Collision detection method and system for double drill arms of anchor drilling machine

Abstract

The present invention discloses a collision detection method and system for a double-drill arm of a drilling and anchoring machine, which relates to the field of robot collision detection technology. The method comprises: constructing a hierarchical bounding volume based on a preset drilling and anchoring machine model, and constructing an AABB bounding box; for each frame path in the current motion trajectory, performing collision detection using the AABB bounding box corresponding to the first drilling arm model and the AABB bounding box corresponding to the second drilling arm model to obtain a first collision result; when the first collision result indicates that the two drilling arms have collided, determining the collision node where the first drilling arm model and the second drilling arm model collided, and constructing a K-DOPS bounding box based on the collision node; performing collision detection using the K-DOPS bounding box corresponding to the first drilling arm model and the K-DOPS bounding box corresponding to the second drilling arm model to obtain a second collision result; and generating a collision alarm signal when the second collision result indicates that the two drilling arms have collided. The present invention ensures the safety and efficiency of drilling and anchoring work.

Description

Technical Field

[0001] The present invention relates to the technical field of robot collision detection, and in particular to a double-drill-arm collision detection method and system for an anchor drill. Background Art

[0002] Drilling and anchoring machines are essential equipment for roadway anchor support, effectively reducing worker labor intensity, improving support efficiency, and enhancing roadway support effectiveness. Currently, drilling and anchoring operations are evolving from manual hole finding and drilling to automated, intelligent anchor drilling. Real-time collision detection for dual drill booms plays a crucial role as a technical foundation for remotely controlling automatic anchor drilling and monitoring operational status using a virtual platform. However, during operation, the two drill booms can collide unexpectedly, or even collide with the coal wall, potentially damaging the equipment and hindering roadway anchor support. Summary of the Invention

[0003] The purpose of the present invention is to provide a double-drill arm collision detection method and system for a drilling and anchoring machine, so as to solve the collision problem of the drill arms during the operation of the drilling and anchoring machine and ensure the safety and efficiency of the drilling and anchoring work.

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

[0005] The present invention provides a double-drilling-arm collision detection method for an anchor drilling machine, comprising:

[0006] Acquire a preset anchor drill model and a current motion trajectory of the preset anchor drill model; the preset anchor drill model includes a first drill arm model and a second drill arm model;

[0007] Based on the preset anchor drill model, a hierarchical bounding volume is constructed, and AABB bounding boxes are constructed for the nodes in the hierarchical bounding volume; the hierarchical bounding volume includes a root node and leaf nodes; the root node corresponds to a bounding box surrounding the entire drill arm, and the leaf nodes correspond to bounding boxes surrounding each motion joint in the drill arm;

[0008] For each frame path in the current motion trajectory, collision detection is performed using the AABB bounding box corresponding to the first drill arm model and the AABB bounding box corresponding to the second drill arm model to obtain a first collision result;

[0009] When the first collision result indicates that the two drill booms collide, determining a collision node where the first drill boom model collides with the second drill boom model, and constructing a K-DOPS bounding box based on the collision node;

[0010] performing collision detection using the K-DOPS bounding box corresponding to the first drill boom model and the K-DOPS bounding box corresponding to the second drill boom model to obtain a second collision result;

[0011] When the second collision result indicates that the two drill arms collide, a collision alarm signal is generated.

[0012] Optionally, based on the preset anchor drilling machine model, a hierarchical bounding volume is constructed, and AABB bounding boxes are constructed for nodes in the hierarchical bounding volume, specifically including:

[0013] Determining a first-level bounding volume according to the structure of the first drill arm model;

[0014] determining a second-level bounding volume according to the structure of the second drill arm model;

[0015] Determine, based on the first hierarchical bounding volume, the coordinate extreme value of each root node corresponding to the first drill arm model; the coordinate extreme value includes the maximum value and the minimum value of the root node in three coordinate directions;

[0016] Determining the coordinate extreme value of each root node corresponding to the second drill arm model according to the second hierarchical bounding volume;

[0017] An AABB bounding box is constructed according to the coordinate extreme value of each root node corresponding to the first drill arm model and the coordinate extreme value of each root node corresponding to the second drill arm model.

