Bolter and roadway support method

Abstract

The present invention discloses a bolter jumbo and a roadway support method thereof. The roadway support method of the bolter jumbo includes: emitting a cross-circular ring light spot to the coal wall by using the laser emitter; acquiring the light spot image on the coal wall by using the main camera; processing the light spot image by using the image processor to obtain the pose of the bolter; controlling the movement of the movable arm by using the controller to adjust the bolter to a preset pose; and performing the operation of driving bolts or cables by using the bolter. Wherein, the pose of the bolter includes the distance between the bolter and the coal wall and the included angle between the bolter and the coal wall. The roadway support method of the bolter jumbo in the embodiment of the present invention has the advantages of high roadway formation speed and high automation degree, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining, and particularly relates to an anchor drill rig and a roadway support method thereof. Background Art

[0002] At present, the driving of coal roadways in China faces problems such as slow roadway formation speed, low mechanization and automation levels. The main factor affecting the driving speed of coal roadways is the roadway support operation. In related technologies, when using an anchor drill rig for support operation, it is necessary to manually operate the handle to operate the hydraulic valve group to adjust the pose of the anchor drill rig, so as to ensure that the anchor is driven into the side wall or roof of the roadway in a determined pose. The pose adjustment efficiency of the anchor drill rig is low. The low pose adjustment efficiency of the anchor drill rig not only results in a low roadway formation speed and affects the coal mining efficiency of the coal mine, but also is not conducive to the automation of the roadway support operation. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems in the related technologies to some extent.

[0004] To this end, an embodiment of the present invention provides an anchor drill rig to improve the roadway formation speed.

[0005] The anchor drill rig according to an embodiment of the present invention includes a vehicle frame, an anchor drill rig, a laser emitter, a camera detection device, an image processor and a controller. The anchor drill rig is connected to the vehicle frame through a moving arm, and the moving arm is used to adjust the pose of the anchor drill rig. The laser emitter is arranged on the anchor drill rig, and the laser emitter can emit a cross-circular light spot. The cross-circular light spot includes a cross-shaped light spot and n circular light spots with coincident centers, where n is an integer greater than or equal to 2. The camera detection device is arranged on the vehicle frame, and the camera detection device includes a main camera. The main camera is used to obtain a light spot image of the cross-circular light spot irradiated on the coal wall. The image processor is arranged on the vehicle frame, and the image processor is signal-connected to the main camera to obtain the pose of the anchor drill rig according to the light spot image. The moving arm and the image processor are both signal-connected to the controller.

[0006] In some embodiments, the optical axis of the main camera is perpendicular to the coal wall. The anchor drill rig includes a drill frame and a drill box. The drill frame is connected to the moving arm, and the drill box is movably arranged on the drill frame. The laser emission direction of the laser emitter is parallel to the moving direction of the drill box.

[0007] In some embodiments, the main camera includes a lens, and a filter is arranged on the object side of the lens. The filter allows light with a wavelength equal to that emitted by the laser emitter to pass through.

[0008] In some embodiments, the camera detection device further includes an auxiliary camera, which is arranged on the vehicle frame and is used to acquire the environmental image in the roadway. The auxiliary camera is signal-connected to the image processor.

[0009] In some embodiments, the camera detection device includes a housing, a main light-transmitting plate, and an auxiliary light-transmitting plate. The housing has a main light-transmitting hole and an auxiliary light-transmitting hole. The main light-transmitting plate seals the main light-transmitting hole, and the auxiliary light-transmitting plate seals the auxiliary light-transmitting hole. The housing, the main light-transmitting plate, and the auxiliary light-transmitting plate form a closed installation cavity. The housing is a metal housing and is connected to the vehicle frame. The main camera and the auxiliary camera are both arranged in the installation cavity, and the main camera is arranged corresponding to the main light-transmitting plate, and the auxiliary camera is arranged corresponding to the auxiliary light-transmitting plate.

[0010] The roadway support method of the bolt drill rig according to the embodiment of the present invention includes:

[0011] Using the laser emitter to emit a cross-circular ring-shaped light spot onto the coal wall;

[0012] Using the main camera to acquire the light spot image on the coal wall;

[0013] Using the image processor to process the light spot image to obtain the pose of the bolt drill rig;

[0014] Using the controller to control the movement of the moving arm to adjust the bolt drill rig to a preset pose;

[0015] Using the bolt drill rig to perform bolt or cable bolt operation;

[0016] Wherein, the pose of the bolt drill rig includes the distance between the bolt drill rig and the coal wall, and the included angle between the bolt drill rig and the coal wall.

[0017] In some embodiments, the step of obtaining the pose of the bolt drill rig includes:

[0018] Calibrating the laser emitter in advance and storing the calibration data in the database. Wherein, calibrating the laser emitter includes: the cross-circular ring-shaped light spot emitted by the laser emitter irradiates on the calibration plane, so that a calibration light spot appears on the calibration plane, and acquiring the calibration data including the image information of the calibration light spot, the distance between the laser emitter and the calibration plane, and the included angle between the laser emission direction of the laser emitter and the calibration plane;

[0019] Processing the light spot image to obtain the image information of the light spot image;

[0020] Compare the image information of the obtained spot image with the calibration data in the database to obtain the pose of the laser emitter;

[0021] Obtain the pose of the bolt drill according to the relative position between the laser emitter and the bolt drill;

[0022] Wherein, when the calibration spot includes n circular apertures formed by n circular spots, the image information of the calibration spot includes the diameter and / or area of the outermost circular aperture in the calibration spot; when the calibration spot includes n elliptical apertures formed by n circular spots, the image information of the calibration spot includes the major axis length and minor axis length of the outermost elliptical aperture in the calibration spot;

[0023] When the spot image includes n circular rings formed by n circular spots, the image information of the spot image includes the diameter and / or area of the outermost circular ring in the spot image; when the spot image includes n elliptical rings formed by n circular spots, the image information of the spot image includes the major axis length and minor axis length of the outermost elliptical ring in the spot image.

[0024] In some embodiments, the step of obtaining the image information of the spot image includes:

[0025] The cross-shaped spot includes two linear spots perpendicular to each other. Taking the point corresponding to the center of the cross-shaped spot in the spot image as the origin O1, taking the line corresponding to one of the two linear spots in the spot image as the X1 axis, and taking the line corresponding to the other linear spot in the two linear spots in the spot image as the Y1 axis to establish a two-dimensional first rectangular coordinate system;

[0026] The main camera has a field of view. Taking the center of the field of view as the origin O2, taking the symmetry axis parallel to the X1 axis of the field of view as the X2 axis, and taking the symmetry axis parallel to the Y1 axis of the field of view as the Y2 axis to establish a two-dimensional second rectangular coordinate system;

[0027] When the origin O1 of the first rectangular coordinate system coincides with the origin O2 of the second rectangular coordinate system, the spot image includes n circular rings formed by n circular spots, and obtain the diameter of the outermost circular ring as the image information of the spot image;

[0028] When the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system is offset along the Y2 axis from the Y2 axis of the second rectangular coordinate system, or when the X1 axis of the first rectangular coordinate system is offset from the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system coincides with the Y2 axis of the second rectangular coordinate system, the spot image includes n elliptical rings formed by n circular spots, and the major axis length and minor axis length of the outermost elliptical ring are obtained as the image information of the spot image.

