Bolter jumbo and roadway support method of bolter jumbo

Abstract

The present invention discloses a bolt drill jumbo and a roadway support method for a bolt drill jumbo. The bolt drill jumbo includes a vehicle body, a bolt drill rig, a detection camera system, an image processing system, and a control system. A robotic arm is provided on the vehicle body; the bolt drill rig is connected to the robotic arm, and the robotic arm is used to adjust the position and pose of the bolt drill rig. A laser emitter capable of emitting a cross-circular light spot is provided on the bolt drill rig. The cross-circular light spot includes a circular light spot and a cross-linear light spot with coincident centers; the detection camera system is provided on the vehicle body, and the detection camera system includes a first camera, and the first camera is used to acquire a light spot image of the cross-circular light spot irradiated on the coal wall; the image processing system is provided on the vehicle body, and the image processing system is signal-connected to the first camera to obtain the position and pose of the bolt drill rig according to the light spot image; both the robotic arm and the image processing system are signal-connected to the control system. The bolt drill jumbo according to 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 a bolter and a roadway support method for a bolter. Background Art

[0002] The main factor affecting the tunneling speed of coal roadways is the roadway support operation. In related technologies, when using a bolter for support operation, an operator needs to manually operate a handle to operate a hydraulic valve group to adjust the pose of the bolter, ensuring that the bolt is driven into the sidewall or roof of the roadway in a determined pose. The pose adjustment efficiency of the bolter is low. The low pose adjustment efficiency of the bolter not only results in a low roadway formation speed, affecting 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 a bolter to improve the coal mining efficiency of a coal mine.

[0005] The bolter according to an embodiment of the present invention includes a vehicle body, a bolter, a detection camera system, an image processing system, and a control system. A robotic arm is provided on the vehicle body. The bolter is connected to the robotic arm, and the robotic arm is used to adjust the pose of the bolter. A laser emitter capable of emitting a cross-circular light spot is provided on the bolter. The cross-circular light spot includes a circular light spot and a cross-linear light spot with coincident centers. The detection camera system is provided on the vehicle body. The detection camera system includes a first camera, and the first camera is used to acquire a light spot image of the cross-circular light spot irradiated on the coal wall. The image processing system is provided on the vehicle body. The image processing system is signal-connected to the first camera to obtain the pose of the bolter according to the light spot image. Both the robotic arm and the image processing system are signal-connected to the control system.

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

[0007] In some embodiments, the bolter further includes a roof plate. The roof plate is movably provided on the drill frame, and the roof plate is used to abut against the coal wall. The roof plate has a recess, and the laser emitter is provided in the recess.

[0008] In some embodiments, the first camera includes a lens, and a filter is provided on the object side of the lens, and the filter allows light with a wavelength equal to that emitted by the laser emitter to pass through.

[0009] In some embodiments, the detection camera system further includes a second camera, the second camera is provided on the vehicle body, the second camera is used to acquire an environmental image in the roadway, and the second camera is signal-connected to the image processing system.

[0010] In some embodiments, the detection camera system further includes a housing, the housing is connected to the vehicle body, the housing has an installation cavity, and both the first camera and the second camera are provided in the installation cavity.

[0011] An embodiment of the present invention also provides a roadway support method for a bolt drill rig.

[0012] The roadway support method of the bolt drill rig according to the embodiment of the present invention includes:

[0013] Using the laser emitter to emit a cross-circular light spot on the coal wall;

[0014] Using the first camera to acquire the light spot image on the coal wall;

[0015] Using the image processing system to process the light spot image to obtain the pose of the bolt drill rig;

[0016] Using the control system to control the movement of the robotic arm to adjust the bolt drill rig to a preset pose;

[0017] Using the bolt drill rig to perform bolt or cable bolt operations;

[0018] Wherein, the pose of the bolt drill rig includes the distance between the bolt drill rig and the coal wall, and the angle between the bolt drill rig and the coal wall.

[0019] In some embodiments, the step of obtaining the pose of the bolt drill rig includes:

[0020] Pre-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 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 angle between the laser emission direction of the laser emitter and the calibration plane;

[0021] Processing the light spot image to obtain the image information of the light spot image;

[0022] Compare the image information of the obtained spot image with the calibration data in the database to obtain the pose of the laser emitter;

[0023] Obtain the pose of the bolt drill according to the relative position between the laser emitter and the bolt drill;

[0024] Wherein, when the calibration spot includes a circular light pattern formed by the circular spot, the image information of the calibration spot includes the diameter or area of the circular light pattern; when the calibration spot includes an elliptical light pattern formed by the circular spot, the image information of the calibration spot includes the major axis length and minor axis length of the elliptical light pattern;

[0025] When the spot image includes a circular part formed by the circular spot, the image information of the spot image includes the diameter or area of the circular part; when the spot image includes an elliptical part formed by the circular spot, the image information of the spot image includes the major axis length and minor axis length of the elliptical part.

