Roadway support methods and rock bolt drilling rigs

Abstract

This invention discloses a roadway support method using a rock bolt drilling rig and the rock bolt drilling rig itself. The rock bolt drilling rig includes a frame, a rock bolt drilling machine, an industrial camera, an image processing system, and a control system. A robotic arm is mounted on the frame. The rock bolt drilling machine is connected to the robotic arm, which is used to adjust the position and orientation of the rock bolt drilling machine. A laser emitter is mounted on the rock bolt drilling machine and emits a grid-shaped light spot, which includes m transverse light spots and n longitudinal light spots, where m and n are both positive integers greater than or equal to 2. The industrial camera is mounted on the frame and is used to acquire images of the light spots illuminating the coal face. The image processing system is mounted on the frame and is signal-connected to the industrial camera to obtain the position and orientation of the rock bolt drilling machine based on the light spot images. Both the robotic arm and the image processing system are signal-connected to the control system. The rock bolt drilling rig of this invention has advantages such as fast roadway formation speed.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, specifically to a roadway support method using a rock bolt drilling rig and the rock bolt drilling rig itself. Background Technology

[0002] In related technologies, when using anchor bolt drilling rigs for support operations, manual operation of the hydraulic valve group is required to adjust the position of the anchor bolt drilling rig, ensuring that the anchor bolts are driven into the roadway walls or roof in a defined posture. This position adjustment efficiency is low, resulting in a slow roadway formation rate. The roadway formation rate directly affects the coal mine's tunneling speed and thus its mining efficiency. Furthermore, manual adjustment of the anchor bolt drilling rig's position hinders the automation of roadway support operations. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, embodiments of the present invention propose a bolt drilling rig to improve coal mining efficiency.

[0005] The bolt drilling rig of this invention includes a frame, a bolt drilling machine, a laser emitter, an industrial camera, an image processing system, and a control system. A robotic arm is mounted on the frame. The bolt drilling machine is connected to the robotic arm, which is used to adjust the position and orientation of the bolt drilling machine. The laser emitter is mounted on the bolt drilling machine and emits a grid-shaped light spot, comprising m transverse light spots and n longitudinal light spots. The m transverse light spots and n longitudinal light spots are arranged alternately to form (m-1)(n-1) rectangular light grids, where m and n are both positive integers greater than or equal to 2. The industrial camera is mounted on the frame and is used to acquire images of the light spots illuminating the coal face. The image processing system is mounted on the frame and is signal-connected to the industrial camera to obtain the position and orientation of the bolt drilling machine based on the light spot images. Both the robotic arm and the image processing system are signal-connected to the control system.

[0006] In some embodiments, the optical axis of the industrial camera is perpendicular to the coal face; the anchor drilling rig includes a drill frame and a drill box, the drill frame is connected to the robotic arm, the drill box is movably mounted on the drill frame, and the laser emission direction of the laser emitter is parallel to the moving direction of the drill box.

[0007] In some embodiments, the bolting rig further includes a monitoring camera mounted on the rig frame. The monitoring camera is used to acquire environmental images within the tunnel and is signal-connected to the image processing system.

[0008] In some embodiments, the anchor drilling rig further includes a protective housing connected to the frame, the protective housing having a mounting cavity, and both the industrial camera and the monitoring camera are located within the mounting cavity.

[0009] In some embodiments, the industrial camera includes a lens with a filter on the object side for light of the same wavelength as that emitted by the laser emitter to pass through.

[0010] Embodiments of the present invention also provide a roadway support method implemented using the anchor drilling rig described in any of the above embodiments.

[0011] The roadway support method of the bolt drilling rig in this embodiment of the invention includes:

[0012] The laser emitter is used to project a grid-shaped light spot onto the coal face;

[0013] The industrial camera is used to acquire images of light spots on the coal face;

[0014] The image processing system is used to process the light spot image to obtain the pose of the anchor drilling rig;

[0015] The control system is used to control the movement of the robotic arm to adjust the anchor drilling machine to a preset position.

[0016] The aforementioned anchor drilling rig is used for anchor bolt or anchor cable installation operations.

[0017] The position of the anchor drilling rig includes the distance between the anchor drilling rig and the coal face, and the angle between the anchor drilling rig and the coal face.

[0018] In some embodiments, the step of obtaining the pose of the anchor drilling rig includes:

[0019] The laser emitter is pre-calibrated, and the calibration data is stored in a database. The calibration of the laser emitter includes: the grid-shaped light spot emitted by the laser emitter irradiates the calibration plane, so that the calibration light spot appears on the calibration plane, and the calibration data including image information of the calibration light spot, the distance between the laser emitter and the calibration plane, and the angle between the laser emission direction of the laser emitter and the calibration plane is acquired.

[0020] The light spot image is processed to obtain image information of the light spot image;

[0021] The image information of the acquired spot image is compared with the calibration data in the database to obtain the pose of the laser emitter;

[0022] The pose of the anchor drilling rig is obtained based on the relative positions of the laser emitter and the anchor drilling rig.

[0023] In some embodiments, the calibration spot includes m transverse light patterns formed by m transverse light spots and n longitudinal light patterns formed by n longitudinal light spots, and obtaining the calibration data includes:

[0024] Obtain at least one horizontal spacing and at least one vertical spacing, wherein the horizontal spacing is the spacing between any two of the vertical light patterns, and the vertical spacing is the spacing between any two of the horizontal light patterns;

[0025] The light spot image includes m horizontal light bars formed by m horizontal light spots and n vertical light bars formed by n vertical light spots. The image information for obtaining the light spot image includes:

[0026] Obtain at least one horizontal distance and at least one vertical distance, wherein the horizontal distance is the distance between any two of the vertical light stripes, and the vertical distance is the distance between any two of the horizontal light stripes;

[0027] The two longitudinal light patterns and the two longitudinal light stripes are all formed by the same two longitudinal light spots, and the two transverse light patterns and the two transverse light stripes are all formed by the same two transverse light spots.

[0028] In some embodiments, m and n are both positive integers greater than or equal to 3;

[0029] Obtaining the calibration data includes: obtaining at least two of the horizontal spacings and at least two of the vertical spacings.

[0030] Obtain the ratio of the at least two horizontal spacings and the ratio of the at least two vertical spacings;

[0031] The image information for obtaining the light spot image includes:

[0032] Obtain at least two horizontal distances and at least two vertical distances.

[0033] Obtain the ratio of the at least two horizontal distances and the ratio of the at least two vertical distances.

[0034] In some embodiments, the at least two lateral spacings include the spacing between the outermost longitudinal light pattern and at least one other longitudinal light pattern, and the spacing between the middle longitudinal light pattern and at least one other longitudinal light pattern; the at least two longitudinal spacings include the spacing between the outermost lateral light pattern and at least one other lateral light pattern, and the spacing between the middle lateral light pattern and at least one other lateral light pattern.

[0035] The at least two lateral distances include the distance between the outermost longitudinal light strip and at least one of the remaining longitudinal light strips, and the distance between the middle longitudinal light strip and at least one of the remaining longitudinal light strips; the at least two longitudinal distances include the distance between the outermost lateral light strip and at least one of the remaining lateral light strips, and the distance between the middle lateral light strip and at least one of the remaining lateral light strips.

[0036] When the rock bolt drilling rig of this invention performs roadway support operations, it can use a laser emitter to emit a grid-shaped light spot onto the coal wall and use an industrial camera to acquire the light spot image on the coal wall; by processing the acquired light spot image using an image processing system, the pose of the rock bolt drilling rig can be obtained; the control system controls the movement of the robotic arm to adjust the rock bolt drilling rig to a preset pose. The pose adjustment efficiency of the rock bolt drilling rig is high, which not only helps to improve the roadway formation speed and the coal mining efficiency, but also facilitates the automation of roadway support operations. Attached Figure Description

[0037] Figure 1 This is a flowchart of a roadway support method using a bolt drill rig according to an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of the anchor drilling rig in its first use state according to an embodiment of the present invention.

