location target point. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Furthermore, the descriptions involving "first," "second," etc., in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, "multiple" refers to two or more. Moreover, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent.

[0036] See Figures 1 to 3 .

[0037] This invention provides an image recognition-based unmanned drilling system for four anchor bolts in a foundation pit, comprising a projection device 1 and a drilling rig 2.

[0038] The projection device 1 can convert the working position information of the drilling rig 2 and the position information of the anchor bolt holes into projection points 3 respectively, and project them onto the corresponding positions of the foundation pit 4.

[0039] The drilling rig 2 is equipped with a camera module and a control system with image recognition function. The camera module is used to capture images inside the pit 4 and transmit the captured information to the control system. The control system can identify the projection points 3 in the image and the information carried by each projection point 3 based on the captured images of the pit 4, and adjust the position and working status of the drilling rig 2 based on the identified information.

[0040] It should be noted that since the existing drilling rig 2 has the functions of walking, stopping and automatic drilling, the drilling rig 2 can be adjusted to the automatic walking control state, and then the control system can be directly set on this type of drilling rig 2 and a simple debugging can be performed.

[0041] Preferably, the control system can calculate the position of the drilling rig 2 based on each projection point 3 and automatically plan the travel route. Then, the control system controls the drilling rig 2 to move according to the travel route. Since automatic travel route planning is a common technique in intelligent mobile robots, its working system can simply be applied to the drilling rig 2. For example, the projection points 3 can be marked sequentially, so that the drilling rig 2 can use the current projection point 3 as the first station and the target point as the second station. The drilling rig 2 can then move in a straight line from the first station to the second station. If there are several stations between the first and second stations, the drilling rig 2 can pass through these stations to finally reach the target station.

[0042] In practice, projection device 1 projects the location information of the anchor bolt holes as projection point 3 onto the corresponding position of the foundation pit 4. Simultaneously, the location information of the drilling rig 2, corresponding to each anchor bolt hole, is also projected as projection point 3 onto the corresponding position of the foundation pit 4. When the drilling rig 2 is working, the camera module and control system identify and analyze each projection point 3, calculate the drilling rig 2's own position based on the location information of each projection point 3, and automatically plan its travel route. The control system then controls the drilling rig 2 to move along the travel route until it reaches the working position. After reaching the working position, the drilling rig 2 stops, then activates the automatic drilling function to drill holes. After drilling is completed, it moves to the next position, repeating the above actions until all anchor bolt holes have been drilled.

[0043] In one embodiment, the projection device 1 can project images of different shapes and / or colors as projection points 3, and the control system can identify projection information such as the shape and / or color of the projection points 3 in the image. This design uses images of different shapes and / or colors to represent anchor holes at different locations, facilitating identification by the control system.

[0044] In one embodiment, the projection device 1 has at least two sets of laser lights, capable of simultaneously projecting onto the bottom surface and sidewalls of the pit 4. The projection point 3 on the pit wall is the point where drilling is required, while the projection point 3 on the bottom surface of the pit 4 is the point used for positioning and route planning by the drilling rig 2. This design allows workers to visually check the accuracy of the projection points on the pit, facilitating the inspection and correction of projection accuracy.

[0045] In one embodiment, the projection device 1 includes a camera module 13 and a control module. The camera module 13 is used to transmit the scene and projection effect to the outside in real time. The control module can remotely receive external control signals and control the projection angle of the projection device 1 according to the control signals.

[0046] When in use, the camera module 13 transmits the scene and projection effect to the operator in real time. The operator can control the final projection effect of the projection device 1 by sending control signals to the control module, thereby adjusting the projection.

[0047] More specifically, the projection device 1 includes a tripod 11, a control box 12, a camera 13, a vertical projection laser 14, and a horizontal projection laser 15. The control box 12 is mounted on the tripod 11 and can rotate horizontally relative to it. The vertical projection laser 14 is mounted on the control box 12 and is used for vertical projection. The horizontal projection laser 15 is mounted on the control box 12 and is used for horizontal projection; it can also rotate vertically relative to the control box 12. The camera 13 is mounted on the control box 12 and can comprehensively capture information within the pit 4 and feed it back to the control box 12. Furthermore, the control box 12 transmits the on-site information to remote operators. Operators can remotely control the projection device 1 to rotate and adjust the direction, focus, and output content of the vertical and horizontal projection lasers 14 and 15 via the control box 12.

[0048] Since the specific structures of the tripod, control box, camera, vertical projection laser, and horizontal projection laser are all existing technologies, a detailed description of the specific structure of the projection device is not provided here. This embodiment combines these existing technologies to enable the projection device to project onto the bottom and side walls of the pit while simultaneously allowing remote adjustment of the projection point.