[0026] In some embodiments, the step of obtaining the image information of the spot image includes:

[0027] The cross-shaped spot includes two one-dimensional 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 one-dimensional spots in the spot image as the X1 axis, and taking the line corresponding to the other one-dimensional spot in the two one-dimensional spots in the spot image as the Y1 axis, establish a two-dimensional first rectangular coordinate system;

[0028] The first 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, establish a two-dimensional second rectangular coordinate system;

[0029] 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 a circular part formed by the circular spot, and obtain the diameter or area of the circular part as the image information of the spot image;

[0030] 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 an elliptical part formed by the circular spot, and the major axis length and minor axis length of the elliptical part are obtained as the image information of the spot image.

[0031] In some embodiments, the spot image includes a cross-shaped part formed by the cross-shaped spot;

[0032] When the spot image includes the circular part, the cross-shaped part and the circular part form four intersection points. In the first rectangular coordinate system, the four intersection points are respectively (0, x1), (0, x2), (y1, 0), (y2, 0). The absolute value of the difference between x2 and x1 is the diameter of the circular part, and the absolute value of the difference between y2 and y1 is the diameter of the circular part;

[0033] When the spot image includes the elliptical part, the cross-shaped part and the elliptical part form four intersection points. In the first rectangular coordinate system, the four intersection points are respectively (0, x1), (0, x2), (y1, 0), (y2, 0). The larger one of the absolute value of the difference between x2 and x1 and the absolute value of the difference between y2 and y1 is the major axis length, and the smaller one of the absolute value of the difference between x2 and x1 and the absolute value of the difference between y2 and y1 is the minor axis length.

[0034] When the bolt drill jumbo of the embodiment of the present invention performs roadway support operations, a cross-shaped 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 a first camera; the image processing system processes the obtained spot image to obtain the pose of the bolt drill rig; the control system controls the movement of the robotic arm to adjust the bolt drill rig to a preset pose, and the bolt drill rig is used to perform bolt or cable bolt operations. Thus, during roadway support operations, the automatic adjustment of the pose of the bolt drill rig can be realized. Compared with the prior art in which the pose of the bolt drill rig is adjusted by manually operating the handle to operate the hydraulic valve group, the pose adjustment efficiency of the bolt drill rig 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. Therefore, the bolt drill jumbo of the embodiment of the present invention has the advantages of high roadway forming speed and high automation degree. Description of the Drawings

[0035] Figure 1It is a schematic structural diagram of a bolt drill jumbo according to an embodiment of the present invention.

[0036] Figure 2 It is Figure 1 a three-dimensional view of the bolt drill in

[0037] Figure 3 It is Figure 1 the front view of the bolt drill in

[0038] Figure 4 It is Figure 1 the right view of the bolt drill in

[0039] Figure 5 It is Figure 1 a three-dimensional view of the detection camera system in

[0040] Figure 6 It is Figure 1 the front view of the detection camera system in

[0041] Figure 7 It is a flowchart of the roadway support method of the bolt drill jumbo according to an embodiment of the present invention.

[0042] Figure 8 It is a schematic structural diagram of a bolt drill jumbo in the first use state according to an embodiment of the present invention.

[0043] Figure 9 It is Figure 8 a partial structural schematic diagram of the bolt drill, the field of view of the first camera, and the roadway in

[0044] Figure 10 It is Figure 8 a relationship diagram between the spot image and the field of view of the first camera in

[0045] Figure 11 It is a partial structural schematic diagram of the bolt drill, the field of view of the first camera, and the roadway when the bolt drill jumbo is in the second use state according to an embodiment of the present invention.

[0046] Figure 12 It is Figure 11 a relationship diagram between the spot image and the field of view of the first camera in

[0047] Figure 13 It is a partial structural schematic diagram of the bolt drill, the field of view of the first camera, and the roadway when the bolt drill jumbo is in the third use state according to an embodiment of the present invention.

[0048] Figure 14 It is Figure 13 a relationship diagram between the spot image and the field of view of the first camera in

[0049] Figure 15It is a schematic diagram of the local structure of a roadway, the field of view of a bolt drilling rig and a first camera when the bolt drilling jumbo in an embodiment of the present invention is in the fourth usage state.

[0050] Figure 16 is Figure 15 It is a relationship diagram between the spot image and the field of view of the first camera in

[0051] Reference numerals:

[0052] Bolt drilling jumbo 100;

[0053] Vehicle body 1;

[0054] Manipulator 2;

[0055] Bolt drilling rig 3; Drilling boom 301; Drilling box 302; Roof 303; First plate body 3031; Second plate body 3032; Third plate body 3033; Transparent cover 304;

[0056] Laser emitter 4;

[0057] Detection camera system 5; First camera 501; Second camera 502; Housing 503; Installation cavity 5031; Metal cover 5032; First light-transmitting plate 5033; Second light-transmitting plate 5034; Wire passing hole 5035; Filter 504;

[0058] Coal wall 10; Rib 1001; Roof wall 1002;

[0059] Field of view 20;

[0060] Spot image 30. Detailed implementation manners

[0061] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0062] As Figures 1 to 16 shown, the bolt drilling jumbo 100 in the embodiment of the present invention includes a vehicle body 1, a bolt drilling rig 3, a detection camera system 5, an image processing system (not shown in the figure) and a control system (not shown in the figure). A manipulator 2 is provided on the vehicle body 1. The bolt drilling rig 3 is connected to the manipulator 2, and the manipulator 2 is used to adjust the position and pose of the bolt drilling rig 3.