[0039] Figure 3 yes Figure 2 A schematic diagram of the field of view of the anchor drilling rig, the industrial camera, and a partial structure of the tunnel.

[0040] Figure 4 yes Figure 3 A schematic diagram of a medium-sized light spot image.

[0041] Figure 5 This is a schematic diagram of the field of view of the anchor drilling rig, the industrial camera, and a partial structure of the tunnel when the anchor drilling rig is in its second use state according to an embodiment of the present invention.

[0042] Figure 6 yes Figure 5 A schematic diagram of a medium-sized light spot image.

[0043] Figure 7 This is a schematic diagram of the field of view of the anchor drilling rig, the industrial camera, and the partial structure of the tunnel when the anchor drilling rig is in the third use state according to an embodiment of the present invention.

[0044] Figure 8 yes Figure 7 A schematic diagram of a medium-sized light spot image.

[0045] Figure 9 This is a schematic diagram of the field of view of the anchor drilling rig, the industrial camera, and the partial structure of the tunnel when the anchor drilling rig is in the fourth use state according to an embodiment of the present invention.

[0046] Figure 10 yes Figure 9 A schematic diagram of a medium-sized light spot image.

[0047] Figure 11 This is a schematic diagram of the structure of an anchor drilling rig according to an embodiment of the present invention.

[0048] Figure 12 yes Figure 11 A 3D view of a medium-sized anchor drilling rig.

[0049] Figure 13 yes Figure 11 Front view of the medium-sized anchor drilling rig.

[0050] Figure 14 yes Figure 11 A stereoscopic view of the detection camera system.

[0051] Figure 15 yes Figure 11 The main view of the detection camera system.

[0052] Figure label:

[0053] 100 anchor drill rigs;

[0054] Frame 1;

[0055] Robotic arm 2;

[0056] Anchor drilling rig 3; Drill frame 301; Drill box 302; Top plate 303; First plate 3031; Second plate 3032; Third plate 3033; Transparent outer shell 304;

[0057] Laser emitter 4;

[0058] Inspection camera system 5; industrial camera 501; monitoring camera 502; protective housing 503; mounting cavity 5031; cover 5032; first light-transmitting plate 5033; second light-transmitting plate 5034; perforation 5035; filter 504;

[0059] Coal wall 10; Roadway side 1001; Roof wall 1002;

[0060] Field of view 20;

[0061] Light spot image 30; horizontal light stripe 3001; vertical light stripe 3002. Detailed Implementation

[0062] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0063] like Figures 1 to 15 As shown in the embodiment of the present invention, the roadway support method of the bolt drilling rig includes:

[0064] S01, using laser emitter 4 to emit a grid-shaped light spot toward the coal wall 10;

[0065] S02, use industrial camera 501 to acquire light spot image 30 on coal wall 10;

[0066] S03, the image processing system is used to process the spot image 30 to obtain the pose of the anchor drilling rig 3;

[0067] S04, the control system is used to control the movement of the robotic arm 2 to adjust the anchor drilling machine 3 to the preset position;

[0068] S05, use anchor drilling rig 3 to perform anchor bolt or anchor cable installation operations;

[0069] The position of the anchor drilling rig 3 includes the distance between the anchor drilling rig 3 and the coal wall 10, and the included angle between the anchor drilling rig 3 and the coal wall 10.

[0070] The anchor bolt drilling rig 100 of this invention includes a frame 1, an anchor bolt drilling machine 3, a laser emitter 4, an industrial camera 501, an image processing system (not shown in the figure), and a control system (not shown in the figure). A robotic arm 2 is mounted on the frame 1, and the anchor bolt drilling machine 3 is connected to the robotic arm 2. The robotic arm 2 is used to adjust the position and orientation of the anchor bolt drilling machine 3. The laser emitter 4 is mounted on the anchor bolt drilling machine 3.

[0071] Laser emitter 4 emits a grid-shaped light spot, comprising m transverse spots and n longitudinal spots, arranged alternately to form (m-1)(n-1) rectangular light grids, where m and n are both positive integers greater than or equal to 2. Industrial camera 501 is mounted on the chassis 1 and is used to acquire the light spot image 30 of the grid-shaped light spot illuminating the coal wall 10. Image processing system is mounted on the chassis 1 and is signal-connected to industrial camera 501 to determine the pose of the anchor drilling rig 3 based on the light spot image 30. Both robotic arm 2 and the image processing system are signal-connected to the control system. The coal wall 10 can be considered a plane.

[0072] As is known to those skilled in the art, the grid-shaped light spot emitted by the laser emitter 4 is fixed. When the laser emission direction of the laser emitter 4 is perpendicular to the coal wall 10 and the distance between the laser emitter 4 and the coal wall 10 increases, the size of the rectangular frame light spot formed by the rectangular grids in the grid-shaped light spot will increase when the grid-shaped light spot emitted by the laser emitter 4 illuminates the coal wall 10. Conversely, when the distance between the laser emitter 4 and the coal wall 10 decreases, the size of the rectangular frame light spot formed by the rectangular grids in the grid-shaped light spot will decrease when the grid-shaped light spot emitted by the laser emitter 4 illuminates the coal wall 10.

[0073] When the angle between the laser emission direction of laser emitter 4 and the coal wall 10 is acute, and the angle between laser emitter 4 and coal wall 10 changes, the shape and size of the rectangular frame spot formed by the rectangular grids in the grid-shaped light spot will change when the grid-shaped light spot emitted by laser emitter 4 illuminates the coal wall 10. For example, if the rectangular grids in the grid-shaped light spot emitted by laser emitter 4 are square grids, then the rectangular frame spot formed by the rectangular grids on the coal wall 10 will be a rectangle including both the long and short sides. Furthermore, when the distance between laser emitter 4 and coal wall 10 remains constant, and the angle between the laser emission direction of laser emitter 4 and coal wall 10 changes, at least one of the long and short sides of the aforementioned rectangle will change.

[0074] Furthermore, it is understood that when the same laser emitter 4 is equidistant from the coal wall 10 and the angle between the laser emission direction of the laser emitter 4 and the coal wall 10 is the same, the shape and size of the light spot formed on the coal wall 10 will be identical each time it is irradiated. The size of the light spot includes the area and side length of the rectangular frame light spot formed by the rectangular grid of the grid-shaped light spot irradiating the coal wall 10. The shape and size of the light spot constitute the image information of the light spot.

[0075] In summary, there is a unique and definite correspondence between the distance between the laser emitter 4 and the coal wall 10, the angle between the laser emission direction of the laser emitter 4 and the coal wall 10, the shape of the light spot formed on the coal wall 10, and the size of the light spot formed on the coal wall 10. For ease of description, the following uses the distance between the laser emitter 4 and the coal wall 10 as the calibration distance, the angle between the laser emission direction of the laser emitter 4 and the coal wall 10 as the calibration angle, the shape of the light spot formed on the coal wall 10 as the calibration shape, and the size of the light spot formed on the coal wall 10 as the calibration size. Then, there is a unique and definite correspondence between the calibration distance, calibration angle, calibration shape, and calibration size. That is, when the calibration distance and calibration angle are determined, the calibration shape and calibration size are also uniquely determined; conversely, when the calibration shape and calibration size are determined, the calibration distance and calibration angle are also uniquely determined.

[0076] For ease of description, the shape of the light spot formed on the coal wall 10 at the roadway support site is taken as the detection shape, the size of the light spot formed on the coal wall 10 as the detection size, the distance between the laser emitter 4 and the coal wall 10 as the detection distance, and the angle between the laser emission direction of the laser emitter 4 and the coal wall 10 as the detection angle. The light spot image 30 acquired by the industrial camera 501 is the image of the light spot formed on the coal wall 10, and the detection shape and detection size are the image information of the light spot image 30. Given the known correspondence between the calibration distance, calibration angle, calibration shape, and calibration size, if the detection shape and detection size are obtained at the roadway support site, the detection distance and detection angle can be obtained. The correspondence between the calibration distance, calibration angle, calibration shape, and calibration size forms a database, which includes multiple data sets. Each data set includes calibration distance, calibration angle, calibration shape, and calibration size, and at least one of the calibration distance and calibration angle is different between different data sets.