[0018] Optionally, performing collision detection using the AABB bounding box corresponding to the first drill arm model and the AABB bounding box corresponding to the second drill arm model to obtain a first collision result specifically includes:

[0019] Determine a marked AABB bounding box; the marked AABB bounding box is any AABB bounding box corresponding to the first drill arm model;

[0020] Calculating overlapping data of first projections of the marked AABB bounding box and any AABB bounding box corresponding to the second drill arm model in three coordinate directions;

[0021] If the first projection overlapping data in the three coordinate directions are all within the first preset overlapping range, the first collision result indicates that the two drill arms have collided;

[0022] If any of the first projection overlapping data in the three coordinate directions is not within the first preset overlapping range, the first collision result indicates that the two drill arms do not collide.

[0023] Optionally, constructing a K-DOPS bounding box based on the collision node specifically includes:

[0024] The fixed direction set is selected as an 18-dops direction set; the 18-dops direction set is determined by adding positive and negative direction vectors of six directions: (1,1,0), (1,0,1), (0,1,1), (1,-1,0), (1,0,-1), and (0,1,-1) to the 6-dops direction set; the 6-dops direction set includes positive and negative direction vectors of three coordinate directions;

[0025] Based on the 18-dops direction set, calculating the minimum inner product and the maximum inner product of the collision node in the first drill boom model on each direction vector;

[0026] Based on the 18-dops direction set, calculating the minimum inner product and the maximum inner product of the collision node in the second drill boom model on each direction vector;

[0027] Based on the minimum inner product and maximum inner product of the first drill boom model on each direction vector and the minimum inner product and maximum inner product of the second drill boom model on each direction vector, a K-DOPS bounding box is constructed respectively.

[0028] Optionally, performing collision detection using the K-DOPS bounding box corresponding to the first drill boom model and the K-DOPS bounding box corresponding to the second drill boom model to obtain a second collision result specifically includes:

[0029] Determine a marked K-DOPS bounding box; the marked K-DOPS bounding box is any K-DOPS bounding box corresponding to the first drill boom model;

[0030] Calculating second projection overlapping data of the marked K-DOPS bounding box and any K-DOPS bounding box corresponding to the second drill boom model on each direction vector;

[0031] If the second projection overlapping data on the plurality of direction vectors are all within the second preset overlapping range, the second collision result indicates that the two drill arms have collided;

[0032] If the second projection overlapping data on any direction vector is not within the second preset overlapping range, the second collision result indicates that the two drill arms do not collide.

[0033] Optionally, the AABB bounding box is expanded by 1.2 times relative to the preset anchor drill model; and the K-DOPS bounding box is expanded by 1.1 times relative to the preset anchor drill model.

[0034] To achieve the above object, the present invention also provides the following technical solutions:

[0035] A method for detecting collision of double drill arms of an anchor drilling machine, comprising:

[0036] Acquire a preset drill arm model, a current motion trajectory of the preset drill arm model, and a preset coal wall model;

[0037] Based on the preset drill arm model, a hierarchical bounding volume is constructed, and AABB bounding boxes are constructed for the nodes in the hierarchical bounding volume; the hierarchical bounding volume includes a root node and leaf nodes; the root node corresponds to a bounding box surrounding the entire drill arm, and the leaf nodes correspond to bounding boxes surrounding each motion joint in the drill arm;

[0038] Based on the preset coal wall model, constructing a coal wall bounding box;

[0039] For each frame path in the current motion trajectory, collision detection is performed using the AABB bounding box corresponding to the preset drill arm model and the coal wall bounding box to obtain a first collision result;

[0040] When the first collision result indicates that the drill arm collides with the coal wall, determining a collision node where the preset drill arm model collides with the preset coal wall model, and constructing a K-DOPS bounding box based on the collision node;

[0041] Performing collision detection using the K-DOPS bounding box corresponding to the preset drill arm model and the coal wall bounding box to obtain a second collision result;

[0042] When the second collision result indicates that the drill arm collides with the coal wall, a collision alarm signal is generated.