[0063] The bolt drill rig 3 is provided with a laser emitter 4 capable of emitting a cross-circular light spot. The cross-circular light spot includes a circular light spot and a cross-linear light spot with coincident centers. The detection camera system 5 is arranged on the vehicle body 1. The detection camera system 5 includes a first camera 501, and the first camera 501 is used to obtain a light spot image 30 of the cross-circular light spot irradiated on the coal wall 10. The image processing system is arranged on the vehicle body 1. The image processing system is signal-connected to the first camera 501 to obtain the pose of the bolt drill rig 3 according to the light spot image 30. Both the robotic arm 2 and the image processing system are signal-connected to the control system. Among them, the coal wall 10 can be regarded as a plane.

[0064] It is known to those skilled in the art that the cross-circular 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 is different, when the cross-circular light spot emitted by the laser emitter 4 is irradiated on the coal wall 10, compared with the cross-circular light spot emitted by the laser emitter 4, the size of the light 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 light spot emitted by the laser emitter 4 is irradiated on the coal wall 10, both the shape and size of the light spot formed on the coal wall 10 will change. For example, the light spot formed on the coal wall 10 is a cross-elliptical light spot. Among them, the cross-elliptical light spot includes an elliptical part and a cross-linear part with coincident centers, and the circular light spot of the cross-circular light spot is irradiated on the coal wall 10 to form the elliptical part of the above cross-elliptical light spot, and the cross-linear light spot of the cross-circular light spot is irradiated on the coal wall 10 to form the cross-linear part of the above cross-elliptical light spot.

[0065] 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 light spot formed on the coal wall 10 each time are the same. Among them, the size of the light spot includes the area and diameter (or major axis length, minor axis length) of the light spot formed by the circular light spot of the cross-circular light spot irradiated on the coal wall 10. Among them, the shape and size of the light spot are the image information of the light spot.

[0066] In summary, there is a unique and definite corresponding relationship among 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 the convenience of description, hereinafter, the distance between the laser emitter 4 and the coal wall 10 is defined as the calibration distance, the angle between the laser emission direction of the laser emitter 4 and the coal wall 10 is defined as the calibration angle, the shape of the light spot formed on the coal wall 10 is defined as the calibration shape, and the size of the light spot formed on the coal wall 10 is defined as the calibration size. Then, there is a unique and definite corresponding relationship among the calibration distance, the calibration angle, the calibration shape, and the calibration size. That is, when the calibration distance and the calibration 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 angle are also uniquely determined.

[0067] For the convenience of description, at the roadway support site, the shape of the light spot formed on the coal wall 10 is defined as the detection shape, the size of the light spot formed on the coal wall 10 is defined as the detection size, the distance between the laser emitter 4 and the coal wall 10 is defined as the detection distance, and the angle between the laser emission direction of the laser emitter 4 and the coal wall 10 is defined as the detection angle. Among them, the light spot image 30 obtained by the first 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 among 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 among 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 the calibration distance, the calibration angle, the calibration shape, and the calibration size, and at least one of the calibration distance and the calibration angle is different between different data groups. Specifically, the detection shape and the detection size are compared with the above database, and the data group with the calibration shape equal to the detection shape and the calibration size equal to the detection size is found in the database. 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.

[0068] Thus, by fixing the laser emitter 4 on the bolt drilling rig 3, the relative position between the laser emitter 4 and the bolt drilling rig 3 is fixed, and the pose of the laser emitter 4 changes with the pose of the bolt drilling rig 3. Then, based on 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 pose of the bolt drilling rig 3 can be obtained. Herein, the pose of the bolt drilling rig 3 includes the distance between the bolt drilling rig 3 and the coal wall 10 and the angle between the bolt drilling rig 3 and the coal wall 10. The angle between the bolt drilling rig 3 and the coal wall 10 can be the angle between the moving direction of the drill box 302 on the bolt drilling rig 3 and the coal wall 10.

[0069] The laser emitter 4 can be used to irradiate a calibration plane (the coal wall 10 or other flat surfaces) at different distances and angles in advance, and the image information (including shape and size) of the light spot formed on the calibration plane during each irradiation can be obtained. Thus, multiple data sets 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 can be obtained, and these data sets are stored in the database as calibration data. When the bolt drilling vehicle 100 is actually used, the laser emitter 4 is used to irradiate the coal wall 10, and the first 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 sets 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 bolt drilling rig 3, the distance between the bolt drilling rig 3 and the coal wall 10 and the angle between the bolt drilling rig 3 and the coal wall 10 can be further calculated, that is, the pose of the bolt drilling rig 3 can be obtained.

[0070] When the bolt drilling vehicle 100 according to 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 first camera 501 can be used to obtain the light spot image 30 on the coal wall 10; the obtained light spot image 30 is processed by an image processing system, and then the pose of the bolt drilling rig 3 can be obtained; the control system is used to control the movement of the robotic arm 2 to adjust the bolt drilling rig 3 to a preset pose, and the bolt drilling rig 3 is used to perform bolt or cable bolt operations.

[0071] Thus, during roadway support operations, the automatic adjustment of the pose of the bolt drilling rig can be realized. Compared with the related art in which the pose of the bolt drilling rig is adjusted by manually operating the handle to operate the hydraulic valve group, the efficiency of adjusting the pose of the bolt drilling rig is high, which is not only beneficial to improving the roadway formation speed and the coal mining efficiency of the coal mine, but also conducive to realizing the automation of roadway support operations.