[0077] Specifically, the detection shape and size are compared with the aforementioned database. A data set whose calibration shape and size are equal to the detection shape and size is found in the database. The calibration distance in this data set is the detection distance, and the calibration angle is the detection angle. Therefore, at the roadway support site, only the detection shape and size are needed to determine the distance between the laser emitter 4 and the coal wall 10, as well as the angle between the laser emission direction of the laser emitter 4 and the coal wall 10.

[0078] Since the laser emitter 4 is fixed on the anchor drilling rig 3, the relative position between the laser emitter 4 and the anchor drilling rig 3 is fixed. The pose of the laser emitter 4 changes with the pose of the anchor drilling rig 3. The pose of the anchor drilling rig 3 can be obtained by calculating the distance between the laser emitter 4 and the coal wall 10, and the angle between the laser emission direction of the laser emitter 4 and the coal wall 10. The angle between the anchor drilling rig 3 and the coal wall 10 can be the angle between the moving direction of the drill box 302 on the anchor drilling rig 3 and the coal wall 10.

[0079] The laser emitter 4 can be used to irradiate the calibration plane (coal wall 10 or other flat surfaces) at different distances and angles in advance, and image information (including shape and size) of the light spot formed on the calibration plane at each irradiation can be obtained. This yields multiple sets of data, including the distance between the laser emitter 4 and the calibration plane, the angle between the laser emission direction of the laser emitter 4 and the calibration plane, the shape of the light spot formed on the calibration plane, and the size of the light spot formed on the calibration plane. These data sets are then stored as calibration data in a database. During actual use of the anchor drilling rig 100, the laser emitter 4 is used to irradiate the coal wall 10, and an industrial camera 501 acquires the light spot image 30 on the coal wall 10. By comparing the image information of the acquired light spot image 30 with the data sets in the database, the distance between the laser emitter 4 and the coal wall 10, as well as the angle between the laser emission direction of the laser emitter 4 and the coal wall 10, can be obtained. Based on the positional relationship between the laser emitter 4 and the anchor drilling rig 3, the distance between the anchor drilling rig 3 and the coal wall 10, as well as the included angle between the anchor drilling rig 3 and the coal wall 10, can be calculated to obtain the pose of the anchor drilling rig 3.

[0080] When the rock bolt drilling rig 100 of this embodiment performs roadway support operations, it can use a laser emitter 4 to emit a grid-shaped light spot towards the coal wall 10 and use an industrial camera 501 to acquire the light spot image 30 on the coal wall 10; by processing the acquired light spot image 30 using an image processing system, the position and orientation of the rock bolt drilling rig 3 can be obtained; by controlling the movement of the robotic arm 2 using a control system, the rock bolt drilling rig 3 can be adjusted to a preset position and orientation, and the rock bolt drilling rig 3 can be used to perform rock bolt or anchor cable drilling operations.

[0081] Therefore, during roadway support operations, the position of the anchor drilling rig can be automatically adjusted. Compared with related technologies that use manual operation of the hydraulic valve group to adjust the position of the anchor drilling rig, the position adjustment efficiency of the anchor drilling rig is high. This not only helps to improve the roadway formation speed and the coal mining efficiency, but also facilitates the automation of roadway support operations.

[0082] Therefore, the roadway support method of the bolt drilling rig and the bolt drilling rig 100 of the present invention have the advantages of fast roadway formation speed and high degree of automation.

[0083] Optionally, the step of obtaining the pose of the anchor drilling rig 3 includes:

[0084] The laser emitter 4 is calibrated in advance, and the calibration data is stored in the database. The calibration of the laser emitter 4 includes: the grid-shaped light spot emitted by the laser emitter 4 illuminates the calibration plane, so that the calibration light spot appears on the calibration plane, and the calibration data including the image information of the calibration light spot, the distance between the laser emitter and the calibration plane, and the angle between the laser emission direction of the laser emitter and the calibration plane are obtained.

[0085] The light spot image 30 is processed to obtain the image information of the light spot image 30;

[0086] The image information of the acquired spot image 30 is compared with the calibration data in the database to obtain the pose of the laser emitter 4;

[0087] The pose of the anchor drill 3 is obtained based on the relative positions of the laser emitter 4 and the anchor drill 3.

[0088] By calibrating the laser emitter 4 in advance, a database containing calibration data is obtained. In actual use, the image information of the acquired spot image 30 is compared with the calibration data in the database to easily obtain the pose of the laser emitter 4.

[0089] The calibration light spot includes m transverse light patterns formed by m transverse light spots and n longitudinal light patterns formed by n longitudinal light spots. The light spot image 30 includes m transverse light stripes 3001 formed by m transverse light spots and n longitudinal light stripes 3002 formed by n longitudinal light spots.

[0090] Acquiring calibration data includes: acquiring at least one horizontal spacing and at least one vertical spacing, wherein the horizontal spacing is the spacing between any two vertical light patterns, and the vertical spacing is the spacing between any two horizontal light patterns.

[0091] The image information of the light spot image 30 includes: acquiring at least one horizontal distance and at least one vertical distance, wherein the horizontal distance is the distance between any two vertical light stripes 3002, and the vertical distance is the distance between any two horizontal light stripes 3001.

[0092] Among them, the above-mentioned "two longitudinal light patterns" and the above-mentioned "two longitudinal light stripes 3002" are all formed by the same two longitudinal light spots, and the above-mentioned "two transverse light patterns" and the above-mentioned "two transverse light stripes 3001" are all formed by the same two transverse light spots.

[0093] It is understandable that when both m and n are equal to 2, the lateral spacing is the spacing between two adjacent longitudinal light patterns; the longitudinal spacing is the spacing between two adjacent lateral light patterns; the lateral distance is the distance between two adjacent longitudinal light stripes 3002; and the longitudinal distance is the distance between two adjacent lateral light stripes 3001. At this time, both longitudinal light patterns and both longitudinal light stripes 3002 are formed by the same two longitudinal light spots, and both lateral light patterns and both lateral light stripes 3001 are formed by the same two lateral light spots.

[0094] When m is a positive integer greater than or equal to 3, the longitudinal spacing can be the spacing between two adjacent transverse light patterns, or the spacing between two transverse light patterns with an intermediate interval of p transverse light patterns; the longitudinal distance can be the distance between two adjacent transverse light stripes 3001, or the spacing between two transverse light stripes 3001 with an intermediate interval of p transverse light stripes 3001. Here, p is a positive integer less than or equal to (m-2). It should be noted that the longitudinal spacing corresponds to the longitudinal distance. Specifically, at least two transverse light spots in the grid-shaped light spot are transverse calibration light spots. The longitudinal spacing refers to the spacing between the transverse light patterns formed by the transverse calibration light spots on the calibration plane when the grid-shaped light spot illuminates the calibration plane. The longitudinal distance refers to the distance between the transverse light stripes 3001 formed by the transverse calibration light spots on the coal wall 10 when the grid-shaped light spot illuminates the coal wall 10.