[0029] In some embodiments, when the spot image includes n circular rings, the X1 axis of the first rectangular coordinate system forms 2n first intersections with the n circular rings, and the 2n first intersections are successively (x1, 0), (x2, 0), (x3, 0),..., (x 2n , 0), the Y1 axis of the first rectangular coordinate system forms 2n second intersections with the n circular rings, and the 2n second intersections are successively (0, y1), (0, y2), (0, y3),..., (0, y 2n ), the absolute value of the difference between the x 2n and x1, and the absolute value of the difference between the y 2n and y1 are the diameters of the outermost circular ring;

[0030] When the spot image includes n elliptical rings, the X1 axis of the first rectangular coordinate system forms 2n first intersections with the n elliptical rings, and the 2n first intersections are successively (x1, 0), (x2, 0), (x3, 0),..., (x 2n , 0), the Y1 axis of the first rectangular coordinate system forms 2n second intersections with the n elliptical rings, and the 2n second intersections are successively (0, y1), (0, y2), (0, y3),..., (0, y 2n ), the larger one of the absolute value of the difference between the x 2n and x1 and the absolute value of the difference between the y 2n and y1 is the major axis length of the outermost elliptical ring, and the smaller one of the absolute value of the difference between the x 2n and x1 and the absolute value of the difference between the y 2n and y1 is the minor axis length of the outermost elliptical ring.

[0031] In some embodiments, when the X1 axis of the first rectangular coordinate system is offset from the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system is offset from the Y2 axis of the second rectangular coordinate system, first move the moving arm so that the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and / or the Y1 axis of the first rectangular coordinate system coincides with the Y2 axis of the second rectangular coordinate system, and then use the main camera to obtain the spot image on the coal wall.

[0032] When the bolt drill jumbo according to the embodiment of the present invention performs roadway support operations, a cross-circular spot can be emitted to the coal wall by using a laser emitter, and the spot image on the coal wall can be obtained by using the main camera; the pose of the bolt drill can be obtained by processing the acquired spot image by using an image processor; the moving arm can be controlled by a controller to move so as to adjust the bolt drill to a preset pose, and the bolt drill is used to perform bolt or cable bolting operations. Thus, when performing roadway support operations, automatic adjustment of the pose of the bolt drill can be achieved. Compared with the related art in which the pose of the bolt drill is adjusted by manually operating a handle to operate a hydraulic valve group, the efficiency of adjusting the pose of the bolt drill is high, which is not only beneficial to improving the roadway forming speed and the coal mining efficiency of the coal mine, but also conducive to realizing the automation of roadway support operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a flowchart of a roadway support method for a bolt drill jumbo according to an embodiment of the present invention.

[0034] Figure 2 is a schematic structural diagram of a bolt drill jumbo according to an embodiment of the present invention in a first use state.

[0035] Figure 3 is Figure 2 a partial structural diagram of the bolt drill, the field of view of the main camera and the roadway in

[0036] Figure 4 is Figure 2 a relationship diagram between the spot image and the field of view of the main camera in

[0037] Figure 5 is a partial structural diagram of the bolt drill, the field of view of the main camera and the roadway when the bolt drill jumbo according to an embodiment of the present invention is in a second use state.

[0038] Figure 6 is Figure 5 a relationship diagram between the spot image and the field of view of the main camera in

[0039] Figure 7 is a partial structural diagram of the bolt drill, the field of view of the main camera and the roadway when the bolt drill jumbo according to an embodiment of the present invention is in a third use state.

[0040] Figure 8 is Figure 7 The relationship diagram between the spot image in and the field of view of the main camera.

[0041] Figure 9 It is a schematic diagram of the local structure of the bolt drill rig, the field of view of the main camera, and the roadway when the bolt drill jumbo of an embodiment of the present invention is in the fourth usage state.

[0042] Figure 10 is Figure 9 The relationship diagram between the spot image in and the field of view of the main camera.

[0043] Figure 11 It is a schematic diagram of the structure of the bolt drill jumbo of an embodiment of the present invention.

[0044] Figure 12 is Figure 11 The three-dimensional view of the bolt drill rig in.

[0045] Figure 13 is Figure 11 The front view of the bolt drill rig in.

[0046] Figure 14 is Figure 11 The three-dimensional view of the camera detection device in.

[0047] Figure 15 is Figure 11 The front view of the camera detection device in.

[0048] Reference numerals:

[0049] Bolt drill jumbo 100;

[0050] Frame 1;

[0051] Moving arm 2;

[0052] Bolt drill rig 3; Drill boom 301; Drill box 302; Roof 303; First part 3031; Second part 3032; Third part 3033; Translucent housing 304;

[0053] Laser emitter 4;

[0054] Camera detection device 5; Main camera 501; Auxiliary camera 502; Housing 503; Installation cavity 5031; Metal cover 5032; Main light-transmitting plate 5033; Auxiliary light-transmitting plate 5034; Perforation 5035; Filter 504;

[0055] Coal wall 10; Roadside 1001; Roof wall 1002;

[0056] Field of view 20;

[0057] Spot image 30. Specific embodiments

[0058] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0059] As Figures 1 to 15 shown, the roadway support method of the bolt drill jumbo in the embodiments of the present invention includes:

[0060] S01, using a laser emitter 4 to emit a cross-circular ring-shaped light spot towards the coal wall 10;

[0061] S02, using a main camera 501 to obtain a light spot image 30 on the coal wall 10;

[0062] S03, using an image processor to process the light spot image 30 to obtain the pose of the bolt drill 3;

[0063] S04, using a controller to control the movement of the moving arm 2 to adjust the bolt drill 3 to a preset pose;

[0064] S05, using the bolt drill 3 to perform bolt or cable bolt operations;

[0065] Among them, the pose of the bolt drill 3 includes the distance between the bolt drill 3 and the coal wall 10 and the angle between the bolt drill 3 and the coal wall 10.

[0066] The bolt drill jumbo 100 in the embodiments of the present invention includes a vehicle frame 1, a bolt drill 3, a laser emitter 4, a camera detection device 5, an image processor (not shown in the figure), and a controller (not shown in the figure). The bolt drill 3 is connected to the vehicle frame 1 through a moving arm 2, and the moving arm 2 is used to adjust the pose of the bolt drill 3. The laser emitter 4 is provided on the bolt drill 3.

[0067] The laser emitter 4 can emit a cross-circular ring-shaped light spot. The cross-circular ring-shaped light spot includes a cross-shaped light spot and n circular light spots with coincident centers, where n is an integer greater than or equal to 2. The camera detection device 5 is provided on the vehicle frame 1. The camera detection device 5 includes a main camera 501, and the main camera 501 is used to obtain a light spot image 30 of the cross-circular ring-shaped light spot irradiated on the coal wall 10. The image processor is provided on the vehicle frame 1, and the image processor is signal-connected to the main camera 501 to obtain the pose of the bolt drill 3 according to the light spot image 30. Both the moving arm 2 and the image processor are signal-connected to the controller. Among them, the coal wall 10 can be regarded as a plane.

[0068] It is known to those skilled in the art that the cross-circular 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 is different, when the cross-circular spot emitted by the laser emitter 4 irradiates on the coal wall 10, compared with the cross-circular spot emitted by the laser emitter 4, the size of the spot formed on the coal wall 10 will change. When the included angle between the laser emission direction of the laser emitter 4 and the coal wall 10 is an acute angle and the included angle between the laser emitter 4 and the coal wall 10 changes, when the cross-circular spot emitted by the laser emitter 4 irradiates on the coal wall 10, both the shape and size of the spot formed on the coal wall 10 will change. For example, the spot formed on the coal wall 10 is a cross-elliptical ring spot, where the cross-elliptical ring spot includes a cross-linear part and n elliptical rings with coincident centers, and the circular spot of the cross-circular spot irradiates on the coal wall 10 to form the elliptical rings of the above cross-elliptical ring spot, and the cross-linear spot of the cross-circular spot irradiates on the coal wall 10 to form the cross-linear part of the above cross-elliptical ring spot.

[0069] In addition, it can be understood that when the same laser emitter 4 irradiates the coal wall 10 multiple times with the same distance between the laser emitter 4 and the coal wall 10 and the same included angle between the laser emission direction of the laser emitter 4 and the coal wall 10, the shape and size of the spot formed on the coal wall 10 each time are the same. Among them, the size of the spot includes the area and diameter (or major axis length, minor axis length) of the spot formed by the circular spot of the cross-circular spot irradiating on the coal wall 10. Among them, the shape and size of the spot are the image information of the spot.