[0072] Therefore, the bolter jumbo 100 according to the embodiments of the present invention has advantages such as high roadway driving speed and high degree of automation.

[0073] Optionally, as Figure 1 shown, the number of the bolter drills 3 is two, and the two bolter drills 3 are arranged at intervals in the width direction of the vehicle body 1.

[0074] In some embodiments, the bolter drill 3 includes a drill rig 301 and a drill box 302. The drill rig 301 is connected to the robotic arm 2, the drill box 302 is movably arranged on the drill rig 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 first camera 501 is perpendicular to the coal wall 10. Wherein, the drill box 302 is used for installing bolts or cables.

[0075] For example, a guide rail is provided on the drill rig 301, and a guide block is provided on the drill box 302. The guide block is movable along the extension direction of the guide rail. By using the cooperation between the guide block and the guide rail, the drill box 302 moves relative to the drill rig 301 along a preset direction, and the laser emission direction of the laser emitter 4 is parallel to the extension direction of the guide rail. As Figure 7 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 light spot to the rib wall 1001, the optical axis of the first camera 501 is perpendicular to the rib wall 1001, so that the first camera 501 can obtain the light spot image 30 of the cross-circular light spot irradiated on the rib wall 1001. In addition, it can be understood that when the laser emitter 4 emits a cross-circular light spot to the roof wall 1002, the optical axis of the first camera 501 is perpendicular to the roof wall 1002, so that the first camera 501 can obtain the light spot image 30 of the cross-circular light spot irradiated on the roof wall 1002.

[0076] By setting the laser emission direction of the laser emitter 4 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 bolter 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 bolter drill 3 and the coal wall 10 is obtained. By making the optical axis of the first camera 501 perpendicular to the coal wall 10, the light spot image 30 obtained by the first camera 501 is consistent with the light spot formed on the coal wall 10. Thus, the processing process of the image processing system is simpler, the processing time can be shortened, which is beneficial to further improving the pose adjustment efficiency of the bolter drill and the pose adjustment accuracy of the bolter drill.

[0077] 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 first camera 501 and the coal wall 10 may also be an acute angle.

[0078] Optionally, as Figures 2 to 4 shown, the bolt drill 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.

[0079] 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 extending direction of the slide rail. By using the cooperation of the slider and the slide rail, the roof plate 303 moves 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.

[0080] By arranging the laser emitter 4 on the roof plate 303, it can effectively avoid the components on the bolt drill 3 blocking the laser emitted by the laser emitter 4, and facilitate the laser emitter 4 to emit a complete cross-circular light spot to the coal wall 10. In addition, by arranging the laser emitter 4 in the recess, it can avoid the coal wall 10 squeezing the laser emitter 4 when the roof plate 303 abuts against the coal wall 10, resulting in damage to the laser emitter 4.

[0081] It should be noted that when the laser emitter 4 emits a cross-circular light 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 bolt drill 3 from entering the field of view of the first camera 501 and affecting the first camera 501 from obtaining the light spot image 30.

[0082] 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.

[0083] Optionally, a transparent cover is arranged at the recess of the roof plate 303. The transparent cover and the roof plate 303 enclose a closed chamber, and the laser emitter 4 is arranged in the closed chamber.

[0084] For example, as Figure 2 and Figure 3As shown, the top plate 303 includes a first plate body 3031, a second plate body 3032 and a third plate body 3033. The first plate body 3031 and the third plate body 3033 are respectively arranged at both ends of the second plate body 3032 in the length direction, and the first plate body 3031 and the third plate body 3033 are respectively arranged on both sides of the second plate body 3032 in the thickness direction, so that the first plate body 3031, the second plate body 3032 and the third plate body 3033 are integrally in a Z shape. The first plate body 3031 is used to abut against the coal wall 10. The second plate body 3032 and the third plate body 3033 enclose the above-mentioned recessed part, and the laser emitter 4 is connected to the third plate body 3033. The transparent cover 304 is connected to both the second plate body 3032 and the third plate body 3033, and the transparent cover 304, the second plate body 3032 and the third plate body 3033 enclose a closed chamber.

[0085] By arranging the laser emitter 4 in the closed chamber, it is possible to prevent underground coal dust and sewage from affecting the operation of the camera laser emitter 4.

[0086] Wherein, the transparent cover 304 can be made of acrylic material. The transparent cover 304 can be bonded to the top plate 303 or connected by fasteners, and the fasteners can be bolts, screws, etc.

[0087] In some embodiments, as Figure 5 and Figure 6 shown, the first camera 501 includes a lens, and a filter 504 is arranged 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.

[0088] 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 first camera 501, so that the spot image 30 obtained by using the first camera 501 has higher accuracy, which is beneficial to improving the pose adjustment accuracy of the bolt drill.

[0089] Optionally, a connecting cylinder is sleeved outside the filter 504, and the filter 504 is connected to the lens of the first camera 501 through the connecting cylinder.