[0043] A double-drilling-arm collision detection system for an anchor drill comprises:

[0044] A model data acquisition module is used to acquire a preset anchor drill model and a current motion trajectory of the preset anchor drill model; the preset anchor drill model includes a first drill arm model and a second drill arm model;

[0045] A first bounding box construction module is configured to construct a hierarchical bounding volume based on the preset anchor drill model, and to construct AABB bounding boxes for nodes in the hierarchical bounding volume; the hierarchical bounding volume includes a root node and leaf nodes; the root node corresponds to a bounding box surrounding the entire drill arm, and the leaf nodes correspond to bounding boxes surrounding each motion joint in the drill arm;

[0046] A first collision detection module is configured to perform collision detection on each frame path in the current motion trajectory using the AABB bounding box corresponding to the first drill arm model and the AABB bounding box corresponding to the second drill arm model to obtain a first collision result;

[0047] a second bounding box construction module, configured to, when the first collision result indicates that the two drill booms collide, determine a collision node where the first drill boom model collides with the second drill boom model, and construct a K-DOPS bounding box based on the collision node;

[0048] A second collision detection module is configured to perform collision detection using the K-DOPS bounding box corresponding to the first drill boom model and the K-DOPS bounding box corresponding to the second drill boom model to obtain a second collision result;

[0049] The alarm module is configured to generate a collision alarm signal when the second collision result indicates that the two drill arms have collided.

[0050] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0051] The present invention provides a collision detection method and system for double drill arms of a drilling and anchoring machine, which establishes a model for the two drill arms of the drilling and anchoring machine, or establishes a model for the drill arm and the coal wall; then, based on the obtained drill arm model or coal wall model, an AABB bounding box is first established to perform a first collision detection; according to the result of the collision detection, collision nodes where a collision may occur are extracted, and a K-DOPS bounding box is further constructed; secondly, a more accurate collision detection is performed on the K-DOPS bounding boxes corresponding to the two drill arms or the drill arms and the coal wall, thereby fully considering data such as the structural shape of the drill arm of the drilling and anchoring machine, and being able to know in advance in virtual space the possible collision between the double drill arms themselves or with the drill arms and the coal wall in the next step. After receiving a collision alarm signal, relevant personnel can timely adjust the running speed and running trajectory of the drill arms according to the collision alarm signal to avoid equipment damage and achieve safe and efficient drilling and anchoring operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 This is an example of a method for detecting collision of double drill arms of a drilling anchor machine according to the present invention. Figure 1 ;

[0054] Figure 2 This is an example of a method for detecting collision of double drill arms of a drilling anchor machine according to the present invention. Figure 2 ;

[0055] Figure 3 Schematic diagram of the double-drill-arm collision detection system for an anchor drill according to the present invention. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0057] The present invention proposes a collision detection method and system for the double drill arms of an anchor drill. The method adopts a multi-layer hybrid bounding box collision detection method of an outer layer AABB and an inner layer k-dops to prevent the drill arms of the anchor drill from colliding during the automatic drilling and anchoring operation. The method not only takes advantage of the simple and efficient intersection test process of the AABB bounding box, but also has the characteristics of the k-dops bounding box that tightly wraps the model and has high detection accuracy. Therefore, the system has both efficiency and accuracy, while ensuring the safety of the automatic anchor drilling operation.

[0058] In order to make the objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] Example 1

[0060] like Figure 1 As shown, this embodiment provides a method for detecting collision of double drill arms of a drilling and anchoring machine, comprising:

[0061] Step 100: Acquire a preset anchor drill model and a current motion trajectory of the preset anchor drill model; the preset anchor drill model includes a first drill arm model and a second drill arm model.

[0062] Specifically, corresponding physical properties are assigned to the motion joints of the two drill arms in the anchor drill to obtain a preset anchor drill model.

[0063] Step 200: Based on the preset anchor drill model, a hierarchical bounding volume is constructed, and AABB bounding boxes are constructed for the nodes in the hierarchical bounding volume; the hierarchical bounding volume includes a root node and leaf nodes; the root node corresponds to a bounding box surrounding the entire drill arm, and the leaf nodes correspond to bounding boxes surrounding each moving joint in the drill arm.

[0064] Specifically, a top-down method is used to partition the preset anchor drill model and establish a bounding volume hierarchical binary tree; an AABB bounding box is constructed for each node in the bounding volume hierarchical binary tree; and the AABB bounding box is expanded by 1.2 times relative to the preset anchor drill model. Specifically, step 200 includes:

[0065] 1) Determine a first-level bounding volume according to the structure of the first drill boom model. The first-level bounding volume includes all root nodes and all leaf nodes corresponding to the first drill boom model.

[0066] 2) Determine a second-level bounding volume according to the structure of the second drill boom model. The second-level bounding volume includes all root nodes and all leaf nodes corresponding to the second drill boom model.