[0070] In summary, there is a unique and definite corresponding relationship among the distance between the laser emitter 4 and the coal wall 10, the included angle between the laser emission direction of the laser emitter 4 and the coal wall 10, the shape of the spot formed on the coal wall 10, and the size of the spot formed on the coal wall 10. For the convenience of description, hereinafter, the distance between the laser emitter 4 and the coal wall 10 is the calibration distance, the included angle between the laser emission direction of the laser emitter 4 and the coal wall 10 is the calibration included angle, the shape of the spot formed on the coal wall 10 is the calibration shape, and the size of the spot formed on the coal wall 10 is the calibration size. Then, there is a unique and definite corresponding relationship among the calibration distance, the calibration included angle, the calibration shape, and the calibration size. That is, when the calibration distance and the calibration included angle are determined, the calibration shape and the calibration size are also uniquely determined; conversely, when the calibration shape and the calibration size are determined, the calibration distance and the calibration included angle are also uniquely determined.

[0071] For convenience of description, at the roadway support site, the shape of the light spot formed on the coal wall 10 is the detection shape, the size of the light spot formed on the coal wall 10 is the detection size, the distance between the laser emitter 4 and the coal wall 10 is the detection distance, and the angle between the laser emission direction of the laser emitter 4 and the coal wall 10 is the detection angle. Among them, the light spot image 30 obtained by the main camera 501 is the image of the light spot formed on the coal wall 10, and the detection shape and the detection size are the image information of the light spot image 30. When the corresponding relationship between the calibration distance, the calibration angle, the calibration shape, and the calibration size is known, if the detection shape and the detection size are obtained at the roadway support site, the detection distance and the detection angle can be obtained. Among them, the corresponding relationship between the calibration distance, the calibration angle, the calibration shape, and the calibration size forms a database, and the database includes multiple data groups. Each data group includes a calibration distance, a calibration angle, a calibration shape, and a calibration size, and at least one of the calibration distance and the calibration angle is different between different data groups.

[0072] Specifically, compare the detection shape and the detection size with the above database. If a data group is found in the database where the calibration shape is equal to the detection shape and the calibration size is equal to the detection size, then the corresponding calibration distance in this data group is the detection distance, and the calibration angle is the detection angle. Thus, at the roadway support site, only by obtaining the detection shape and the detection size, 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 can be obtained.

[0073] Therefore, by fixing the laser emitter 4 on the bolt drill 3 so that the relative position between the laser emitter 4 and the bolt drill 3 is fixed, and the pose of the laser emitter 4 changes with the pose of the bolt drill 3, the pose of the bolt drill 3 can be obtained according to 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. Among them, the pose of the bolt drill 3 includes the distance between the bolt drill 3 and the coal wall 10, and the angle between the bolt drill 3 and the coal wall 10. The angle between the bolt drill 3 and the coal wall 10 can be the angle between the moving direction of the drill box 302 on the bolt drill 3 and the coal wall 10.

[0074] The laser emitter 4 can be used to irradiate a calibration plane (the coal wall 10 or other planar surfaces) at different distances and angles in advance, and obtain the image information (including shape and size) of the light spot formed on the calibration plane during each irradiation, so as to obtain multiple data sets of 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. And this data set is stored in the database as calibration data. When actually using the bolter jumbo 100, the laser emitter 4 is used to irradiate the coal wall 10, and the main camera 501 is used to obtain the light spot image 30 on the coal wall 10. By comparing the image information of the obtained light spot image 30 with the data set in the database, 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 at this time can be obtained. According to the positional relationship between the laser emitter 4 and the bolter 3, the distance between the bolter 3 and the coal wall 10 and the angle between the bolter 3 and the coal wall 10 can be further calculated, that is, the pose of the bolter 3 is obtained.

[0075] When the bolter jumbo 100 of the embodiment of the present invention performs roadway support operations, the laser emitter 4 can be used to emit a cross-circular light spot to the coal wall 10, and the main camera 501 is used to obtain the light spot image 30 on the coal wall 10; the obtained light spot image 30 is processed by an image processor, and the pose of the bolter 3 can be obtained; the controller is used to control the movement of the moving arm 2 to adjust the bolter 3 to a preset pose, and the bolter 3 is used to perform bolt or cable anchor operations.

[0076] Therefore, when performing roadway support operations, the automatic adjustment of the pose of the bolter can be realized. Compared with the prior art in which the pose of the bolter is adjusted by manually operating the handle to operate the hydraulic valve group, the pose adjustment efficiency of the bolter is high, which is not only beneficial to improving the roadway forming speed and the coal mining efficiency of the coal mine; but also conducive to realizing the automation of roadway support operations.

[0077] Therefore, the roadway support method of the bolter jumbo of the embodiment of the present invention and the bolter jumbo 100 have the advantages of high roadway forming speed and high degree of automation.

[0078] Among them, the laser emitter 4 can include two light-emitting units, and the two light-emitting units cooperate to emit a cross-linear light spot and n circular light spots with coincident centers. One of the two light-emitting units can emit a cross-linear light spot and a circular light spot with coincident centers, and the other light-emitting unit can emit (n - 1) circular light spots with coincident centers; or, one of the two light-emitting units can emit a cross-linear light spot, and the other light-emitting unit can emit n circular light spots with coincident centers.

[0079] Optionally, as Figure 11 shown, the number of the rock bolt drills 3 is two, and the two rock bolt drills 3 are arranged at intervals in the width direction of the vehicle frame 1.

[0080] In some embodiments, the rock bolt drill 3 includes a drill frame 301 and a drill box 302. The drill frame 301 is connected to the moving arm 301, the drill box 302 is movably arranged on the drill frame 301, and the laser emission direction of the laser emitter 4 is parallel to the moving direction of the drill box 302. The optical axis of the main camera 501 is perpendicular to the coal wall 10. The drill box 302 is used for installing rock bolts or cable bolts.

[0081] For example, guide rails are provided on the drill frame 301, and guide blocks are provided on the drill box 302. The guide blocks are movable along the extending direction of the guide rails. By using the cooperation between the guide blocks and the guide rails, the drill box 302 moves relative to the drill frame 301 along a preset direction, and the laser emission direction of the laser emitter 4 is parallel to the extending direction of the guide rails. As Figure 2 shown, the coal walls 10 on both sides of the roadway are the rib walls 1001, and the coal wall 10 at the top of the roadway is the roof wall 1002. When the laser emitter 4 emits a cross-circular spot to the rib wall 1001, the optical axis of the main camera 501 is perpendicular to the rib wall 1001, so that the main camera 501 can obtain the spot image 30 of the cross-circular spot irradiated on the rib wall 1001. In addition, it can be understood that when the laser emitter 4 emits a cross-circular spot to the roof wall 1002, the optical axis of the main camera 501 is perpendicular to the roof wall 1002, so that the main camera 501 can obtain the spot image 30 of the cross-circular spot irradiated on the roof wall 1002.

[0082] By setting the laser emission direction of the laser emitter 4 to be parallel to the moving direction of the drill box 302, the included angle between the laser emission direction of the laser emitter 4 and the coal wall 10 is equal to the included angle between the rock bolt drill 3 and the coal wall 10. Thus, the included angle between the laser emission direction of the laser emitter 4 and the coal wall 10 is obtained, that is, the included angle between the rock bolt drill 3 and the coal wall 10 is obtained. By making the optical axis of the main camera 501 perpendicular to the coal wall 10, the spot image 30 obtained by using the main camera 501 is consistent with the spot formed on the coal wall 10. Thus, the processing process of the image processor is simpler, the processing time can be shortened, which is beneficial to further improving the pose adjustment efficiency of the rock bolt drill and the pose adjustment accuracy of the rock bolt drill.