[0090] In some embodiments, the detection camera system 5 further includes a second camera 502. The second camera 502 is arranged on the vehicle body 1, and the second camera 502 is used to obtain the environmental image in the roadway. The second camera 502 is signal-connected to the image processing system.

[0091] For example, the second 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. For another example, the second camera 502 is used to obtain the positions of the operators in the roadway, so as to prevent the bolt drill vehicle 100 from accidentally hitting the operators in the roadway.

[0092] Thus, by providing the second camera 502, it is beneficial to further improve the automation level of the bolt drill jumbo 100.

[0093] Optionally, the detection camera system 5 further includes a housing 503. The housing 503 is connected to the vehicle body 1 and has an installation cavity 5031. Both the first camera 501 and the second camera 502 are provided in the installation cavity 5031.

[0094] Wherein, the housing 503 and the vehicle body 1 can be welded or connected by fasteners. Between the first camera 501 and the housing 503 and between the second camera 502 and the housing 503, they can be connected by adhesion or fasteners. The above-mentioned fasteners can be bolts, screws, etc.

[0095] By providing both the first camera 501 and the second camera 502 in 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 first camera 501 and the second camera 502.

[0096] Optionally, the housing 503 includes a metal cover 5032, a first light-transmitting plate 5033, and a second light-transmitting plate 5034. The metal cover 5032 has a first light-transmitting hole for light to enter the first camera 501 and a second light-transmitting hole for light to enter the second camera 502. Both the first camera 501 and the second camera 502 are connected to the metal cover 5032. The first light-transmitting plate 5033 seals the first light-transmitting hole, and the second light-transmitting plate 5034 seals the second light-transmitting hole. The metal cover 5032, the first light-transmitting plate 5033, and the second light-transmitting plate 5034 define a closed installation cavity 5031. Among them, the first light-transmitting plate 5033 and the second light-transmitting plate 5034 can be made of other light-transmitting materials such as acrylic material and tempered glass material.

[0097] By designing the housing 503 as 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 first camera 501 and the second camera 502.

[0098] Optionally, a wire passing hole 5035 is provided on the metal cover 5032. The wire passing hole 5035 allows the power lines and signal lines of the first camera 501 and the second camera 502 to pass through.

[0099] As Figures 7 to 16 shown, the roadway support method of the bolt drill jumbo according to the embodiment of the present invention includes:

[0100] S01, using the laser emitter 4 to emit a cross-circular light spot onto the coal wall 10;

[0101] S02, using the first camera 501 to obtain the light spot image 30 on the coal wall 10;

[0102] S03. Process the spot image 30 using an image processing system to obtain the pose of the roof bolter 3.

[0103] S04. Use the control system to control the movement of the robotic arm 2 to adjust the roof bolter 3 to a preset pose.

[0104] S05. Use the roof bolter 3 to perform the operation of driving bolts or cables.

[0105] Wherein, the pose of the roof bolter 3 includes the distance between the roof bolter 3 and the coal wall 10 and the angle between the roof bolter 3 and the coal wall 10.

[0106] Thus, the roadway support method of the roof bolter vehicle according to the embodiment of the present invention can realize the automatic adjustment of the pose of the roof bolter. Compared with the related art in which the pose of the roof bolter is adjusted by manually operating the handle to operate the hydraulic valve group, it is not only beneficial to improve the roadway forming speed and the coal mining efficiency of the coal mine, but also conducive to realizing the automation of the roadway support operation.

[0107] Therefore, the roadway support method of the roof bolter vehicle according to the embodiment of the present invention has the advantages of high roadway forming speed and high automation degree.

[0108] Optionally, the pose of the laser emitter 4 is the same as the pose of the roof bolter 3.

[0109] 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.

[0110] Optionally, the roof bolter vehicle includes an electromagnetic hydraulic valve group for controlling the robotic arm 2, and the control system is signal-connected to the electromagnetic hydraulic valve group to control the electromagnetic hydraulic valve group through the control system to control the robotic arm 2.

[0111] Specifically, in the related art, the handle-operated hydraulic valve group that needs to be manually operated is replaced with an electromagnetic hydraulic valve group. The image processing system sends the obtained processing result to the control system, and the control system generates a control signal according to the image processing result. The control signal controls the electromagnetic hydraulic valve group to act, and then drives the robotic arm 2 to move to adjust the pose of the roof bolter 3 so that the roof bolter 3 is adjusted to a preset pose.

[0112] In some embodiments, the step of obtaining the pose of the roof bolter 3 includes:

[0113] Calibrate the laser emitter 4 in advance and store the calibration data in the database. Herein, calibrating the laser emitter 4 includes: the cross-circular 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 the 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;

[0114] Process the light spot image 30 to obtain the image information of the light spot image 30;

[0115] Compare the obtained image information of the light spot image 30 with the calibration data to obtain the pose of the laser emitter 4;

[0116] According to the relative position between the laser emitter 4 and the bolt drill 3, obtain the pose of the bolt drill 3;

[0117] Herein, when the calibration light spot includes a circular light shape formed by a circular light spot, the image information of the calibration light spot includes the diameter or area of the circular light shape; when the calibration light spot includes an elliptical light shape formed by a circular light spot, the image information of the calibration light spot includes the major axis length and minor axis length of the elliptical light shape. When the light spot image 30 includes a circular part formed by a circular light spot, the image information of the light spot image 30 includes the diameter or area of the circular part; when the light spot image 30 includes an elliptical part formed by a circular light spot, the image information of the light spot image 30 includes the major axis length and minor axis length of the elliptical part.