[0095] For example, if m equals 15, the grid-shaped light spot includes fifteen transverse light spots, which are evenly distributed along the vertical direction. There are six transverse calibration light spots from bottom to top, designated as the first, third, ninth, eleventh, thirteenth, and fifteenth transverse light spots. When the grid-shaped light spot including these six transverse calibration light spots illuminates the calibration plane, the distance between the transverse light pattern formed by the first transverse calibration light spot and the transverse light pattern formed by the third transverse calibration light spot is the first vertical distance Y. 01 The distance between the transverse light pattern formed by the thirteenth transverse calibration spot and the transverse light pattern formed by the fifteenth transverse calibration spot is the second longitudinal distance Y. 02 The distance between the transverse light pattern formed by the ninth transverse calibration spot and the transverse light pattern formed by the eleventh transverse calibration spot is the third longitudinal distance Y. 03 .like Figure 4As shown, when the grid-shaped light spot including the above six transverse calibration spots illuminates the coal wall 10, the distance between the transverse light stripe 3001 formed by the first transverse calibration spot and the transverse light stripe 3001 formed by the third transverse calibration spot is the first longitudinal distance Y1; the distance between the transverse light stripe 3001 formed by the thirteenth transverse calibration spot and the transverse light stripe 3001 formed by the fifteenth transverse calibration spot is the second longitudinal distance Y2; and the distance between the transverse light stripe 3001 formed by the ninth transverse calibration spot and the transverse light stripe 3001 formed by the eleventh transverse calibration spot is the third longitudinal distance Y3. The aforementioned first longitudinal distance Y... 01 Corresponding to the first longitudinal distance Y1, the aforementioned second longitudinal spacing Y 02 Corresponding to the second longitudinal distance Y2, the aforementioned third longitudinal spacing Y 03 This corresponds to the third longitudinal distance Y3. The calibration data in the database includes the aforementioned first longitudinal spacing Y. 01 The second vertical spacing Y 02 and the third vertical spacing Y 03 The image information of the acquired spot image 30 includes the first longitudinal distance Y1, the second longitudinal distance Y2, and the third longitudinal distance Y3 mentioned above. When actually performing pose detection of the anchor drilling rig 3, the first longitudinal distance Y1 and the first longitudinal spacing Y3 can be compared... 01 The second longitudinal distance Y2 and the second longitudinal spacing Y 02 The third longitudinal distance Y3 and the third longitudinal spacing Y 03 Comparison.

[0096] When n is a positive integer greater than or equal to 3, the horizontal spacing can be the spacing between two adjacent vertical light patterns, or the spacing between two vertical light patterns with a middle interval of q; the horizontal distance is the distance between two adjacent vertical light strips 3002, or the spacing between two vertical light strips 3002 with a middle interval of q; where q is a positive integer less than or equal to (n-2).

[0097] When n is a positive integer greater than or equal to 3, the lateral spacing can be the spacing between two adjacent longitudinal light patterns, or the spacing between two longitudinal light patterns with an intermediate interval of q longitudinal light patterns; the lateral distance can be the distance between two adjacent longitudinal light stripes 3002, or the spacing between two longitudinal light stripes 3002 with an intermediate interval of p longitudinal light stripes 3002. Here, q is a positive integer less than or equal to (n-2). It should be noted that the lateral spacing corresponds to the lateral distance. Specifically, at least two longitudinal light spots in the grid-shaped light spot are lateral calibration spots. The lateral spacing refers to the spacing between the longitudinal light patterns formed by the longitudinal calibration spots on the calibration plane when the grid-shaped light spot illuminates the calibration plane. The lateral distance refers to the distance between the longitudinal light stripes 3002 formed by the longitudinal calibration spots on the coal wall 10 when the grid-shaped light spot illuminates the coal wall 10.

[0098] For example, n equals 21, meaning the grid-shaped light spot includes twenty-one longitudinal light spots, evenly spaced along the left-right direction. There are six longitudinal calibration spots from left to right: the first, third, tenth, twelfth, nineteenth, and twenty-first longitudinal light spots. When the grid-shaped light spot including these six longitudinal calibration spots illuminates the calibration plane, the distance between the longitudinal light pattern formed by the first longitudinal calibration spot and the longitudinal light pattern formed by the third longitudinal calibration spot is the first lateral distance X. 01 The distance between the longitudinal beam pattern formed by the longitudinal calibration spot of Article 19 and the longitudinal beam pattern formed by the longitudinal calibration spot of Article 21 is the second lateral distance X. 02 The distance between the longitudinal beam pattern formed by the tenth longitudinal calibration spot and the longitudinal beam pattern formed by the twelfth longitudinal calibration spot is the third transverse distance X. 03 .like Figure 4 As shown, when the grid-shaped light spot including the above six longitudinal calibration spots illuminates the coal wall 10, the distance between the longitudinal light stripe 3002 formed by the first longitudinal calibration spot and the longitudinal light stripe 3002 formed by the third longitudinal calibration spot is the first lateral distance X1; the distance between the longitudinal light stripe 3002 formed by the nineteenth longitudinal calibration spot and the longitudinal light stripe 3002 formed by the twenty-first longitudinal calibration spot is the second lateral distance X2; and the distance between the longitudinal light stripe 3002 formed by the tenth longitudinal calibration spot and the longitudinal light stripe 3002 formed by the twelfth longitudinal calibration spot is the third lateral distance X3. The aforementioned first lateral distance X... 01 Corresponding to the first lateral distance X1, the second lateral spacing X mentioned above 02 Corresponding to the second lateral distance X2, the third lateral spacing X mentioned above 03 This corresponds to the third lateral distance X3. The calibration data in the database includes the aforementioned first lateral spacing X.01 The second horizontal spacing X 02 and the third horizontal spacing X 03 The image information of the acquired spot image 30 includes the first lateral distance X1, the second lateral distance X2, and the third lateral distance X3 mentioned above. When actually performing pose detection of the anchor drilling rig 3, the first lateral distance X1 and the first lateral spacing X3 can be used... 01 The second horizontal distance X2 and the second horizontal spacing X 02 The third horizontal distance X3 and the third horizontal spacing X 03 Comparison.

[0099] It is understandable that when the laser emission direction of laser emitter 4 is perpendicular to the coal wall 10, the grid-shaped light spot emitted by laser emitter 4 illuminates the coal wall 10. The light spot formed on the coal wall 10 is equivalent to an enlarged version of the grid-shaped light spot, that is, the shape of the light spot formed on the coal wall 10 is the same as the shape of the grid-shaped light spot, and the size of the light spot formed on the coal wall 10 is larger than the size of the grid-shaped light spot. Furthermore, when the distance between laser emitter 4 and coal wall 10 is different, the length of the transverse light stripe 3001 and the length of the longitudinal light stripe 3002 formed on the coal wall 10 are different. The corresponding transverse distance, longitudinal distance, and side length of each rectangular light spot are also different. By comparing one of the obtained transverse distance, longitudinal distance, and area of ​​the rectangular light spot with the calibration data in the database, the distance d between laser emitter 4 and coal wall 10 can be obtained.

[0100] When the laser emission direction of laser emitter 4 is perpendicular to the coal wall 10, the side length of the rectangular light spot formed on the coal wall 10 is taken as the initial side length. For example... Figure 3 and Figure 4As shown, when the coal wall 10 is a vertical plane, the plane parallel to the vertical direction and perpendicular to the coal wall 10 is taken as the vertical reference plane. When the distance between the laser emitter 4 and the coal wall 10 remains constant, the laser emission direction of the laser emitter 4 is parallel to the aforementioned vertical reference plane, the transverse light spot emitted by the laser emitter 4 is parallel to the first horizontal direction, the longitudinal light spot emitted by the laser emitter 4 is parallel to the vertical direction, and the laser emission direction of the laser emitter 4 is tilted along the vertical direction, such that the laser emission direction of the laser emitter 4 forms an acute angle with the coal wall 10, the length of the longitudinal light stripe 3002 formed by the longitudinal light spot on the coal wall 10 will change with the angle between the laser emission direction of the laser emitter 4 and the coal wall 10, while the length of the transverse light stripe 3001 formed by the transverse light spot on the coal wall 10 remains constant. Therefore, the side length of the rectangular frame light spot formed by the rectangular light grid, parallel to the first horizontal direction, remains constant; while the side length of the rectangular frame light spot formed by the rectangular light grid, parallel to the vertical direction, varies with the angle between the laser emission direction of the laser emitter 4 and the coal wall 10, and the amount of change in the side length of the rectangular frame light spot at different positions in the vertical direction is different. The first horizontal direction can be consistent with the width direction of the roadway, and the vertical direction can be consistent with the height direction of the roadway.