[0067] 3) According to the first hierarchical bounding volume, determining the coordinate extreme value of each root node corresponding to the first drill arm model; the coordinate extreme value includes the maximum value and the minimum value of the root node in three coordinate directions.

[0068] 4) According to the second-level bounding volume, determine the coordinate extreme value of each root node corresponding to the second drill boom model.

[0069] 5) Construct AABB bounding boxes based on the coordinate extreme values ​​of each root node corresponding to the first drill boom model and the coordinate extreme values ​​of each root node corresponding to the second drill boom model. That is, the AABB bounding boxes of the left and right drill booms are determined based on the maximum value (xmax, ymax, zmax) of the first drill boom on the three coordinate axes, the minimum value (xmin, ymin, zmin) of the first drill boom on the three coordinate axes, the maximum value (Xmax, Ymax, Zmax) of the second drill boom on the three coordinate axes, and the minimum value (Xmin, Ymin, Zmin) of the second drill boom on the three coordinate axes.

[0070] In step 300, for each frame path in the current motion trajectory, collision detection is performed using the AABB bounding box corresponding to the first drill arm model and the AABB bounding box corresponding to the second drill arm model to obtain a first collision result. Specifically, a rough collision detection is performed using the AABB bounding box corresponding to the first drill arm model and the AABB bounding box corresponding to the second drill arm model to quickly eliminate nodes that are unlikely to collide.

[0071] Step 300 specifically includes:

[0072] 1) Determine a marked AABB bounding box; the marked AABB bounding box is any AABB bounding box corresponding to the first drill arm model.

[0073] 2) Calculating overlapping data of first projections of the marked AABB bounding box and any AABB bounding box corresponding to the second drill arm model in three coordinate directions.

[0074] 3) If the first projection overlapping data in the three coordinate directions are all within the first preset overlapping range, the first collision result indicates that the two drill arms have collided.

[0075] 4) If any of the first projection overlapping data in the three coordinate directions is not within the first preset overlapping range, the first collision result indicates that the two drill arms do not collide.

[0076] That is, any AABB bounding box corresponding to the first drill arm model and any AABB bounding box corresponding to the second drill arm model are respectively used to calculate and judge the projected overlapping data, thereby avoiding data omission. In order to improve the efficiency of data calculation and judgment, the corresponding parts of the first drill arm model and the second drill arm model can be subjected to AABB bounding box collision detection.

[0077] When the first collision result indicates that the two drill arms have collided, the running speed of the two drill arms is reduced, and the next k-dops bounding box intersection test is performed (step 400). For example, suppose the spaces occupied by the left drill arm L and the right drill arm R are SL and SR respectively, and the spaces occupied by the corresponding AABB bounding boxes are OL and OR respectively, and If the geometric set where the left and right drill arms collide is F = SL ∩ SR, and Then for the AABB bounding box,

[0078] Step 400: When the first collision result indicates a collision between the two drill booms, a collision node where the first drill boom model and the second drill boom model collide is determined, and a K-DOPS bounding box is constructed based on the collision node. The K-DOPS bounding box is expanded by 1.1 times relative to the preset anchor drill model.

[0079] Specifically, the points where the left and right drill arms may collide are aggregated to obtain collision nodes, which are generally leaf nodes. Accurate collision detection is performed on the collision nodes using K-DOPS bounding boxes. When the leaf nodes of the two trees (the aggregated collision nodes) are traversed, an intersection test is performed on the primitives. The specific process is as follows:

[0080] 1) Selecting an 18-dops direction set as a fixed direction set; the 18-dops direction set is determined by adding positive and negative direction vectors of six directions: (1,1,0), (1,0,1), (0,1,1), (1,-1,0), (1,0,-1), and (0,1,-1) to the 6-dops direction set; the 6-dops direction set includes positive and negative direction vectors of three coordinate directions.

[0081] 2) Based on the 18-dops direction set, the minimum inner product and the maximum inner product of the collision node in the first drill boom model on each direction vector are calculated.

[0082] 3) Based on the 18-dops direction set, the minimum inner product and the maximum inner product of the collision node in the second drill boom model on each direction vector are calculated.

[0083] 4) Based on the minimum inner product and maximum inner product of the first drill boom model on each direction vector and the minimum inner product and maximum inner product of the second drill boom model on each direction vector, a K-DOPS bounding box is constructed respectively.