[0049] Preferably, the trapezoidal correction range of the vertical projection laser lamp 14 and the horizontal projection laser lamp 15 is ±40 degrees, and the transmittance ratio is 1.2:1.

[0050] In one embodiment, the camera module includes a first module 21 and a second module 22, which are used to capture images on the bottom and sidewalls of the foundation pit 4, respectively. The camera module also includes a third module 23. A positioning target point 41 is provided on the foundation pit 4. The third module 23 is used to capture images of the positioning target point 41 and transmit the image information of the positioning target point 41 to the control system. The control system determines the spatial information of the foundation pit 4 and the position of the drilling rig 2 by reading the position of the positioning target point 41. The third module 23 is also used to monitor the construction environment of the foundation pit 4 and provide real-time feedback of the monitoring images to the operators.

[0051] In specific implementation, the first module 21 and the second module 22 are used to capture images of the bottom and sidewalls of the foundation pit 4, respectively, facilitating the identification and logical operation of the control system and reducing the error rate. The third module 23 and the positioning target point 41 provide the drilling rig 2 with an alternative positioning method besides using the projection point 3. These two positioning methods can be mutually verified to ensure positioning accuracy. If the calculated position of the drilling rig 2 deviates significantly from the two methods, an alarm can be triggered to alert the operator for position checking and adjustment. Furthermore, by monitoring the construction environment of the foundation pit 4 and providing real-time feedback to the operator, the operator can remotely monitor the construction environment and react promptly in case of emergencies. Simultaneously, the positioning target point 41 can also serve as a reference point for the projection point 3, calibrating the projection device 1.

[0052] More specifically, the first module 21, the second module 22, and the third module 23 each employ a corresponding camera 13 for image capture. The third module 23 includes at least one rotatable rotating camera 13, which can be remotely controlled by an operator through a control system or a separate control unit.

[0053] Preferably, the drilling rig 2 is equipped with a collision detection system. When the collision detection system is triggered, the drilling rig 2 stops working and issues an alarm. Since the collision detection system itself and its components are common knowledge in the prior art, they will not be described in detail here. By applying this prior art here, the drilling rig 2 can automatically stop and issue an alarm upon unexpected impact or collision during its movement, preventing safety accidents.

[0054] A method for unmanned drilling of foundation pit anchor bolts based on image recognition, including the aforementioned unmanned drilling system for foundation pit anchor bolts based on image recognition, is described in detail below:

[0055] S1. Input the position information of each anchor bolt hole and the working position information of the drilling rig 2 corresponding to each anchor bolt hole position into the projection device 1, and input the color and / or shape information of the projection of each projection point 3; input the correlation between drilling parameters and projection information, and the correlation between the working position of the drilling rig 2 and projection information into the drilling rig 2; wherein, the drilling parameters include parameters such as the depth, orientation, and diameter of the anchor bolt hole, and the projection information includes the color and / or shape information of the projection.

[0056] S2. Install a projection device 1 inside the foundation pit 4 and project onto the bottom surface and side walls of the foundation pit 4 as well as the pre-embedded positioning target points 41 on the foundation pit 4. Output preset projection points 3 with special colors and / or shapes, and check or correct the accuracy of the projection according to the position of the target points.

[0057] S3. Start drilling rig 2. First, identify the positioning target point 41 of the foundation pit 4 to determine the information of the foundation pit 4 and the position of drilling rig 2 itself in the foundation pit 4. Then identify the projection point 3 on the bottom surface of the foundation pit 4. Based on the color and / or shape of the projection point 3 on the bottom surface of the foundation pit 4, read the preset working position and other information, and automatically plan the route to travel to the designated working position.

[0058] S4. After arriving at the designated working position, identify the projection point 3 on the side wall of the pit 4, and read the preset drilling parameters according to the color and / or shape of the identified point, and then carry out the drilling operation until all the predetermined drilling work at this preset position is completed.

[0059] S5. Repeat steps S3 and S4 until all drilling operations corresponding to this projection are completed.

[0060] This invention simplifies the drilling process and improves construction efficiency. The construction process is automated, requiring only necessary remote monitoring, thus reducing the number of workers needed for on-site drilling and lowering labor costs. Since the entire construction requires no on-site labor, it allows for continuous construction over extended periods, significantly shortening the construction period and reducing the cost of construction machinery and facilities.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A foundation pit anchor bolt unmanned drilling construction system based on image recognition, characterized in that, Includes a projection device (1) and a drilling rig (2): The projection device (1) can convert the working position information of the drilling rig (2) and the position information of the anchor bolt hole into projection points (3) respectively, and project them onto the corresponding positions of the foundation pit (4); The drilling rig (2) is equipped with a camera module and a control system with image recognition function. The camera module is used to capture images in the pit (4) and transmit the captured information to the control system. The control system can identify the projection points (3) in the image and the information carried by each projection point (3) based on the captured image of the pit (4), and control and adjust the position and working status of the drilling rig (2) based on the identified information. The control system can calculate the position of the drilling rig (2) based on each of the projection points (3), and automatically plan the travel route. Then the control system controls the drilling rig (2) to move according to the travel route. The projection device (1) has at least two sets of laser lights, which can simultaneously project onto the bottom surface of the pit (4) and the side wall of the pit (4).