[0118] As Figure 11 and Figure 12 shown, when the laser emission direction of the laser emitter 4 is perpendicular to the coal wall 10, the circular light spot of the cross-circular light spot will form a circular part when irradiating on the coal wall 10. By comparing the diameter or area of the circular part 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 9 and Figure 10 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 circular light spot of the cross-circular light spot will form an elliptical part when irradiating on the coal wall 10. At this time, by comparing the minor axis length of the elliptical part 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 elliptical part with the calibration data in the database, the angle α between the laser emitter 4 and the coal wall 10 can be obtained. As Figure 13 and Figure 14As 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, an elliptical part will be formed when the circular spot of the cross-circular spot shines on the coal wall 10. At this time, by comparing the short-axis length of the elliptical part 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 elliptical part with the calibration data in the database, the included angle β between the laser emitter 4 and the coal wall 10 can be obtained. Among them, 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.

[0119] It can be understood that when the laser emission direction of the laser emitter 4 is perpendicular to the coal wall 10, when the circular spot of the cross-circular spot shines on the coal wall 10, the spot formed on the coal wall 10 is equivalent to an enlarged version of the circular spot. Therefore, the spot formed on the coal wall 10 includes a circular part formed by the circular spot of the cross-circular spot. And when the distance between the laser emitter 4 and the coal wall 10 is different, the diameter of the spot formed on the coal wall 10 is different.

[0120] In addition, when the laser emission direction of the laser emitter 4 is perpendicular to the coal wall 10, the diameter of the circular part formed on the coal wall 10 is used as 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 along 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 part formed on the coal wall 10 will be elongated along the vertical direction to become an elliptical part, and the short-axis length of the elliptical part 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 along 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 part formed on the coal wall 10 will be elongated along the second horizontal direction to become an elliptical part, and the short-axis length of the elliptical part is always equal to the above-mentioned initial diameter, and the long-axis length changes with the change of β. Among them, the second horizontal direction is consistent with the extension direction of the roadway. Therefore, by comparing the short-axis length of the elliptical part 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 elliptical part 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.

[0121] Optionally, as Figures 9 to 16 shown, the steps of obtaining the image information of the light spot image 30 include:

[0122] 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, a two-dimensional first rectangular coordinate system is established;

[0123] The first 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, a two-dimensional second rectangular coordinate system is established;

[0124] 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 a circular part formed by a circular light spot. The diameter or area of the circular part is obtained as the image information of the light spot image 30;

[0125] 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 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 light spot image 30 includes an elliptical part formed by a circular light spot. The major axis length and minor axis length of the elliptical part are obtained as the image information of the light spot image 30.

[0126] It can be understood that, as Figure 11 and Figure 12 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 circular light spot of the cross-shaped circular light spot irradiates on the coal wall 10, a circular part will be formed, that is, the light spot image 30 includes a circular part. Taking the X1 axis extending along the second horizontal direction and the Y1 axis extending along the vertical direction as an example, wherein the second horizontal direction is consistent with the extension direction of the roadway. As Figure 9 and Figure 10As 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 from the Y2 axis of the second rectangular coordinate system. At this time, when the circular spot of the cross-circular spot irradiates on the coal wall 10, an elliptical part will be formed, that is, the spot image 30 includes an elliptical part, and the major axis of this elliptical part extends in the vertical direction. As Figure 13 and Figure 14 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 Y2 axis of the second rectangular coordinate system. At this time, when the circular spot of the cross-circular spot irradiates on the coal wall 10, an elliptical part will be formed, that is, the spot image 30 includes an elliptical part, and the major axis of this elliptical part extends in the second horizontal direction.

[0127] For the convenience of processing the spot image, 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 roof 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. Among them, 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.

[0128] Optionally, the spot image 30 includes a cross-linear part formed by the cross-linear spot;

[0129] When the spot image 30 includes a circular part, the cross-linear part and the circular part form four intersection points. In the first rectangular coordinate system, the four intersection points are respectively (0, x1), (0, x2), (y1, 0), (y2, 0), the absolute value of the difference between x2 and x1 is the diameter of the circular part, and the absolute value of the difference between y2 and y1 is the diameter of the circular part;

[0130] When the spot image 30 includes an elliptical part, the cross-linear part and the elliptical part form four intersection points. In the first rectangular coordinate system, the four intersection points are respectively (0, x1), (0, x2), (y1, 0), (y2, 0), the larger one of the absolute value of the difference between x2 and x1 and the absolute value of the difference between y2 and y1 is the major axis length, and the smaller one of the absolute value of the difference between x2 and x1 and the absolute value of the difference between y2 and y1 is the minor axis length.