[0101] To obtain the angle between the laser emission direction of laser emitter 4 and the coal wall 10 by comparing the longitudinal distance and the longitudinal spacing, multiple longitudinal distances need to be compared with their corresponding longitudinal spacings. Furthermore, even if the angle between the laser emission direction of laser emitter 4 and the coal wall 10 is the same, the longitudinal distance and longitudinal spacing will change if the distance between laser emitter 4 and the coal wall 10 is different. Therefore, to obtain the angle between the laser emission direction of laser emitter 4 and the coal wall 10 simply by comparing the longitudinal distance and the longitudinal spacing, multiple sets of longitudinal spacing data need to be pre-calibrated. It is understandable that when the angle between the laser emission direction of laser emitter 4 and the coal wall 10 is the same, but the distance between laser emitter 4 and the coal wall 10 is different, the ratio of the two longitudinal distances is the same. Therefore, the ratio of at least two longitudinal spacings can be obtained in advance, and the ratio of at least two longitudinal distances can be obtained when processing the spot image 30. By comparing the ratio of at least two longitudinal distances with the ratio of at least two longitudinal spacings, the angle α between the laser emission direction of the laser emitter 4 and the coal wall 10 can be obtained. In addition, by comparing the obtained lateral distance with the calibration data in the database, the distance d between the laser emitter 4 and the coal wall 10 can be obtained.

[0102] Similarly, such as Figure 7 and Figure 8As shown, when the coal wall 10 is a vertical plane, the horizontal reference plane is a plane parallel to the first horizontal direction and perpendicular to the coal wall 10. When the distance between the laser emitter 4 and the coal wall 10 remains constant, the laser emission direction of the laser emitter 4 is parallel to the aforementioned horizontal reference plane, the transverse light spot emitted by the laser emitter 4 is parallel to the first horizontal direction, the longitudinal light spot emitted by the laser emitter 4 is parallel to the vertical direction, and the laser emission direction of the laser emitter 4 is tilted along the first horizontal direction, making the laser emission direction of the laser emitter 4 form an acute angle with the coal wall 10, the side length of the rectangular frame light spot formed by the rectangular light grid, which is parallel to the vertical direction, remains constant. However, the side length of the rectangular frame light spot formed by the rectangular light grid, which is parallel to the first horizontal direction, changes with the angle between the laser emission direction of the laser emitter 4 and the coal wall 10. Furthermore, the amount of change in the side length of the rectangular frame light spot at different positions in the horizontal direction is different.

[0103] At least two ratios of lateral spacing can be obtained in advance, and at the same time, when processing the spot image 30, at least two ratios of lateral distance can be obtained. By comparing the ratios of the at least two lateral distances with the ratios of the at least two lateral spacings, the angle β between the laser emission direction of the laser emitter 4 and the coal wall 10 can be obtained. In addition, by comparing the obtained longitudinal distance with the calibration data in the database, the distance d between the laser emitter 4 and the coal wall 10 can be obtained.

[0104] Optionally, m and n are both positive integers greater than or equal to 3. Acquiring calibration data includes: acquiring at least two horizontal spacings and at least two vertical spacings, acquiring the ratio of at least two horizontal spacings and the ratio of at least two vertical spacings. Acquiring image information of the spot image 30 includes: acquiring at least two horizontal distances and at least two vertical distances, acquiring the ratio of at least two horizontal distances and the ratio of at least two vertical distances.

[0105] For example, calibration data includes three horizontal spacings, three vertical spacings, and the ratios of at least two horizontal spacings and at least two vertical spacings, where the three horizontal spacings are X... 01 X 02 and X 03 The three vertical spacings are Y 01 Y 02 and Y 03 .like Figure 4 , Figure 6 , Figure 8 and Figure 10 As shown, the image information of the light spot image 30 includes three horizontal distances, three vertical distances, and the ratios of at least two horizontal distances and at least two vertical distances. The three horizontal distances are X1, X2, and X3, and the three vertical distances are Y1, Y2, and Y3. X1, X2, and X3 are respectively related to X...01 X 02 and X 03 Correspondingly; Y1, Y2 and Y3 are respectively related to Y 01 Y 02 and Y 03 Correspondingly, the ratio of horizontal spacing can include X 02 With X 01 The ratio of X 03 With X 02 The ratio of the vertical spacing can include Y. 02 With Y 01 The ratio of Y 03 With Y 02 The ratio of horizontal distances can include the ratio of X2 to X1 and the ratio of X3 to X2, while the ratio of vertical distances can include the ratio of Y2 to Y1 and the ratio of Y3 to Y2.

[0106] like Figure 5 and Figure 6 As shown, by comparing the ratio of X2 to X1 with X... 02 With X 01 The ratio, or the ratio of X3 to X2, is equal to X. 03 With X 02 The ratio comparison, and the comparison of the ratio of Y2 to Y1 with Y... 02 With Y 01 The ratio, or the ratio of Y3 to Y2, is the same as Y... 03 With Y 02 By comparing the ratios, we can obtain that the angle between the laser emission direction of laser emitter 4 and the coal wall 10 is 90°. 02 With X 01 The ratio, or the ratio of X3 to X2, is equal to X. 03 With X 02 The ratio, or the ratio of Y2 to Y1, is the same as Y... 02 With Y 01 The ratio, or the ratio of Y3 to Y2, is the same as Y... 03 With Y 02 By comparing the ratios, the distance d between the laser emitter 4 and the coal wall 10 can be obtained.

[0107] Similarly, such as Figure 3 and Figure 4 As shown, by comparing the ratio of X2 to X1 with X... 02 With X 01 The ratio, or the ratio of X3 to X2, is equal to X. 03 With X 02 The ratio comparison, and the comparison of the ratio of Y2 to Y1 with Y... 02 With Y 01The ratio, or the ratio of Y3 to Y2, is the same as Y... 03 With Y 02 By comparing the ratios, the angle α between the laser emission direction of laser emitter 4 and the coal wall 10 can be obtained. 01 Compare, or compare X2 with X. 02 The ratio, or the ratio of X3 to X 03 By comparison, the distance d between the laser emitter 4 and the coal wall 10 can be obtained. For example... Figure 7 and Figure 8 As shown, by comparing the ratio of X2 to X1 with X... 02 With X 01 The ratio, or the ratio of X3 to X2, is equal to X. 03 With X 02 The ratio comparison, and the comparison of the ratio of Y2 to Y1 with Y... 02 With Y 01 The ratio, or the ratio of Y3 to Y2, is the same as Y... 03 With Y 02 By comparing the ratios, the angle β between the laser emission direction of laser emitter 4 and the coal wall 10 can be obtained. 01 Compare, or compare Y2 with Y 02 The ratio, or the ratio of Y3 to Y 03 By comparison, the distance d between the laser emitter 4 and the coal wall 10 can be obtained.

[0108] Similarly, such as Figure 9 and Figure 10 As shown, by comparing the ratio of X2 to X1 with X... 02 With X 01 The ratio, or the ratio of X3 to X2, is equal to X. 03 With X 02 The ratio comparison, and the comparison of the ratio of Y2 to Y1 with Y... 02 With Y 01 The ratio, or the ratio of Y3 to Y2, is the same as Y... 03 With Y 02 By comparing the ratios, the vertical angle α and the horizontal angle β between the laser emission direction of laser emitter 4 and the coal wall 10 can be obtained. The second horizontal direction can be the length direction of the roadway. Then, the anchor drill rig 3 can be moved along one of the vertical and horizontal directions, such that either α or β equals 90°. Then, a spot image 30 is acquired, and the distance d between the laser emitter 4 and the coal wall 10 is obtained based on the image information of the acquired spot image 30. For example, by moving the anchor drill rig 3 vertically, such that α equals 90°, and then acquiring the image information of the spot image 30, the distance d between the laser emitter 4 and the coal wall 10 can be calculated by comparing Y1 and Y2. 01 Compare, or compare Y2 with Y 02The ratio, or the ratio of Y3 to Y 03 By comparison, the distance d between the laser emitter 4 and the coal wall 10 can be obtained.