2. The unmanned drilling construction system for foundation pit anchor bolts based on image recognition as described in claim 1, characterized in that, The projection device (1) can project images of different shapes and / or colors as projection points (3), and the control system can identify the projection information of the shape and / or color of the projection points (3) in the image.

3. The unmanned drilling construction system for foundation pit anchor bolts based on image recognition as described in claim 1 or 2, characterized in that, The projection device (1) includes a camera (13) module and a control module. The camera (13) module is used to transmit the on-site situation and projection effect to the outside in real time. The control module can receive external control signals and control the projection angle of the projection device (1) according to the control signals.

4. The unmanned drilling construction system for foundation pit anchor bolts based on image recognition as described in claim 1 or 2, characterized in that, The projection device (1) includes a tripod (11), a control box (12), a camera (13), a vertical projection laser light (14), and a horizontal projection laser light (15); The control box (12) is mounted on the tripod (11) and can rotate horizontally relative to the tripod (11); the vertical projection laser (14) is mounted on the control box (12) and is used for projection in the vertical direction; the horizontal projection laser (15) is mounted on the control box (12) and is used for projection in the horizontal direction, and the horizontal projection laser (15) can rotate vertically relative to the control box (12); the camera (13) is mounted on the control box (12) and can capture all the information in the pit (4) and feed it back to the control box (12), and transmit the on-site information to the remote operator through the control box (12).

5. The unmanned drilling construction system for foundation pit anchor bolts based on image recognition as described in claim 1 or 2, characterized in that, The camera module includes a first module (21) and a second module (22), which are used to capture images on the bottom and side walls of the pit (4), respectively. The camera module also includes a third module (23). A positioning target point (41) is provided on the foundation pit (4). The third module (23) is used to capture the image of the positioning target point (41) and transmit the image information of the positioning target point (41) to the control system. The control system determines the spatial information of the foundation pit (4) and the position of the drilling rig (2) by reading the position of the positioning target point (41). The third module (23) is also used to monitor the construction environment of the foundation pit (4) and feed the monitoring screen back to the operator in real time.

6. The unmanned drilling construction system for foundation pit anchor bolts based on image recognition as described in claim 5, characterized in that, The first module (21), the second module (22) and the third module (23) are respectively equipped with corresponding cameras (13) for image capture; wherein, the third module (23) includes at least one rotatable rotating camera, which can be remotely controlled by the staff.

7. A method for unmanned drilling of foundation pit anchor bolts based on image recognition, characterized in that, The image recognition-based unmanned drilling system for foundation pit anchor bolts, comprising any one of claims 1 to 6, wherein the method comprises the following steps: S1. Input the position information of each anchor hole and the working position information of the drilling machine (2) corresponding to each anchor hole in the projection device (1), and input the color and / or shape information of each projection point (3); input the relationship between drilling parameters and projection information, and the relationship between the working position of the drilling machine (2) and projection information in the drilling machine (2); S2. Install a projection device (1) in the foundation pit (4) and project it onto the bottom surface and side wall of the foundation pit (4) and the pre-embedded positioning target point (41) on the foundation pit (4), output a preset projection point (3) with a special color and / or shape, and check or correct the accuracy of the projection according to the position of the positioning target point (41). S3. Start the drilling rig (2), first identify the positioning target point (41) of the foundation pit (4), determine the information of the foundation pit (4) and the position of the drilling rig (2) itself in the foundation pit (4); then identify the projection point (3) on the bottom surface of the foundation pit (4), and read the preset working position information according to the color and / or shape of the projection point (3) on the bottom surface of the foundation pit (4), and automatically plan the route to travel to the designated working position; S4. After arriving at the designated working position, identify the projection point (3) on the side wall of the pit (4), and read the preset drilling parameters according to the color and / or shape of the identified point, and then carry out the drilling operation until all the predetermined drilling work at this preset position is completed. S5. Repeat steps S3 and S4 until all drilling operations corresponding to this projection are completed.

8. The unmanned drilling construction method for foundation pit anchor bolts based on image recognition as described in claim 7, characterized in that, The drilling parameters include the depth, orientation, and diameter of the anchor bolt hole, and the projection information includes the color and / or shape information of the projection.

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