[0083] Of course, in some other embodiments, the included angle between the laser emission direction of the laser emitter 4 and the moving direction of the drill box 302 may also be an acute angle. The included angle between the optical axis of the main camera 501 and the coal wall 10 may also be an acute angle.

[0084] Optionally, as Figure 12 and Figure 13As shown, the roof bolter 3 further includes a roof plate 303, which is movably arranged on the drill rig 301. The roof plate 303 is used to abut against the coal wall 10. The roof plate 303 has a recess, and the laser emitter 4 is arranged in the recess.

[0085] For example, a slide rail is arranged on the drill rig 301, and a slider is arranged on the roof plate 303. The slider can move along the extension direction of the slide rail. By using the cooperation of the slider and the slide rail, the roof plate 303 can move relative to the drill rig 301 along a preset direction. The roof plate 303 has a groove with an opening facing the coal wall 10, and the laser emitter 4 is arranged in the groove, and the groove is the above-mentioned recess.

[0086] By arranging the laser emitter 4 on the roof plate 303, it can effectively prevent the components on the roof bolter 3 from blocking the laser emitted by the laser emitter 4, which is convenient for the laser emitter 4 to emit a complete cross-circular ring spot to the coal wall 10. In addition, by arranging the laser emitter 4 in the recess, it can prevent the coal wall 10 from squeezing the laser emitter 4 when the roof plate 303 abuts against the coal wall 10, resulting in damage to the laser emitter 4.

[0087] It should be noted that when the laser emitter 4 emits a cross-circular ring spot to the coal wall 10, the roof plate 303 is spaced apart from the coal wall 10, that is, the roof plate 303 leaves the coal wall 10, so as to prevent the roof plate 303 or other components of the roof bolter 3 from entering the field of view of the main camera 501 and affecting the main camera 501 from obtaining the spot image 30.

[0088] Optionally, the laser emitter 4 and the roof plate 303 can be bonded or connected by fasteners, and the fasteners can be bolts, screws, etc.

[0089] Optionally, a light-transmitting housing is arranged at the recess of the roof plate 303. The light-transmitting housing and the roof plate 303 enclose a closed chamber, and the laser emitter 4 is arranged in the closed chamber.

[0090] For example, as Figure 13 shown, the roof plate 303 includes a first part 3031, a second part 3032 and a third part 3033. The first part 3031 and the third part 3033 are respectively arranged at both ends of the length direction of the second part 3032, and the first part 3031 and the third part 3033 are respectively arranged on both sides of the thickness direction of the second part 3032, so that the first part 3031, the second part 3032 and the third part 3033 are integrally in a Z shape. The first part 3031 is used to abut against the coal wall 10, the second part 3032 and the third part 3033 enclose the above-mentioned recess, and the laser emitter 4 is connected to the third part 3033. The light-transmitting housing 304 is connected to both the second part 3032 and the third part 3033, and the light-transmitting housing 304, the second part 3032 and the third part 3033 enclose a closed chamber.

[0091] By arranging the laser emitter 4 inside the enclosed chamber, it is possible to prevent underground coal dust and sewage from affecting the operation of the camera laser emitter 4.

[0092] Among them, the light-transmitting outer shell 304 can be made of acrylic. The light-transmitting outer shell 304 and the top plate 303 can be adhesively bonded or connected by fasteners, and the fasteners can be bolts, screws, etc.

[0093] In some embodiments, such as Figure 14 and Figure 15 shown, the main camera 501 includes a lens. A filter 504 is provided on the object side of the lens, and the filter 504 allows light with a wavelength equal to that emitted by the laser emitter 4 to pass through.

[0094] By arranging the filter 504 on the object side of the lens, interfering light can be filtered through the filter 504, and only the light emitted by the laser emitter 4 can pass through the filter 504 and enter the lens of the main camera 501, so that the accuracy of the spot image 30 obtained by using the main camera 501 is higher, which is beneficial to improving the pose adjustment accuracy of the bolt drill.

[0095] Optionally, a connecting cylinder is sleeved outside the filter 504, and the filter 504 is connected to the lens of the main camera 501 through the connecting cylinder.

[0096] In some embodiments, the camera detection device 5 further includes an auxiliary camera 502. The auxiliary camera 502 is arranged on the vehicle frame 1, and the auxiliary camera 502 is used to obtain the environmental image in the roadway. The auxiliary camera 502 is signal-connected to the image processor.

[0097] For example, the auxiliary camera 502 is used to obtain the positions of the bolts or cables that have been supported in the roadway, so as to provide a positioning function for the bolts or cables that have not been supported. Another example is that the auxiliary camera 502 is used to obtain the positions of the operators in the roadway to prevent the bolt drill vehicle 100 from accidentally hitting the operators in the roadway.

[0098] Thus, by arranging the auxiliary camera 502, it is beneficial to further improve the automation degree of the bolt drill vehicle 100.

[0099] Optionally, the camera detection device 5 further includes a housing 503. The housing 503 is connected to the vehicle frame 1, and the housing 503 has an installation cavity 5031. Both the main camera 501 and the auxiliary camera 502 are arranged in the installation cavity 5031.

[0100] Among them, the housing 503 and the vehicle frame 1 can be welded or connected by fasteners. Between the main camera 501 and the housing 503 and between the auxiliary camera 502 and the housing 503, they can be adhesively bonded or connected by fasteners, and the above fasteners can be bolts, screws, etc.

[0101] By arranging both the main camera 501 and the auxiliary camera 502 within the installation cavity 5031 formed by the housing 503, it is possible to prevent underground coal dust and sewage from affecting the operation of the main camera 501 and the auxiliary camera 502.

[0102] Optionally, the housing 503 includes a metal cover 5032, a main light-transmitting plate 5033, and an auxiliary light-transmitting plate 5034. The metal cover 5032 has a main light-transmitting hole for light to enter the main camera 501 and an auxiliary light-transmitting hole for light to enter the auxiliary camera 502. Both the main camera 501 and the auxiliary camera 502 are connected to the metal cover 5032. The main light-transmitting plate 5033 seals the main light-transmitting hole, and the auxiliary light-transmitting plate 5034 seals the auxiliary light-transmitting hole. The metal cover 5032, the main light-transmitting plate 5033, and the auxiliary light-transmitting plate 5034 define a closed installation cavity 5031. Among them, the main light-transmitting plate 5033 and the auxiliary light-transmitting plate 5034 can be made of other light-transmitting materials such as acrylic material or tempered glass material.

[0103] By designing the housing 503 as described above, the installation cavity 5031 is a closed installation cavity, which can more effectively prevent underground coal dust and sewage from affecting the operation of the main camera 501 and the auxiliary camera 502.

[0104] Optionally, the metal cover 5032 is provided with a perforation 5035 through which the power lines and signal lines of the main camera 501 and the auxiliary camera 502 pass.

[0105] Optionally, the pose of the laser emitter 4 is the same as the pose of the roof bolter 3.

[0106] For example, the laser emission direction of the laser emitter 4 is parallel to the moving direction of the drill box 302 on the roof bolter 3, and the end face of the laser emitter 4 facing the coal wall 10 is flush with the end face of the roof 303 facing the coal wall, so that the pose of the laser emitter 4 is the same as the pose of the roof bolter 3. Thus, by processing the spot image 30, the obtained pose of the laser emitter 4 is the pose of the roof bolter 3.

[0107] Optionally, the roof bolter includes an electromagnetic hydraulic valve group for controlling the moving arm 2. The controller is signal-connected to the electromagnetic hydraulic valve group, and the electromagnetic hydraulic valve group is controlled by the controller to control the moving arm 2.

[0108] Specifically, in the related art, the manual-operated handle-operated hydraulic valve group is replaced with an electromagnetic hydraulic valve group. The image processor sends the obtained processing result to the controller. The controller generates a control signal according to the image processing result, and the control signal controls the electromagnetic hydraulic valve group to act, thereby driving the moving arm 2 to move to adjust the pose of the roof bolter 3 so that the roof bolter 3 is adjusted to the preset pose.