[0084] Step 500: Perform collision detection using the K-DOPS bounding box corresponding to the first drill boom model and the K-DOPS bounding box corresponding to the second drill boom model to obtain a second collision result.

[0085] Step 500 specifically includes:

[0086] 1) Determine a marked K-DOPS bounding box; the marked K-DOPS bounding box is any K-DOPS bounding box corresponding to the first drill boom model.

[0087] 2) Calculating the second projection overlapping data of the marked K-DOPS bounding box and any K-DOPS bounding box corresponding to the second drill boom model on each direction vector.

[0088] 3) If the second projection overlapping data on the multiple direction vectors are all within the second preset overlapping range, the second collision result indicates that the two drill booms collide.

[0089] 4) If the second projection overlapping data on any direction vector is not within the second preset overlapping range, the second collision result indicates that the two drill arms do not collide.

[0090] That is, any K-DOPS bounding box corresponding to the first drill boom model and any K-DOPS bounding box corresponding to the second drill boom model are respectively used to calculate and judge the projected overlapping data, thereby avoiding data omission and further improving the accuracy of collision detection.

[0091] In step 600, when the second collision result indicates a collision between the two drill booms, a collision alarm signal is generated. When the second collision result indicates a collision between the two drill booms, the collision portion of the drill boom corresponding to the collision node is marked and displayed, for example, by displaying the collision portion in red, and an alarm prompt is displayed. At this point, the two drill booms stop operating and replan their trajectory.

[0092] In summary, this embodiment combines the advantages of the fast AABB bounding box and the good enclosing and high detection accuracy of the K-DOPS bounding box. First, an AABB bounding box is constructed for each drill boom, expanded by a factor of 1.2. An intersection test is performed. If no intersection occurs, the two objects cannot collide, and the original path is continued, and the AABB bounding box reconstruction is performed for the next frame. If the two AABB bounding boxes do intersect, a second layer of K-DOPS bounding boxes, expanded by a factor of 1.1 and tightened, is used for more accurate collision detection, while simultaneously reducing the drill boom's movement speed. Finally, if the two K-DOPS bounding boxes intersect, an alarm is triggered, the drill boom stops moving, and its trajectory is replanned and adjusted.

[0093] Example 2

[0094] like Figure 2 As shown, the technical principle and essence of this embodiment are the same as those of the first embodiment. The difference between this embodiment and the first embodiment is that this embodiment realizes the collision detection between the drill arm and the coal wall.

[0095] In actual applications, a tunnel includes left and right coal walls, and a drilling and anchoring machine is installed in the tunnel. The drilling and anchoring machine includes a left drill arm and a right drill arm. The left drill arm of the drilling and anchoring machine supports the anchor rod into the left coal wall, and the right drill arm of the drilling and anchoring machine supports the anchor rod into the right coal wall. While performing collision detection on the motion trajectories of the left and right coal walls of the drilling and anchoring machine, the collision between the left coal wall and the left drill arm is detected, and the collision between the right coal wall and the right drill arm is detected. To achieve the above purpose, this embodiment provides a double-drill arm collision detection method for a drilling and anchoring machine to realize the collision between the coal wall and the drill arm. Regardless of whether it is the collision detection between the left coal wall and the left drill arm, or the collision detection between the right coal wall and the right drill arm, the collision detection steps include:

[0096] Step 101: Obtain a preset drill arm model, the current motion trajectory of the preset drill arm model, and a preset coal wall model. Specifically, if the preset drill arm model is a left drill arm model, then the preset coal wall model is the left coal wall; if the preset drill arm model is a right drill arm model, then the preset coal wall model is the right coal wall.

[0097] Step 201: Based on the preset drill arm model, a hierarchical bounding volume is constructed, and AABB bounding boxes are constructed for the nodes in the hierarchical bounding volume; the hierarchical bounding volume includes a root node and leaf nodes; the root node corresponds to a bounding box surrounding the entire drill arm, and the leaf node corresponds to a bounding box surrounding each moving joint in the drill arm.

[0098] Step 301: construct a coal wall bounding box based on the preset coal wall model.

[0099] Step 401: For each frame path in the current motion trajectory, collision detection is performed using the AABB bounding box corresponding to the preset drill arm model and the coal wall bounding box to obtain a first collision result;

[0100] Step 501: When the first collision result indicates that the drill arm collides with the coal wall, a collision node where the preset drill arm model collides with the preset coal wall model is determined, and a K-DOPS bounding box is constructed based on the collision node.