[0109] Optionally, the multiple rectangular light grids in the grid-shaped light spot are all square light grids with equal side lengths.

[0110] Optionally, the at least two lateral spacings include the spacing between the outermost longitudinal beam and at least one other longitudinal beam, and the spacing between the middle longitudinal beam and at least one other longitudinal beam. The at least two longitudinal spacings include the spacing between the outermost lateral beam and at least one other lateral beam, and the spacing between the middle lateral beam and at least one other lateral beam.

[0111] The outermost vertical light pattern can be understood as a vertical light pattern close to both sides in the horizontal direction, and the middle vertical light pattern can be understood as a vertical light pattern close to the center in the horizontal direction. The outermost horizontal light pattern can be understood as a horizontal light pattern close to both sides in the vertical direction, and the middle horizontal light pattern can be understood as a horizontal light pattern close to the center in the vertical direction.

[0112] For example, when n equals 21, twenty-one longitudinal light spots are evenly distributed along the left-right direction. The first and twenty-first longitudinal light spots in the left-right direction are the outermost longitudinal light spots, and the eleventh longitudinal light spot is the middle longitudinal light spot. Correspondingly, when this grid-shaped light spot illuminates the calibration plane, the first and twenty-first longitudinal light patterns formed on the calibration plane are the outermost longitudinal light patterns, and the eleventh longitudinal light pattern formed on the calibration plane is the middle longitudinal light pattern. The lateral spacing can include the spacing between the first and third longitudinal light patterns, the twenty-first and nineteenth longitudinal light patterns, and the tenth and twelfth longitudinal light patterns. The third, nineteenth, tenth, and twelfth longitudinal light patterns are the light patterns formed by the third, nineteenth, tenth, and twelfth longitudinal light spots on the calibration plane, respectively.

[0113] When m equals 15, the fifteen transverse light spots are evenly distributed along the vertical direction. The first and fifteenth transverse light spots are the outermost transverse light spots, and the tenth transverse light spot is the central vertical light spot. Correspondingly, when this grid-shaped light spot illuminates the calibration plane, the first and fifteenth transverse light patterns formed on the calibration plane are the outermost transverse light patterns, and the tenth transverse light pattern formed on the calibration plane is the central transverse light pattern. The vertical spacing can include the spacing between the first and third transverse light patterns, the fifteenth and thirteenth transverse light patterns, and the ninth and eleventh transverse light patterns. Specifically, the third, thirteenth, ninth, and eleventh transverse light patterns are the light patterns formed by the third, thirteenth, ninth, and eleventh transverse light spots on the calibration plane, respectively.

[0114] At least two lateral distances include the distance between the outermost longitudinal light stripe 3002 and at least one other longitudinal light stripe 3002, and the distance between the middle longitudinal light stripe 3002 and at least one other longitudinal light stripe 3002. At least two longitudinal distances include the distance between the outermost lateral light stripe 3001 and at least one other lateral light stripe 3001, and the distance between the middle lateral light stripe 3001 and at least one other lateral light stripe 3001.

[0115] The outermost longitudinal light stripe 3002 can be understood as longitudinal light stripes 3002 located near both sides in the transverse direction, and the middle longitudinal light stripe can be understood as longitudinal light stripe 3002 located near the center in the transverse direction. The outermost transverse light stripe 3001 can be understood as transverse light stripe 3001 located near both sides in the longitudinal direction, and the middle transverse light stripe 3001 can be understood as transverse light stripe 3001 located near the center in the longitudinal direction.

[0116] For example, when n equals 21, twenty-one longitudinal light spots are evenly distributed along the left-right direction. The first and twenty-first longitudinal light spots in the left-right direction are the outermost longitudinal light spots, and the eleventh longitudinal light spot is the middle longitudinal light spot. Correspondingly, when this grid-shaped light spot illuminates the coal wall 10, the first and twenty-first longitudinal light stripes 3002 formed on the coal wall 10 are the outermost longitudinal light stripes 3002, and the eleventh longitudinal light stripe 3002 formed on the coal wall 10 is the middle longitudinal light stripe 3002. The lateral distance can include the distance between the first and third longitudinal light stripes 3002, the twenty-first and nineteenth longitudinal light stripes 3002, and the tenth and twelfth longitudinal light stripes 3002. Among them, the longitudinal light stripes 3002 of the third, nineteenth, tenth and twelfth stripes are the light patterns formed on the coal wall 10 by the longitudinal light spots of the third, nineteenth, tenth and twelfth stripes, respectively.

[0117] When m equals 15, the fifteen transverse light spots are evenly distributed along the vertical direction. The first and fifteenth transverse light spots in the vertical direction are the outermost transverse light spots, and the tenth transverse light spot is the central longitudinal light spot. Correspondingly, when this grid-shaped light spot illuminates the coal wall 10, the first and fifteenth transverse light stripes 3001 formed on the coal wall 10 are the outermost transverse light stripes 3001, and the tenth transverse light stripe 3001 formed on the coal wall 10 is the central transverse light stripe 3001. The longitudinal distance can include the distance between the first and third transverse light stripes 3001, the fifteenth and thirteenth transverse light stripes 3001, and the ninth and eleventh transverse light stripes 3001. Among them, the transverse light stripes 3001 of the third, thirteenth, ninth and eleventh stripes are the light patterns formed on the coal wall 10 by the transverse light spots of the third, thirteenth, ninth and eleventh stripes, respectively.

[0118] The lateral spacing, longitudinal spacing, lateral distance, and longitudinal distance obtained by the above method are more representative, and the positional accuracy of the anchor drilling rig 3 is higher, which is conducive to improving the reliability of roadway support operations.

[0119] Optionally, such as Figure 11 As shown, there are two anchor drilling machines 3, which are spaced apart along the width direction of the frame 1.

[0120] In some embodiments, the anchor drilling rig 3 includes a drill frame 301 and a drill box 302, the drill box 302 being movably mounted on the drill frame 301, and the laser emission direction of the laser emitter 4 being parallel to the moving direction of the drill box 302. The optical axis of the industrial camera 501 is perpendicular to the coal face 10. The drill frame 301 is connected to the robotic arm 2, and the drill box 302 is used to install anchor bolts or anchor cables.

[0121] For example, the drill frame 301 is equipped with a guide rail, and the drill box 302 is equipped with a guide block. The guide block is movable along the extension direction of the guide rail. By utilizing the cooperation between the guide block and the guide rail, the drill box 302 moves relative to the drill frame 301 in a preset direction, and the laser emission direction of the laser emitter 4 is parallel to the extension direction of the guide rail. Figure 2 As shown, the coal walls 10 located on both sides of the roadway are called roadway sidewalls 1001, and the coal wall 10 located at the top of the roadway is called the roof wall 1002. When the laser emitter 4 emits a grid-shaped light spot towards the roadway sidewall 1001, the optical axis of the industrial camera 501 is perpendicular to the roadway sidewall 1001. The light spot formed by the grid-shaped light spot illuminating the roadway sidewall 1001 is located within the field of view 20 of the industrial camera 501, and the light spot image 30 is acquired by the industrial camera 501. Furthermore, it can be understood that when the laser emitter 4 emits a grid-shaped light spot towards the roof wall 1002, the optical axis of the industrial camera 501 is perpendicular to the roof wall 1002, and the light spot formed by the grid-shaped light spot illuminating the roadway sidewall 1001 is located within the field of view 20 of the industrial camera 501, and the light spot image 30 is acquired by the industrial camera 501.

[0122] By setting the laser emission direction of laser emitter 4 parallel to the moving direction of drill box 302, the angle between the laser emission direction of laser emitter 4 and coal wall 10 is equal to the angle between anchor drilling rig 3 and coal wall 10. Thus, the angle between the laser emission direction of laser emitter 4 and coal wall 10 is obtained, which is also the angle between anchor drilling rig 3 and coal wall 10. By aligning the optical axis of industrial camera 501 perpendicular to coal wall 10, the light spot image 30 acquired by industrial camera 501 is made consistent with the light spot formed on coal wall 10. This simplifies the image processing system, shortens processing time, and helps to further improve the pose adjustment efficiency and accuracy of anchor drilling rig.