[0109] In some embodiments, the steps of obtaining the pose of the bolt drill 3 include:

[0110] Calibrate the laser emitter 4 in advance and store the calibration data in a database. Here, calibrating the laser emitter 4 includes: the cross-circular ring-shaped light spot emitted by the laser emitter 4 irradiates on the calibration plane, so that a calibration light spot appears on the calibration plane, and obtain calibration data including the image information (including shape and size) of the calibration light spot, the distance between the laser emitter 4 and the calibration plane, and the angle between the laser emission direction of the laser emitter 4 and the calibration plane;

[0111] Process the light spot image 30 to obtain the image information of the light spot image 30;

[0112] Compare the obtained image information of the light spot image 30 with the calibration data to obtain the pose of the laser emitter 4;

[0113] Obtain the pose of the bolt drill 3 according to the relative position between the laser emitter 4 and the bolt drill 3;

[0114] Wherein, when the calibration light spot includes n circular apertures formed by n circular light spots, the image information of the calibration light spot includes the diameter and / or area of the outermost circular aperture in the calibration light spot; when the calibration light spot includes n elliptical apertures formed by n circular light spots, the image information of the calibration light spot includes the major axis length and minor axis length of the outermost elliptical aperture in the calibration light spot. When the light spot image 30 includes n circular rings formed by n circular light spots, the image information of the light spot image 30 includes the diameter and / or area of the outermost circular ring in the light spot image 30; when the light spot image 30 includes n elliptical rings formed by n circular light spots, the image information of the light spot image 30 includes the major axis length and minor axis length of the outermost elliptical ring in the light spot image 30.

[0115] It is understandable that n circular light spots can form n circular light rings, and the centers of the n circular light rings coincide and their diameters are different. The outermost circular light ring refers to the circular light ring that is farthest from the center on the radial direction of the circular light ring. n circular light spots can form n elliptical light rings, and the centers of the n elliptical light rings coincide and both the major axis length and the minor axis length are different. The outermost elliptical light ring refers to the elliptical light ring that is farthest from the center on the radial direction of the elliptical light ring. n circular light spots can form n circular light halos, and the centers of the n circular light halos coincide and their diameters are different. The outermost circular light halo refers to the circular light halo that is farthest from the center on the radial direction of the circular light halo. n circular light spots can form n elliptical light halos, and the centers of the n elliptical light halos coincide and both the major axis length and the minor axis length are different. The outermost elliptical light halo refers to the elliptical light halo that is farthest from the center on the radial direction of the elliptical light halo.

[0116] As Figure 5 and Figure 6 shown, when the laser emission direction of the laser emitter 4 is perpendicular to the coal wall 10, the n circular light spots of the cross-circular ring-shaped light spot will form n circular light halos when irradiating on the coal wall 10. By comparing the diameter or area of the outermost circular light halo with the calibration data in the database, the distance d between the laser emitter 4 and the coal wall 10 can be obtained. As Figure 3 and Figure 4 shown, when the coal wall 10 is a vertical plane, taking the plane parallel to the vertical direction and perpendicular to the coal wall 10 as the vertical reference plane, when the laser emission direction of the laser transmitter 3 is parallel to the vertical reference plane and the laser emission direction of the laser emitter 4 forms an acute angle with the coal wall 10, the n circular light spots of the cross-circular ring-shaped light spot will form n elliptical light halos when irradiating on the coal wall 10. At this time, by comparing the minor axis length of the outermost elliptical light halo with the calibration data in the database, the distance d between the laser emitter 4 and the coal wall 10 can be obtained; by comparing the major axis length of the outermost elliptical light halo with the calibration data in the database, the included angle α between the laser emitter 4 and the coal wall 10 can be obtained. As Figure 7 and Figure 8As shown, when the coal wall 10 is a vertical plane, a horizontal reference plane is a plane parallel to the first horizontal direction and perpendicular to the coal wall 10, where the first horizontal direction is parallel to the width direction of the roadway. When the laser emission direction of the laser transmitter 3 is parallel to the horizontal reference plane, and the laser emission direction of the laser emitter 4 forms an acute angle with the coal wall 10, n elliptical light rings will be formed on the coal wall 10 when the n circular light spots of the cross-circular light spot are irradiated on the coal wall 10. At this time, by comparing the minor axis length of the outermost elliptical light ring with the calibration data in the database, the distance d between the laser emitter 4 and the coal wall 10 can be obtained; by comparing the major axis length of the outermost elliptical light ring with the calibration data in the database, the included angle β between the laser emitter 4 and the coal wall 10 can be obtained. Wherein, the distance d between the laser emitter 4 and the coal wall 10 refers to the spacing between the laser emitter 4 and the coal wall 10 in the laser emission direction of the laser emitter 4.

[0117] It can be understood that when the laser emission direction of the laser emitter 4 is perpendicular to the coal wall 10, when the n circular light spots of the cross-circular light spot are irradiated on the coal wall 10, the light spot formed on the coal wall 10 is equivalent to an enlarged version of the n circular light spots. Therefore, the light spot formed on the coal wall 10 includes n circular light rings formed by the n circular light spots of the cross-circular light spot. And when the distance between the laser emitter 4 and the coal wall 10 is different, the diameters of the circular light rings formed on the coal wall 10 are different.

[0118] In addition, when the laser emission direction of the laser emitter 4 is perpendicular to the coal wall 10, the diameter of the outermost circular light ring formed on the coal wall 10 is the initial diameter. When the distance between the laser emitter 4 and the coal wall 10 remains unchanged, the laser emission direction of the laser emitter 4 is parallel to the above-mentioned vertical reference plane, and the laser emission direction of the laser emitter 4 is inclined in the vertical direction so that the laser emission direction of the laser emitter 4 forms an acute angle with the coal wall 10, the circular light ring formed on the coal wall 10 will be elongated in the vertical direction to become an elliptical light ring, and the short axis length of the outermost elliptical light ring is always equal to the above-mentioned initial diameter, and the long axis length changes according to the change of α. Similarly, when the distance between the laser emitter 4 and the coal wall 10 remains unchanged, the laser emission direction of the laser emitter 4 is parallel to the above-mentioned horizontal reference plane, and the laser emission direction of the laser emitter 4 is inclined in the second horizontal direction so that the laser emission direction of the laser emitter 4 forms an acute angle with the coal wall 10, the circular light ring formed on the coal wall 10 will be elongated in the second horizontal direction to become an elliptical light ring, and the short axis length of the outermost elliptical light ring is always equal to the above-mentioned initial diameter, and the long axis length changes with the change of β. Wherein, the second horizontal direction is consistent with the extension direction of the roadway. Therefore, by comparing the short axis length of the outermost elliptical light ring with the calibration data in the database, the distance d between the laser emitter 4 and the coal wall 10 can be obtained; by comparing the long axis length of the outermost elliptical light ring with the calibration data in the database, the included angle α or β between the laser emitter 4 and the coal wall 10 can be obtained.

[0119] Optionally, as Figures 3 to 10 shown, the steps of obtaining the image information of the light spot image 30 include:

[0120] The cross-shaped light spot includes two one-dimensional light spots perpendicular to each other. Taking the point corresponding to the center of the cross-shaped light spot in the light spot image 30 as the origin O1, taking the line corresponding to one of the two one-dimensional light spots in the light spot image 30 as the X1 axis, and taking the line corresponding to the other one-dimensional light spot in the light spot image 30 as the Y1 axis to establish a two-dimensional first rectangular coordinate system;

[0121] The main camera has a field of view 20. Taking the center of the field of view 20 as the origin O2, taking the symmetry axis parallel to the X1 axis of the field of view 20 as the X2 axis, and taking the symmetry axis parallel to the Y1 axis of the field of view 20 as the Y2 axis to establish a two-dimensional second rectangular coordinate system;

[0122] When the origin O1 of the first rectangular coordinate system coincides with the origin O2 of the second rectangular coordinate system, the light spot image 30 includes n circular light rings formed by n circular light spots. Obtain the diameter of the outermost circular light ring as the image information of the light spot image 30;

[0123] When the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system is offset along the Y2 axis from the second rectangular coordinate system, or when the X1 axis of the first rectangular coordinate system is offset from the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system coincides with the second rectangular coordinate system along the Y2 axis, the spot image 30 includes n elliptical rings formed by n circular spots. The major axis length and minor axis length of the outermost elliptical ring are obtained as the image information of the spot image 30.