[0101] Step 601: perform collision detection using the K-DOPS bounding box corresponding to the preset drill boom model and the coal wall bounding box to obtain a second collision result.

[0102] Step 701: When the second collision result indicates that the drill arm collides with the coal wall, a collision alarm signal is generated.

[0103] Example 3

[0104] like Figure 3 As shown, in order to execute the method corresponding to the above embodiment 1 to achieve the corresponding functions and technical effects, this embodiment provides a double-drill-arm collision detection system for a drilling and anchoring machine, including:

[0105] The model data acquisition module 102 is used to acquire a preset anchor drill model and a current motion trajectory of the preset anchor drill model; the preset anchor drill model includes a first drill arm model and a second drill arm model.

[0106] The first bounding box construction module 202 is used to construct a hierarchical bounding volume based on the preset anchor drill model, and construct AABB bounding boxes for the nodes in the hierarchical bounding volume; the hierarchical bounding volume includes a root node and leaf nodes; the root node corresponds to a bounding box surrounding the entire drill arm, and the leaf nodes correspond to bounding boxes surrounding each moving joint in the drill arm.

[0107] The first collision detection module 302 is configured to perform collision detection on each frame path in the current motion trajectory using the AABB bounding box corresponding to the first drill arm model and the AABB bounding box corresponding to the second drill arm model to obtain a first collision result.

[0108] The second bounding box construction module 402 is configured to determine a collision node where the first drill boom model collides with the second drill boom model when the first collision result indicates that the two drill booms collide, and construct a K-DOPS bounding box based on the collision node.

[0109] The second collision detection module 502 is configured to perform collision detection using the K-DOPS bounding box corresponding to the first drill boom model and the K-DOPS bounding box corresponding to the second drill boom model to obtain a second collision result.

[0110] The alarm module 602 is configured to generate a collision alarm signal when the second collision result indicates that the two drill arms have collided.

[0111] Compared with the prior art, the present invention also has the following advantages:

[0112] The present invention adopts a multi-layer hybrid bounding box collision detection method of outer AABB and inner K-DOPS to prevent the collision of the double drill arms of the anchor drilling machine during the automatic drilling and anchoring operation. It not only takes advantage of the simple and efficient intersection test process of AABB bounding boxes, but also has the characteristics of K-DOPS bounding boxes that tightly wrap the model and have high detection accuracy. Therefore, the system has both efficiency and accuracy.

[0113] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0114] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A method for detecting collision of double drill arms of an anchor drilling machine, characterized in that: The double-drill arm collision detection method for an anchor drill comprises: Acquire a preset anchor drill model and a current motion trajectory of the preset anchor drill model; the preset anchor drill model includes a first drill arm model and a second drill arm model; Based on the preset anchor drill model, a hierarchical bounding volume is constructed, and AABB bounding boxes are constructed for the nodes in the hierarchical bounding volume; the hierarchical bounding volume includes a root node and leaf nodes; the root node corresponds to a bounding box surrounding the entire drill arm, and the leaf nodes correspond to bounding boxes surrounding each motion joint in the drill arm; For each frame path in the current motion trajectory, collision detection is performed using the AABB bounding box corresponding to the first drill arm model and the AABB bounding box corresponding to the second drill arm model to obtain a first collision result; When the first collision result indicates that the two drill booms collide, determining a collision node where the first drill boom model collides with the second drill boom model, and constructing a K-DOPS bounding box based on the collision node; constructing the K-DOPS bounding box based on the collision node specifically includes: The fixed direction set is selected as an 18-dops direction set; the 18-dops direction set is determined by adding positive and negative direction vectors of six directions: (1,1,0), (1,0,1), (0,1,1), (1,-1,0), (1,0,-1), and (0,1,-1) to the 6-dops direction set; the 6-dops direction set includes positive and negative direction vectors of three coordinate directions; Based on the 18-dops direction set, calculating the minimum inner product and the maximum inner product of the collision node in the first drill boom model on each direction vector; Based on the 18-dops direction set, calculating the minimum inner product and the maximum inner product of the collision node in the second drill boom model on each direction vector; Based on the minimum inner product and maximum inner product of the first drill arm model on each direction vector and the minimum inner product and maximum inner product of the second drill arm model on each direction vector, respectively construct a K-DOPS bounding box; performing collision detection using the K-DOPS bounding box corresponding to the first drill boom model and the K-DOPS bounding box corresponding to the second drill boom model to obtain a second collision result; When the second collision result indicates that the two drill arms collide, a collision alarm signal is generated.