[0131] For example, as Figure 11 and Figure 12 shown, when the spot image 30 includes a circular part, the absolute value of the difference between x2 and x1 is equal to the absolute value of the difference between y2 and y1, and is equal to the diameter of the circular part. As Figure 9 and Figure 10 shown, when the spot image 30 includes an elliptical part and the absolute value of the difference between x2 and x1 is less than the absolute value of the difference between y2 and y1, the absolute value of the difference between x2 and x1 is equal to the length of the minor axis of the elliptical part, and the absolute value of the difference between y2 and y1 is equal to the length of the major axis of the elliptical part. As Figure 13 and Figure 14 shown, when the spot image 30 includes an elliptical part and the absolute value of the difference between x2 and x1 is greater than the absolute value of the difference between y2 and y1, the absolute value of the difference between x2 and x1 is equal to the length of the major axis of the elliptical part, and the absolute value of the difference between y2 and y1 is equal to the length of the minor axis of the elliptical part.

[0132] Optionally, as Figure 15 and Figure 16 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 control system to control the roof bolter 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 and the X2 axis of the second rectangular coordinate system coincide, and / or the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system coincide, and then obtain the image information of the spot image 30 at this time.

[0133] 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 roof bolter 3 moves in a direction parallel to the X1 axis so that the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system coincide, the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system coincide, 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 an elliptical part formed by a circular spot. Obtain the length of the major axis and the length of the minor axis of the elliptical part 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.

[0134] 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 bolter 3 moves in a direction parallel to the Y1 axis, such 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 is offset from the X2 axis of the second rectangular coordinate system, and the X1 axis of the first rectangular coordinate system is offset from the X2 axis of the second rectangular coordinate system along the X2 axis. The spot image 30 includes an elliptical part formed by a circular spot. The major axis length and minor axis length of the elliptical part are obtained as the image information of the spot image 30. The image information of the spot image 30 is compared with the calibration data in the database, and the distance d and the included angle between the laser emitter 4 and the coal wall 10 can be obtained.

[0135] 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 bolter 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 spot image 30 includes a circular part formed by a circular spot. The diameter or area of the circular part is obtained as the image information of the spot image 30. The image information of the spot image 30 is compared with the calibration data in the database, and the distance d between the laser emitter 4 and the coal wall 10 can be obtained.

[0136] 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, the control system is used to control the movement of the bolter 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, the image information of the spot image 30 at this time is obtained; after that, the obtained image information of the spot image 30 is compared with the calibration data to obtain the pose of the laser emitter 4 at this time; then, the control system is used to control the movement of the robotic arm 2 to adjust the bolter 3 to a preset pose, so as to use the bolter 3 to perform bolting or cable bolting operations.

[0137] Optionally, the step of obtaining the pose of the laser emitter 4 further includes:

[0138] 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;

[0139] 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;

[0140] 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;

[0141] 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;

[0142] 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;

[0143] 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 in the first direction and one side in the second direction;

[0144] 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 in the first direction and the other side in the second direction;

[0145] 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 in the first direction and the other side in the second direction;

[0146] 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.

[0147] For example, the first direction can be the front-back direction, and the second direction can be the up-down direction. As Figure 9 and Figure 10 shown, 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, the laser emitter 4 is inclined upward; similarly, 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, the laser emitter 4 is inclined downward. As Figure 13 and Figure 14 shown, 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, the laser emitter 4 is inclined to one side in 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 half-axis of the X2 axis of the second rectangular coordinate system, the laser emitter 4 is inclined to one side in the extending direction of the roadway (for example, the back side of the roadway). As Figure 15 and Figure 16As 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 tilts both upward and forward; 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 tilts both upward and backward; 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 tilts both downward and backward; 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 tilts both downward and forward.

[0148] Optionally, when the detection camera system 5 includes the second camera 502, the second camera 502 can be used to obtain images of the bolt or cable bolt that has been supported in the roadway, and the image processing system 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 unsupported bolt or cable bolt based on the bolt or cable bolt that has been supported in the roadway, providing a positioning function for the unsupported bolt or cable bolt. Taking the position of the unsupported bolt or cable bolt as the preset position, when the preset position is obtained, the control system can be used to control the movement of the robotic arm 2 so that the bolt drill 3 moves to the preset position.

[0149] In summary, the roadway support method of the bolt drill vehicle according to the embodiment of the present invention includes:

[0150] Using the second camera 502 to obtain images of the bolt or cable bolt that has been supported in the roadway;

[0151] Using the image processing system to obtain the positions of the bolt or cable bolt that has been supported in the roadway and obtain the preset positions of the positions of the unsupported bolt or cable bolt;

[0152] Using the control system to control the movement of the robotic arm 2 to adjust the bolt drill 3 to the preset position;

[0153] Using the laser emitter 4 to emit a cross-circular light spot towards the coal wall 10;

[0154] Using the first camera 501 to obtain the light spot image 30 on the coal wall 10;

[0155] Using the image processing system to process the light spot image 30 to obtain the pose of the bolt drill 3;

[0156] Using the control system to control the movement of the robotic arm 2 to adjust the bolt drill 3 to the preset pose;

[0157] Using the bolt drill 3 to perform the operation of driving bolts or cable bolts.

[0158] It can be understood that during the process of controlling the movement of the robotic arm 2 by using a control system, it is necessary to use a laser emitter 4, a first camera 501 and an image processing system to detect the position and pose of the bolt drill 3 multiple times. The control system controls the movement direction and movement distance of the robotic arm 2 according to the position and pose detection results of the bolt drill 3 each time. Until the position and pose detection result of the bolt drill 3 is equal to the preset position and pose, the control system controls the robotic arm 2 to stop moving, and the bolt drill 3 is adjusted to the preset position and pose.