[0123] Optionally, such as Figure 12 and Figure 13 As shown, the anchor drilling rig 3 also includes a top plate 303, which is movably mounted on the drilling frame 301. The top plate 303 is used to abut against the coal wall 10. The top plate 303 has a recessed portion, and the laser emitter 4 is located in the recessed portion.

[0124] For example, the drill frame 301 is equipped with a slide rail, and the top plate 303 is equipped with a slider. The slider can move along the extension direction of the slide rail. By utilizing the cooperation between the slider and the slide rail, the top plate 303 can move relative to the drill frame 301 in a preset direction. The top plate 303 has a groove with an opening facing the coal wall 10. The laser emitter 4 is located in the groove, which is the aforementioned recessed part.

[0125] By placing the laser emitter 4 on the roof 303, the components on the anchor drilling rig 3 can effectively prevent the laser emitted by the laser emitter 4 from being blocked, facilitating the laser emitter 4 to emit a complete grid-shaped light spot onto the coal wall 10. In addition, placing the laser emitter 4 in the recessed part can prevent the coal wall 10 from squeezing the laser emitter 4 when the roof 303 abuts against the coal wall 10, thus preventing damage to the laser emitter 4.

[0126] It should be noted that when the laser emitter 4 emits a grid-shaped light spot towards the coal wall 10, the roof 303 is separated from the coal wall 10, that is, the roof 303 is separated from the coal wall 10, so as to prevent the roof 303 or other parts of the anchor drilling rig 3 from entering the field of view of the industrial camera 501 and affecting the acquisition of the light spot image 30 by the industrial camera 501.

[0127] Optionally, the laser emitter 4 can be glued to or connected to the top plate 303 by fasteners, such as bolts, screws, etc.

[0128] Optionally, a light-transmitting shell is provided in the recess of the top plate 303, and the light-transmitting shell and the top plate 303 form a closed cavity, in which the laser emitter 4 is located.

[0129] For example, such as Figure 13 As shown, the top plate 303 includes a first plate 3031, a second plate 3032, and a third plate 3033. The first plate 3031 and the third plate 3033 are respectively located at both ends of the second plate 3032 along its length and on both sides of the second plate 3032 along its thickness, making the first plate 3031, the second plate 3032, and the third plate 3033 form a Z-shape. The first plate 3031 is used to abut against the coal wall 10. The second plate 3032 and the third plate 3033 form the aforementioned recessed portion. The laser emitter 4 is connected to the third plate 3033. The light-transmitting outer shell 304 is connected to both the second plate 3032 and the third plate 3033, and the light-transmitting outer shell 304, the second plate 3032, and the third plate 3033 form a closed chamber.

[0130] By placing the laser emitter 4 in this enclosed chamber, the operation of the camera laser emitter 4 can be prevented from being affected by underground coal dust and sewage.

[0131] The light-transmitting outer shell 304 can be made of acrylic material. The light-transmitting outer shell 304 can be glued to the top plate 303 or connected by fasteners, such as bolts or screws.

[0132] In some embodiments, such as Figure 14 and Figure 15 As shown, the industrial camera 501 includes a lens, and a filter 504 is provided on the object side of the lens. The filter 504 allows light with the same wavelength as that emitted by the laser emitter 4 to pass through.

[0133] By setting a filter 504 on the object side of the lens, interference light can be filtered out. Only the light emitted by the laser emitter 4 can pass through the filter 504 and enter the lens of the industrial camera 501, thereby making the spot image 30 obtained by the industrial camera 501 more accurate, which is beneficial to improving the position adjustment accuracy of the anchor drilling rig.

[0134] Optionally, a connecting cylinder is provided on the outside of the filter 504, and the filter 504 is connected to the lens of the industrial camera 501 through the connecting cylinder.

[0135] In some embodiments, the detection camera system 5 further includes a monitoring camera 502, which is mounted on the frame 1 and is used to acquire environmental images within the alleyway. The monitoring camera 502 is connected to the image processing system via signal.

[0136] For example, monitoring camera 502 is used to acquire the location of supported anchor bolts or cables in the roadway, so as to provide positioning for unsupported anchor bolts or cables. As another example, monitoring camera 502 is used to acquire the location of workers in the roadway, so as to prevent the anchor bolt drilling rig 100 from accidentally hitting workers in the roadway.

[0137] Therefore, by setting up monitoring camera 502, it is beneficial to further improve the automation level of anchor drilling rig 100.

[0138] Optionally, the detection camera system 5 also includes a protective housing 503, which is connected to the frame 1. The protective housing 503 has a mounting cavity 5031, in which the industrial camera 501 and the monitoring camera 502 are both located.

[0139] The protective housing 503 can be welded to the frame 1 or connected by fasteners. The industrial camera 501 and the protective housing 503, as well as the monitoring camera 502 and the protective housing 503, can be connected by adhesive or fasteners. The fasteners can be bolts, screws, etc.

[0140] By placing both the industrial camera 501 and the monitoring camera 502 within the mounting cavity 5031 formed by the protective housing 503, the operation of the industrial camera 501 and the monitoring camera 502 can be prevented from being affected by underground coal dust and sewage.

[0141] Optionally, the protective housing 503 includes a cover 5032, a first light-transmitting plate 5033, and a second light-transmitting plate 5034. The cover 5032 has a first light-transmitting hole and a second light-transmitting hole. The first light-transmitting plate 5033 blocks the first light-transmitting hole, and the second light-transmitting plate 5034 blocks the second light-transmitting hole. The cover 5032, the first light-transmitting plate 5033, and the second light-transmitting plate 5034 form a closed mounting cavity. The cover 5032 is a metal cover and is connected to the vehicle frame 1. The industrial camera 501 is positioned corresponding to the first light-transmitting plate 5033, and the monitoring camera 502 is positioned corresponding to the second light-transmitting plate 5034. The first light-transmitting plate 5033 and the second light-transmitting plate 5034 can be made of acrylic, tempered glass, or other light-transmitting materials.

[0142] By designing the protective housing 503 as described above, the mounting cavity 5031 becomes a closed mounting cavity, which can more effectively prevent underground coal dust and sewage from affecting the operation of the industrial camera 501 and the monitoring camera 502.

[0143] Optionally, the housing 5032 is provided with a perforation 5035 for the power and signal lines of the industrial camera 501 and the surveillance camera 502 to pass through.

[0144] The aforementioned industrial camera 501, monitoring camera 502, and protective housing 503 form the detection camera system 5.

[0145] Optionally, the laser emitter 4 is in the same pose as the anchor drill rig 3.

[0146] For example, the laser emission direction of laser emitter 4 is parallel to the moving direction of drill box 302 on the anchor drilling rig 3, and the end face of laser emitter 4 facing the coal wall 10 is flush with the end face of roof 303 facing the coal wall, so that the pose of laser emitter 4 is the same as the pose of anchor drilling rig 3. Therefore, by processing the spot image 30, the pose of laser emitter 4 is obtained as the pose of anchor drilling rig 3.

[0147] Optionally, the anchor drilling rig includes an electromagnetic hydraulic valve assembly for controlling the robotic arm 2. The control system is signal-connected to the electromagnetic hydraulic valve assembly, and the control system controls the electromagnetic hydraulic valve assembly to control the robotic arm 2.

[0148] Specifically, the manual-operated hydraulic valve group in the relevant technology is replaced with an electromagnetic hydraulic valve group. The image processing system sends the processing results to the control system. The control system generates a control signal based on the image processing results. The control signal controls the electromagnetic hydraulic valve group to move, thereby driving the robotic arm 2 to move and adjust the position of the anchor drilling machine 3 so that the anchor drilling machine 3 is adjusted to the preset position.