2. The double-drilling arm collision detection method for an anchor drilling machine according to claim 1, characterized in that: Based on the preset anchor drilling machine model, a hierarchical bounding volume is constructed, and AABB bounding boxes are constructed for the nodes in the hierarchical bounding volume, specifically including: Determining a first-level bounding volume according to the structure of the first drill arm model; determining a second-level bounding volume according to the structure of the second drill arm model; Determine, based on the first hierarchical bounding volume, the coordinate extreme value of each root node corresponding to the first drill arm model; the coordinate extreme value includes the maximum value and the minimum value of the root node in three coordinate directions; Determining the coordinate extreme value of each root node corresponding to the second drill arm model according to the second hierarchical bounding volume; An AABB bounding box is constructed according to the coordinate extreme value of each root node corresponding to the first drill arm model and the coordinate extreme value of each root node corresponding to the second drill arm model.

3. The double-drilling arm collision detection method for an anchor drilling machine according to claim 1, characterized in that: Performing collision detection using the AABB bounding box corresponding to the first drill arm model and the AABB bounding box corresponding to the second drill arm model to obtain a first collision result specifically includes: Determine a marked AABB bounding box; the marked AABB bounding box is any AABB bounding box corresponding to the first drill arm model; Calculating overlapping data of first projections of the marked AABB bounding box and any AABB bounding box corresponding to the second drill arm model in three coordinate directions; If the first projection overlapping data in the three coordinate directions are all within the first preset overlapping range, the first collision result indicates that the two drill arms have collided; If any of the first projection overlapping data in the three coordinate directions is not within the first preset overlapping range, the first collision result indicates that the two drill arms do not collide.

4. The double-drilling arm collision detection method for an anchor drilling machine according to claim 1, characterized in that: Performing collision detection using the K-DOPS bounding box corresponding to the first drill boom model and the K-DOPS bounding box corresponding to the second drill boom model to obtain a second collision result specifically includes: Determine a marked K-DOPS bounding box; the marked K-DOPS bounding box is any K-DOPS bounding box corresponding to the first drill boom model; Calculating second projection overlapping data of the marked K-DOPS bounding box and any K-DOPS bounding box corresponding to the second drill boom model on each direction vector; If the second projection overlapping data on the plurality of direction vectors are all within the second preset overlapping range, the second collision result indicates that the two drill arms collide; If the second projection overlapping data on any direction vector is not within the second preset overlapping range, the second collision result indicates that the two drill arms do not collide.

5. The double-drilling arm collision detection method for an anchor drill according to claim 1, characterized in that: The AABB bounding box is expanded by 1.2 times relative to the preset anchor drill model; and the K-DOPS bounding box is expanded by 1.1 times relative to the preset anchor drill model.

6. A double-drill-arm collision detection system for a drilling and anchoring machine using the double-drill-arm collision detection method of claim 1, characterized in that: The double-drill arm collision detection system of the anchor drilling machine includes: A model data acquisition module is used to acquire a preset anchor drill model and a current motion trajectory of the preset anchor drill model; the preset anchor drill model includes a first drill arm model and a second drill arm model; A first bounding box construction module is configured to construct a hierarchical bounding volume based on the preset anchor drill model, and to construct AABB bounding boxes for nodes in the hierarchical bounding volume; the hierarchical bounding volume includes a root node and leaf nodes; the root node corresponds to a bounding box surrounding the entire drill arm, and the leaf nodes correspond to bounding boxes surrounding each motion joint in the drill arm; A first collision detection module is configured to perform collision detection on each frame path in the current motion trajectory using the AABB bounding box corresponding to the first drill arm model and the AABB bounding box corresponding to the second drill arm model to obtain a first collision result; a second bounding box construction module, configured to, when the first collision result indicates that the two drill booms collide, determine a collision node where the first drill boom model collides with the second drill boom model, and construct a K-DOPS bounding box based on the collision node; A second collision detection module is configured to perform collision detection using the K-DOPS bounding box corresponding to the first drill boom model and the K-DOPS bounding box corresponding to the second drill boom model to obtain a second collision result; The alarm module is configured to generate a collision alarm signal when the second collision result indicates that the two drill arms have collided.

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