[0124] It can be understood that, as Figure 5 and Figure 6 shown, when the laser emission direction of the laser emitter 4 is perpendicular to the coal wall 10, the origin O1 of the first rectangular coordinate system coincides with the origin O2 of the second rectangular coordinate system. At this time, when the 5 circular spots of the cross-circular spot illuminate the coal wall 10, 5 circular rings will be formed, that is, the spot image 30 includes 5 circular rings. Taking the X1 axis extending along the second horizontal direction and the Y1 axis extending along the vertical direction as an example, where the second horizontal direction is consistent with the extension direction of the roadway. As Figure 3 and Figure 4 shown, when the laser emission direction of the laser transmitter 3 is parallel to the vertical reference plane, and the laser emission direction of the laser emitter 4 forms an acute angle with the coal wall 10, the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system is offset along the Y2 axis from the second rectangular coordinate system. At this time, when the 5 circular spots of the cross-circular spot illuminate the coal wall 10, 5 elliptical rings will be formed, that is, the spot image 30 includes 5 elliptical rings, and the major axis of each elliptical ring extends along the vertical direction. As Figure 7 and Figure 8 shown, when the laser emission direction of the laser transmitter 3 is parallel to the horizontal reference plane, and the laser emission direction of the laser emitter 4 forms an acute angle with the coal wall 10, the X1 axis of the first rectangular coordinate system is offset from the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system coincides with the second rectangular coordinate system along the Y2 axis. At this time, when the 5 circular spots of the cross-circular spot illuminate the coal wall 10, 5 elliptical rings will be formed, that is, the spot image 30 includes 5 elliptical rings, and the major axis of each elliptical ring extends along the second horizontal direction.

[0125] For the convenience of processing the spot image 30, when the laser emission direction of the laser emitter 4 is perpendicular to the roadway side 1001, the two linear spots are perpendicular to each other, and one of the two linear spots is parallel to the first horizontal direction, and the other of the two linear spots is parallel to the vertical direction; when the laser emission direction of the laser emitter 4 is perpendicular to the top wall 1002, the two linear spots are perpendicular to each other, and one of the two linear spots is parallel to the first horizontal direction, and the other of the two linear spots is parallel to the second horizontal direction. Wherein, the first horizontal direction is perpendicular to the second horizontal direction, and both the first horizontal direction and the second horizontal direction are perpendicular to the vertical direction.

[0126] Optionally, when the spot image includes n circular light rings, the X1 axis of the first rectangular coordinate system forms 2n first intersections with the n circular light rings, and the 2n first intersections are successively (x1, 0), (x2, 0), (x3, 0),..., (x 2n , 0), the Y1 axis of the first rectangular coordinate system forms 2n second intersections with the n circular light rings, and the 2n second intersections are successively (0, y1), (0, y2), (0, y3),..., (0, y 2n ), x 2n The absolute value of the difference between 2n and y1 is the diameter of the outermost circular light ring.

[0127] For example, as Figure 5 and Figure 6 shown, the spot image includes 5 circular light rings, the X1 axis of the first rectangular coordinate system forms 10 first intersections with the 5 circular light rings, and the 10 first intersections are successively (x1, 0), (x2, 0), (x3, 0), (x4, 0), (x5, 0), (x6, 0), (x7, 0), (x8, 0), (x9, 0)(x 10 , 0), the 10 second intersections are successively (0, y1), (0, y2), (0, y3), (0, y4), (0, y5), (0, y6), (0, y7), (0, y8), (0, y9), (0, y 10 ). The absolute value of the difference between x 10 and x1, and the absolute value of the difference between y 10 and y1 is the diameter of the outermost circular light ring.

[0128] Optionally, when the spot image includes n elliptical light rings, the X1 axis of the first rectangular coordinate system forms 2n first intersections with the n elliptical light rings, and the 2n first intersections are successively (x1, 0), (x2, 0), (x3, 0),..., (x 2n, 0), the Y1 axis of the first rectangular coordinate system forms 2n second intersection points with n elliptical light rings. The 2n second intersection points are successively (0, y1), (0, y2), (0, y3),..., (0, y 2n ), x 2n The larger one of the absolute value of the difference between and x1 and the absolute value of the difference between y 2n and y1 is the major axis length of the outermost elliptical light ring, x 2n The smaller one of the absolute value of the difference between and x1 and the absolute value of the difference between y 2n and y1 is the minor axis length of the outermost elliptical light ring.

[0129] For example, as Figure 3 and Figure 4 shown, the light spot image includes 5 elliptical light rings. The X1 axis of the first rectangular coordinate system forms 10 first intersection points with 5 elliptical light rings. The 10 first intersection points are successively (x1, 0), (x2, 0), (x3, 0), (x4, 0), (x5, 0), (x6, 0), (x7, 0), (x8, 0), (x9, 0)(x 10 , 0), and the 10 second intersection points are successively (0, y1), (0, y2), (0, y3), (0, y4), (0, y5), (0, y6), (0, y7), (0, y8), (0, y9), (0, y 10 ). x 10 The absolute value of the difference between and x1 is less than the absolute value of the difference between y 10 and y1. The absolute value of the difference between y 10 and y1 is the major axis length of the outermost elliptical light ring, and the absolute value of the difference between x 10 and x1 is the minor axis length of the outermost elliptical light ring. Again, as Figure 7 and Figure 8 shown, the light spot image includes 5 elliptical light rings. The X1 axis of the first rectangular coordinate system forms 10 first intersection points with 5 elliptical light rings. The 10 first intersection points are successively (x1, 0), (x2, 0), (x3, 0), (x4, 0), (x5, 0), (x6, 0), (x7, 0), (x8, 0), (x9, 0)(x 10 , 0), and the 10 second intersection points are successively (0, y1), (0, y2), (0, y3), (0, y4), (0, y5), (0, y6), (0, y7), (0, y8), (0, y9), (0, y 10 ). x 10 The absolute value of the difference between and x1 is greater than the absolute value of the difference between y 10 and y1. y 10The absolute value of the difference from y1 is the length of the minor axis of the outermost elliptical light ring, x 10 The absolute value of the difference from x1 is the length of the major axis of the outermost elliptical light ring.

[0130] Optionally, as Figure 9 and Figure 10 shown, when the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are offset, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are offset, first use the controller to control the anchor drill 3 to move in at least one direction parallel to the X1 axis and the Y1 axis, so that the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and / or the Y1 axis of the first rectangular coordinate system coincides with the Y2 axis of the second rectangular coordinate system, and then obtain the spot image 30 on the coal wall 10 using the main camera 501.

[0131] When the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are offset, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are offset, and the anchor drill 3 moves in a direction parallel to the X1 axis so that the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are offset. The spot image 30 includes n elliptical light rings formed by n circular spots. Obtain the length of the major axis and the length of the minor axis of the outermost elliptical light ring as the image information of the spot image 30. Compare the image information of the spot image 30 with the calibration data in the database, and the distance d and the angle between the laser emitter 4 and the coal wall 10 can be obtained.

[0132] When the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are offset, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are offset, and the anchor drill 3 moves in a direction parallel to the Y1 axis so that the Y1 axis of the first rectangular coordinate system coincides with the Y2 axis of the second rectangular coordinate system, the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are offset, and the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are offset along the X2 axis. The spot image 30 includes n elliptical light rings formed by n circular spots. Obtain the length of the major axis and the length of the minor axis of the outermost elliptical light ring as the image information of the spot image 30. Compare the image information of the spot image 30 with the calibration data in the database, and the distance d and the angle between the laser emitter 4 and the coal wall 10 can be obtained.