[0159] The roadway support method of the bolt drill jumbo according to the embodiment of the present invention realizes the detection of the position and pose of the bolt drill 3 during the operation of the bolt drill 3 through the laser emitter 4, the detection camera system 5 and the image processing system, and uses the control system to control the adjustment of the position and pose of the bolt drill 3, replacing manual operation to realize the adjustment of the position and pose of the bolt drill during the roadway support operation, reducing the number of personnel used, reducing the labor intensity of workers, and improving the roadway drivage speed and the automation degree of the bolt drill jumbo 100.

[0160] In the description of the present invention, it should be understood that 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. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It 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 cannot be understood as a limitation to the present invention.

[0161] 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, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0162] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection or communicable with each other; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside 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 situations.

[0163] In the present invention, unless otherwise clearly specified or limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact via an intermediate medium. Further, a first feature being "above", "over" and "on top of" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. A first feature being "under", "below" and "beneath" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is less than that of the second feature.

[0164] In the present invention, the terms "one embodiment", "some embodiments", "example", "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 different embodiments or examples.

[0165] 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 vehicle body, on which a robotic arm is provided; A bolt drill, which is connected to the robotic arm. The robotic arm is used to adjust the position and pose of the bolt drill. The bolt drill is provided with a laser emitter capable of emitting a cross-circular light spot, and the cross-circular light spot includes a circular light spot and a cross-linear light spot with coincident centers; A detection camera system, which is arranged on the vehicle body. The detection camera system includes a first camera, and the first camera is used to obtain a light spot image of the cross-circular light spot irradiated on the coal wall; An image processing system, which is arranged on the vehicle body. The image processing system is signal-connected to the first camera to obtain the position and pose of the bolt drill according to the light spot image; and A control system, to which both the robotic arm and the image processing system 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 first camera to obtain the light spot image on the coal wall; Using the image processing system to process the light spot image to obtain the position and pose of the bolt drill; Using the control system to control the movement of the robotic arm to adjust the bolt drill to a preset position and pose; Using the bolt drill to perform bolt or cable bolt 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 step of obtaining the position and pose of the bolt drill includes: Pre-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 a circular light shape formed by the circular light spot, the image information of the calibration light spot includes the diameter or area of the circular light shape; when the calibration light spot includes an elliptical light shape formed by the circular light spot, the image information of the calibration light spot includes the major axis length and minor axis length of the elliptical light shape; When the light spot image includes a circular part formed by the circular light spot, the image information of the light spot image includes the diameter or area of the circular part; when the light spot image includes an elliptical part formed by the circular light spot, the image information of the light spot image includes the major axis length and minor axis length of the elliptical part.

2. The roadway support method of the roof bolter according to claim 1, characterized in that, The step of obtaining the image information of the light 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 light spot image as the origin O1, taking the line corresponding to one of the two linear light spots in the light spot image as the X1 axis, and taking the line corresponding to the other of the two linear light spots in the light spot image as the Y1 axis, a two-dimensional first rectangular coordinate system is established; The first 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 light spot image includes a circular part formed by the circular light spot, and the diameter or area of the circular part is obtained as the image information of the light 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 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 light spot image includes an elliptical part formed by the circular light spot, and the major axis length and minor axis length of the elliptical part are obtained as the image information of the light spot image.

3. The roadway support method of the bolt drill jumbo according to claim 2, characterized in that, The light spot image includes a cross-shaped part formed by the cross-shaped light spot; When the light spot image includes the circular part, the cross-shaped part and the circular part form four intersection points. In the first rectangular coordinate system, the four intersection points are respectively (0, x1), (0, x2), (y1, 0), (y2, 0). The absolute value of the difference between x2 and x1 is the diameter of the circular part, and the absolute value of the difference between y2 and y1 is the diameter of the circular part; When the light spot image includes the elliptical part, the cross-shaped part and the elliptical part form four intersection points. In the first rectangular coordinate system, the four intersection points are respectively (0, x1), (0, x2), (y1, 0), (y2, 0). The larger one of the absolute value of the difference between x2 and x1 and the absolute value of the difference between y2 and y1 is the major axis length, and the smaller one of the absolute value of the difference between x2 and x1 and the absolute value of the difference between y2 and y1 is the minor axis length.

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

5. The roadway support method of the bolt drill jumbo according to claim 4, characterized in that, The bolt drill further includes a roof plate, which is movably arranged on the drill rig. The roof plate is used to abut against the coal wall, and the roof plate has a recess, and the laser emitter is arranged in the recess.

6. The roadway support method of the bolt drill jumbo according to claim 4, characterized in that, The first 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.

7. The roadway support method of the roof bolter according to claim 1, characterized in that The detection camera system further includes a second camera, which is arranged on the vehicle body. The second camera is used to obtain the environmental image in the roadway, and the second camera is signal-connected to the image processing system.

8. The roadway support method of the bolt drill jumbo according to claim 7, characterized in that, The detection camera system further includes a housing, which is connected to the vehicle body. The housing has an installation cavity, and both the first camera and the second camera are arranged in the installation cavity.

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