[0149] Optionally, when the detection camera system 5 includes a monitoring camera 502, the monitoring camera 502 can be used to acquire images of the supported anchor bolts or cables in the roadway, and the image processing system can be used to obtain the position of the supported anchor bolts or cables in the roadway. Based on the supported anchor bolts or cables in the roadway, the position of the unsupported anchor bolts or cables can be obtained, providing a positioning function for the unsupported anchor bolts or cables. Using the position of the unsupported anchor bolts or cables as a preset position, once the preset position is obtained, the control system can control the movement of the robotic arm 2, causing the anchor bolt drilling rig 3 to move to the preset position.

[0150] In summary, the roadway support method using a bolt drill rig according to embodiments of the present invention includes:

[0151] Use monitoring camera 502 to acquire images of anchor bolts or anchor cables that have been supported in the tunnel;

[0152] The image processing system is used to obtain the positions of the anchor bolts or anchor cables that have been supported in the roadway, and to obtain the preset positions of the unsupported anchor bolts or anchor cables.

[0153] The control system is used to move the robotic arm 2 to adjust the anchor drilling machine 3 to a preset position;

[0154] A grid-shaped light spot is emitted from laser emitter 4 toward the coal wall 10;

[0155] The industrial camera 501 is used to acquire a light spot image 30 on the coal wall 10;

[0156] The pose of the anchor drilling rig 3 is obtained by processing the spot image 30 using an image processing system.

[0157] The control system is used to move the robotic arm 2 to adjust the anchor drilling machine 3 to a preset position;

[0158] Use the anchor drilling rig 3 to drive anchor bolts or anchor cables.

[0159] Understandably, during the process of controlling the movement of the robotic arm 2 using the control system, the pose of the anchor drilling machine 3 needs to be detected multiple times using the laser emitter 4, industrial camera 501, and image processing system. Based on the pose detection results of the anchor drilling machine 3 each time, the control system controls the movement direction and distance of the robotic arm 2 until the pose detection result of the anchor drilling machine 3 is equal to the preset pose. Then, the control system controls the robotic arm 2 to stop moving, and the anchor drilling machine 3 adjusts to the preset pose.

[0160] The roadway support method of the anchor drilling rig in this embodiment of the invention realizes the position and posture detection of the anchor drilling rig 3 during operation through the laser emitter 4, the detection camera system 5 and the image processing system, and uses the control system to control the position and posture adjustment of the anchor drilling rig 3, replacing manual labor to realize the position and posture adjustment of the anchor drilling rig during roadway support operations, reducing the number of people required, reducing the labor intensity of workers, improving the roadway formation speed and the automation level of the anchor drilling rig 100.

[0161] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0162] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0163] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0164] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0165] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0166] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. An anchor bolt drilling rig, characterized in that, include: A chassis, on which a robotic arm is mounted; An anchor drilling rig, wherein the anchor drilling rig is connected to the robotic arm, and the robotic arm is used to adjust the position and orientation of the anchor drilling rig; A laser emitter is mounted on the anchor drilling rig. The laser emitter can emit a grid-shaped light spot, which includes m horizontal light spots and n vertical light spots. The m horizontal light spots and n vertical light spots are arranged alternately to form (m-1)(n-1) rectangular light grids, where m and n are both positive integers greater than or equal to 2. An industrial camera, mounted on the vehicle frame, is used to acquire images of the light spots illuminating the coal face using the grid-shaped light spots. An image processing system, mounted on the vehicle frame and connected to the industrial camera, is configured to obtain the pose of the anchor drilling rig based on the light spot image, including: The laser emitter is pre-calibrated, and the calibration data is stored in a database. The calibration of the laser emitter includes: the grid-shaped light spot emitted by the laser emitter irradiates the calibration plane, so that the calibration light spot appears on the calibration plane, and the calibration data including image information of the calibration light spot, the distance between the laser emitter and the calibration plane, and the angle between the laser emission direction of the laser emitter and the calibration plane is acquired. The light spot image is processed to obtain image information of the light spot image; The image information of the acquired spot image is compared with the calibration data in the database to obtain the pose of the laser emitter; The pose of the anchor drilling rig is obtained based on the relative positions of the laser emitter and the anchor drilling rig; and The control system, wherein both the robotic arm and the image processing system are signal-connected to the control system.

2. The anchor drilling rig according to claim 1, characterized in that, The optical axis of the industrial camera is perpendicular to the coal wall; The anchor drilling rig includes a drill frame and a drill box. The drill frame is connected to the robotic arm, and the drill box is movably mounted on the drill frame. The laser emission direction of the laser emitter is parallel to the moving direction of the drill box.

3. The anchor drilling rig according to claim 2, characterized in that, The bolt drilling rig also includes a monitoring camera mounted on the chassis. The monitoring camera is used to acquire environmental images within the tunnel and is connected to the image processing system.

4. The anchor drilling rig according to claim 3, characterized in that, The anchor drilling rig also includes a protective housing, which is connected to the frame. The protective housing has a mounting cavity, in which the industrial camera and the monitoring camera are both located.

5. The anchor drilling rig according to claim 2, characterized in that, The industrial camera includes a lens, and the object side of the lens is provided with a filter that allows light of the same wavelength as that emitted by the laser emitter to pass through.

6. A method for roadway support using a bolt drill rig according to any one of claims 1-5, characterized in that, include: The laser emitter is used to project a grid-shaped light spot onto the coal face; The industrial camera is used to acquire images of light spots on the coal face; The image processing system is used to process the light spot image to obtain the pose of the anchor drilling rig; The control system is used to control the movement of the robotic arm to adjust the anchor drilling machine to a preset position. The aforementioned anchor drilling rig is used for anchor bolt or anchor cable installation operations. The position of the anchor drilling rig includes the distance between the anchor drilling rig and the coal face, and the angle between the anchor drilling rig and the coal face.

7. The roadway support method of the anchor drill rig according to claim 6, characterized in that, The calibration light spot includes m transverse light patterns formed by m transverse light spots and n longitudinal light patterns formed by n longitudinal light spots. Obtaining the calibration data includes: Obtain at least one horizontal spacing and at least one vertical spacing, wherein the horizontal spacing is the spacing between any two of the vertical light patterns, and the vertical spacing is the spacing between any two of the horizontal light patterns; The light spot image includes m horizontal light bars formed by m horizontal light spots and n vertical light bars formed by n vertical light spots. The image information for obtaining the light spot image includes: Obtain at least one horizontal distance and at least one vertical distance, wherein the horizontal distance is the distance between any two of the vertical light stripes, and the vertical distance is the distance between any two of the horizontal light stripes; The two longitudinal light patterns and the two longitudinal light stripes are all formed by the same two longitudinal light spots, and the two transverse light patterns and the two transverse light stripes are all formed by the same two transverse light spots.

8. The roadway support method of the bolt drilling rig according to claim 7, characterized in that, Both m and n are positive integers greater than or equal to 3; Obtaining the calibration data includes: obtaining at least two of the horizontal spacings and at least two of the vertical spacings. Obtain the ratio of the at least two horizontal spacings and the ratio of the at least two vertical spacings; The image information for obtaining the light spot image includes: Obtain at least two horizontal distances and at least two vertical distances. Obtain the ratio of the at least two horizontal distances and the ratio of the at least two vertical distances.

9. The roadway support method of the bolt drill rig according to claim 8, characterized in that, The at least two lateral spacings include the spacing between the outermost longitudinal light pattern and at least one other longitudinal light pattern, and the spacing between the middle longitudinal light pattern and at least one other longitudinal light pattern; the at least two longitudinal spacings include the spacing between the outermost lateral light pattern and at least one other lateral light pattern, and the spacing between the middle lateral light pattern and at least one other lateral light pattern. The at least two lateral distances include the distance between the outermost longitudinal light strip and at least one of the remaining longitudinal light strips, and the distance between the middle longitudinal light strip and at least one of the remaining longitudinal light strips; the at least two longitudinal distances include the distance between the outermost lateral light strip and at least one of the remaining lateral light strips, and the distance between the middle lateral light strip and at least one of the remaining lateral light strips.

Images