[0133] When the X1-axis of the first rectangular coordinate system is offset from the X2-axis of the second rectangular coordinate system, and the Y1-axis of the first rectangular coordinate system is offset from the Y2-axis of the second rectangular coordinate system along the Y2-axis, and the bolt drill 3 moves in a direction parallel to the X1-axis and in a direction parallel to the Y1-axis, such that the X1-axis of the first rectangular coordinate system coincides with the X2-axis of the second rectangular coordinate system, and the Y1-axis of the first rectangular coordinate system coincides with the Y2-axis of the second rectangular coordinate system, the light spot image 30 includes n circular light rings formed by n circular light spots. The diameter or area of the outermost circular light ring is obtained as the image information of the light spot image 30. By comparing the image information of the light spot image 30 with the calibration data in the database, the distance d between the laser emitter 4 and the coal wall 10 can be obtained.

[0134] That is to say, when the X1-axis of the first rectangular coordinate system is offset from the X2-axis of the second rectangular coordinate system, and the Y1-axis of the first rectangular coordinate system is offset from the Y2-axis of the second rectangular coordinate system along the Y2-axis, first use the controller to control the movement of the bolt drill 3, such that the X1-axis of the first rectangular coordinate system coincides with the X2-axis of the second rectangular coordinate system, and / or the Y1-axis of the first rectangular coordinate system coincides with the Y2-axis of the second rectangular coordinate system; then, obtain the image information of the light spot image 30 at this time; after that, compare the obtained image information of the light spot image 30 with the calibration data to obtain the pose of the laser emitter 4 at this time; then, use the controller to control the movement of the moving arm 2 to adjust the bolt drill 3 to the preset pose, so as to use the bolt drill 3 to perform bolt or cable bolt operations.

[0135] Optionally, the step of obtaining the pose of the laser emitter 4 further includes:

[0136] When the origin O1 of the first rectangular coordinate system is located on the positive half-axis of the X2-axis of the second rectangular coordinate system, it is obtained that the laser emitter 4 is inclined to one side in the first direction;

[0137] When the origin O1 of the first rectangular coordinate system is located on the negative half-axis of the X2-axis of the second rectangular coordinate system, it is obtained that the laser emitter 4 is inclined to the other side in the first direction;

[0138] When the origin O1 of the first rectangular coordinate system is located on the positive half-axis of the Y2-axis of the second rectangular coordinate system, it is obtained that the laser emitter 4 is inclined to one side in the second direction;

[0139] When the origin O1 of the first rectangular coordinate system is located on the negative half-axis of the Y2-axis of the second rectangular coordinate system, it is obtained that the laser emitter 4 is inclined to the other side in the second direction;

[0140] When the origin O1 of the first rectangular coordinate system is located in the first quadrant of the second rectangular coordinate system, it is obtained that the laser emitter 4 is inclined to one side in the first direction and one side in the second direction at the same time;

[0141] When the origin O1 of the first rectangular coordinate system is located in the second quadrant of the second rectangular coordinate system, it is obtained that the laser emitter 4 is inclined to the other side of the first direction and one side of the second direction;

[0142] When the origin O1 of the first rectangular coordinate system is located in the third quadrant of the second rectangular coordinate system, it is obtained that the laser emitter 4 is inclined to the other side of the first direction and the other side of the second direction;

[0143] When the origin O1 of the first rectangular coordinate system is located in the fourth quadrant of the second rectangular coordinate system, it is obtained that the laser emitter 4 is inclined to one side of the first direction and the other side of the second direction;

[0144] Wherein, the first direction is parallel to the X1 axis of the first rectangular coordinate system, and the second direction is parallel to the Y1 axis of the first rectangular coordinate system.

[0145] For example, the first direction can be the front-back direction, and the second direction can be the up-down direction. As Figure 3 and Figure 4 shown, when the origin O1 of the first rectangular coordinate system is located on the positive semi-axis of the Y2 axis of the second rectangular coordinate system, the laser emitter 4 is inclined upward; similarly, when the origin O1 of the first rectangular coordinate system is located on the negative semi-axis of the Y2 axis of the second rectangular coordinate system, the laser emitter 4 is inclined downward. As Figure 7 and Figure 8 shown, when the origin O1 of the first rectangular coordinate system is located on the positive semi-axis of the X2 axis of the second rectangular coordinate system, the laser emitter 4 is inclined to one side of the extending direction of the roadway (for example, the front side of the roadway); similarly, when the origin O1 of the first rectangular coordinate system is located on the negative semi-axis of the X2 axis of the second rectangular coordinate system, the laser emitter 4 is inclined to one side of the extending direction of the roadway (for example, the rear side of the roadway). As Figure 9 and Figure 10 shown, when the origin O1 of the first rectangular coordinate system is located in the first quadrant of the second rectangular coordinate system, the laser emitter 4 is inclined upward and forward simultaneously; similarly, when the origin O1 of the first rectangular coordinate system is located in the second quadrant of the second rectangular coordinate system, the laser emitter 4 is inclined upward and backward simultaneously; when the origin O1 of the first rectangular coordinate system is located in the third quadrant of the second rectangular coordinate system, the laser emitter 4 is inclined downward and backward simultaneously; when the origin O1 of the first rectangular coordinate system is located in the fourth quadrant of the second rectangular coordinate system, the laser emitter 4 is inclined downward and forward simultaneously.

[0146] Optionally, when the camera detection device 5 includes the auxiliary camera 502, the auxiliary camera 502 can be used to obtain images of the bolt or cable bolt that has been supported in the roadway, and the image processor is used to obtain the positions of the bolt or cable bolt that has been supported in the roadway, so as to obtain the positions of the bolt or cable bolt that has not been supported based on the bolt or cable bolt that has been supported in the roadway, providing a positioning function for the bolt or cable bolt that has not been supported. Taking the position of the bolt or cable bolt that has not been supported as the preset position, when the preset position is obtained, the controller can be used to control the movement of the moving arm 2, so that the bolt drill 3 moves to the preset position.

[0147] In summary, the roadway support method of the bolt drill vehicle according to the embodiment of the present invention includes:

[0148] Using the auxiliary camera 502 to obtain images of the bolt or cable bolt that has been supported in the roadway;

[0149] Using the image processor to obtain the positions of the bolt or cable bolt that has been supported in the roadway and obtain the preset position of the position of the bolt or cable bolt that has not been supported;

[0150] Using the controller to control the movement of the moving arm 2 to adjust the bolt drill 3 to the preset position;

[0151] Using the laser emitter 4 to emit a cross-circular spot to the coal wall 10;

[0152] Using the main camera 501 to obtain the spot image 30 on the coal wall 10;

[0153] Using the image processor to process the spot image 30 to obtain the pose of the bolt drill 3;

[0154] Using the controller to control the movement of the moving arm 2 to adjust the bolt drill 3 to the preset pose;

[0155] Using the bolt drill 3 to perform the operation of driving bolts or cable bolts.

[0156] It can be understood that during the process of using the controller to control the movement of the moving arm 2, it is necessary to use the laser emitter 4, the main camera 501 and the image processor to detect the pose of the bolt drill 3 multiple times. The controller controls the moving direction and moving distance of the moving arm 2 according to the pose detection result of the bolt drill 3 each time, until the pose detection result of the bolt drill 3 is equal to the preset pose, then the controller controls the moving arm 2 to stop moving, and the bolt drill 3 is adjusted to the preset pose.

[0157] The roadway support method of the bolter jumbo according to the embodiment of the present invention realizes the detection of the position and pose of the bolter 3 during the operation of the bolter 3 through the laser emitter 4, the camera detection device 5 and the image processor, and controls the position and pose adjustment of the bolter 3 by using the controller, replacing manual operation to realize the position and pose adjustment of the bolter during the roadway support operation, reducing the number of personnel used, lowering the labor intensity of workers, and improving the roadway forming speed and the automation degree of the bolter jumbo 100.

[0158] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0159] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0160] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "connected to", "fixed" and other terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection or communication with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0161] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the horizontal height of the first feature is less than that of the second feature.

[0162] In the present invention, the terms "an embodiment", "some embodiments", "an example", "a specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0163] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions, and variations made by those of ordinary skill in the art to the above embodiments are within the protection scope of the present invention.

Claims

1. A roadway support method for an anchor drill jumbo, characterized in that, The bolt drill jumbo includes: A frame; A bolt drill, which is connected to the frame through a moving arm, and the moving arm is used to adjust the position and pose of the bolt drill; A laser emitter, which is arranged on the bolt drill, and the laser emitter can emit a cross-circular light spot. The cross-circular light spot includes a cross-shaped light spot and n circular light spots with coincident centers, where n is an integer greater than or equal to 2; A camera detection device, which is arranged on the frame. The camera detection device includes a main camera, and the main camera is used to obtain a light spot image of the cross-circular light spot irradiated on the coal wall; An image processor, which is arranged on the frame. The image processor is signal-connected to the main camera to obtain the position and pose of the bolt drill according to the light spot image; and A controller, to which both the moving arm and the image processor are signal-connected; The roadway support method includes: Using the laser emitter to emit a cross-circular light spot onto the coal wall; Using the main camera to obtain the light spot image on the coal wall; Using the image processor to process the light spot image to obtain the position and pose of the bolt drill; Using the controller to control the movement of the moving arm to adjust the bolt drill to a preset position and pose; Using the bolt drill to perform bolt or cable anchor operations; Wherein, the position and pose of the bolt drill include the distance between the bolt drill and the coal wall, and the angle between the bolt drill and the coal wall; The steps of obtaining the position and pose of the bolt drill include: Calibrating the laser emitter in advance and storing the calibration data in a database. Wherein, calibrating the laser emitter includes: the cross-circular light spot emitted by the laser emitter irradiates on a calibration plane, so that a calibration light spot appears on the calibration plane, and obtaining 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; Processing the light spot image to obtain the image information of the light spot image; Comparing the obtained image information of the light spot image with the calibration data in the database to obtain the position and pose of the laser emitter; Obtaining the position and pose of the bolt drill according to the relative position between the laser emitter and the bolt drill; Wherein, when the calibration light spot includes n circular apertures formed by n circular light spots, the image information of the calibration light spot includes the diameter and / or area of the outermost circular aperture in the calibration light spot; when the calibration light spot includes n elliptical apertures formed by n circular light spots, the image information of the calibration light spot includes the major axis length and minor axis length of the outermost elliptical aperture in the calibration light spot; When the spot image includes n circular light rings formed by n of the circular spots, the image information of the spot image includes the diameter and / or area of the outermost circular light ring in the spot image; when the spot image includes n elliptical light rings formed by n of the circular spots, the image information of the spot image includes the major axis length and minor axis length of the outermost elliptical light ring in the spot image.

2. The roadway support method of the bolt drill jumbo according to claim 1, characterized in that, The step of obtaining the image information of the spot image includes: The cross-shaped light spot includes two linear light spots perpendicular to each other. Taking the point corresponding to the center of the cross-shaped light spot in the spot image as the origin O1, taking the line corresponding to one of the two linear light spots in the spot image as the X1 axis, and taking the line corresponding to the other of the two linear light spots in the spot image as the Y1 axis, a two-dimensional first rectangular coordinate system is established. The main camera has a field of view. Taking the center of the field of view as the origin O2, taking the symmetry axis parallel to the X1 axis of the field of view as the X2 axis, and taking the symmetry axis parallel to the Y1 axis of the field of view as the Y2 axis, a two-dimensional second rectangular coordinate system is established. When the origin O1 of the first rectangular coordinate system coincides with the origin O2 of the second rectangular coordinate system, the spot image includes n circular light rings formed by n of the circular spots, and the diameter of the outermost circular light ring is obtained as the image information of the spot image. When the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system is offset along the Y2 axis from the Y2 axis of the second rectangular coordinate system, or when the X1 axis of the first rectangular coordinate system is offset from the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system coincides with the Y2 axis of the second rectangular coordinate system along the Y2 axis, the spot image includes n elliptical light rings formed by n of the circular spots, and the major axis length and minor axis length of the outermost elliptical light ring are obtained as the image information of the spot image.

3. The roadway support method of the bolter drill jumbo according to claim 2, characterized in that, When the spot image includes n circular rings, the X1 axis of the first rectangular coordinate system forms 2n first intersections with the n circular rings, and the 2n first intersections are successively (x1, 0), (x2, 0), (x3, 0),..., (x 2n , 0). The Y1 axis of the first rectangular coordinate system forms 2n second intersections with the n circular rings, and the 2n second intersections are successively (0, y1), (0, y2), (0, y3),..., (0, y 2n ). The absolute value of the difference between the x 2n and x1, and the absolute value of the difference between the y 2n and y1 are the diameters of the outermost circular ring; When the spot image includes n of the elliptical rings, the X1 axis of the first rectangular coordinate system forms 2n first intersections with the n elliptical rings, and the 2n first intersections are successively (x1, 0), (x2, 0), (x3, 0),..., (x 2n , 0), the Y1 axis of the first rectangular coordinate system forms 2n second intersections with the n elliptical rings, and the 2n second intersections are successively (0, y1), (0, y2), (0, y3),..., (0, y 2n ), the absolute value of the difference between the x 2n and x1 and the larger one of the absolute values of the differences between the y 2n and y1 is the major axis length of the outermost elliptical ring, and the smaller one of the absolute value of the difference between the x 2n and x1 and the absolute value of the difference between the y 2n and y1 is the minor axis length of the outermost elliptical ring.

4. The roadway support method of the bolt drill jumbo according to claim 2, characterized in that, When the X1 axis of the first rectangular coordinate system is offset from the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system is offset from the Y2 axis of the second rectangular coordinate system, first move the moving arm so that the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and / or the Y1 axis of the first rectangular coordinate system coincides with the Y2 axis of the second rectangular coordinate system, and then use the main camera to obtain the spot image on the coal wall.

5. The roadway support method of the bolt drill jumbo according to claim 1, characterized in that, The optical axis of the main camera is perpendicular to the coal wall; The bolt drill includes a drill rig and a drill box. The drill rig is connected to the moving arm, the drill box is movably arranged on the drill rig, and the laser emission direction of the laser emitter is parallel to the moving direction of the drill box.

6. The roadway support method of the roof bolter according to claim 5, characterized in that, The main camera includes a lens, and a filter is provided on the object side of the lens. The filter allows light with a wavelength equal to that emitted by the laser emitter to pass through.

7. The roadway support method of the roof bolter according to claim 5, characterized in that, The camera detection device further includes an auxiliary camera, which is arranged on the vehicle frame and is used to acquire the environmental image in the roadway, and the auxiliary camera is signal-connected to the image processor.

8. The roadway support method of the roof bolter according to claim 7, characterized in that, The camera detection device includes a cover body, a main light-transmitting plate and an auxiliary light-transmitting plate. The cover body has a main light-transmitting hole and an auxiliary light-transmitting hole. The main light-transmitting plate seals the main light-transmitting hole, and the auxiliary light-transmitting plate seals the auxiliary light-transmitting hole. The cover body, the main light-transmitting plate and the auxiliary light-transmitting plate form a closed installation cavity. The cover body is a metal cover body, and the cover body is connected to the vehicle frame. The main camera and the auxiliary camera are both arranged in the installation cavity, and the main camera is arranged corresponding to the main light-transmitting plate, and the auxiliary camera is arranged corresponding to the auxiliary light-transmitting plate.

Images