Drilling and anchoring robot steel belt anchor hole positioning method and system and electronic equipment

Abstract

The application aims to provide a drilling and anchoring robot steel tape anchor hole positioning method, system and electronic equipment, and an anchor hole pose determination technical field. A roadway coal wall image is acquired. The roadway coal wall image contains a steel tape anchor hole feature and multiple light spot features. The coordinates of each light spot center in the image coordinate system in the roadway coal wall image are determined as first light spot coordinates. The multiple first light spot coordinates are converted to the camera coordinate system to obtain the coordinates of each light spot center in the camera coordinate system as second light spot coordinates. The normal vector of the roadway coal wall plane is determined according to the multiple second light spot coordinates. The coordinates of the steel tape anchor hole center in the camera coordinate system are determined according to the rotation matrix. The application determines the pose information of the anchor hole, and further realizes the automatic control of the drilling and anchoring robot.

Description

Technical Field

[0001] This invention relates to the field of steel strip anchor hole positioning technology, and in particular to a method, system and electronic equipment for positioning steel strip anchor holes in a drilling and anchoring robot. Background Technology

[0002] With the research and application of various intelligent fully mechanized mining equipment, the capacity and efficiency of coal mining have been greatly improved. However, coal mine roadway excavation technology is still in the mechanization stage, resulting in a serious imbalance between mining and excavation efficiency, leading to the widespread problem of fast mining but slow excavation in the coal mining industry. Therefore, intelligent excavation and reducing manpower to improve efficiency are the current development trends in the coal mining industry. Based on this, the support work of coal mine roadways places higher demands on the coordination, accuracy, and speed of roadway excavation and drilling and anchoring equipment operations, posing a greater challenge to the technical level and physical fitness of relevant construction personnel. However, this further slows down the efficiency of roadway excavation and exacerbates the problem of fast excavation but slow support.

[0003] To address the issue of rapid excavation followed by slow support during tunneling operations, binocular vision-based steel strip anchor hole positioning schemes and systems have gradually emerged in the industry, improving support efficiency and reducing the labor intensity of workers. However, the low-light and weak-texture working environment in coal mines has significantly impacted vision-based positioning schemes, and the fixed baseline distance and high computational complexity of binocular vision also affect its positioning accuracy and real-time performance. Summary of the Invention

[0004] The purpose of this invention is to provide a method, system, and electronic device for locating steel strip anchor holes in a drilling and anchoring robot. This method can determine the position and orientation information of the anchor holes based on visual information, realize the automatic control of the drilling and anchoring robot, and thus improve the support efficiency of coal mine roadways.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] A method for locating steel strip anchor holes in a drilling and anchoring robot is provided. The method is applied to a steel strip anchor hole positioning device for a drilling and anchoring robot. The steel strip anchor hole positioning device for a drilling and anchoring robot includes: an anchor hole pose visual measurement unit and an industrial computer.

[0007] The anchor hole pose visual measurement unit includes a camera bracket, an industrial camera, and multiple laser pointers;

[0008] The industrial camera is connected to the industrial computer; the industrial camera is mounted on the camera bracket.

[0009] The laser pointer is used to irradiate the coal wall of the roadway to generate a light spot feature;

[0010] The industrial camera is used to acquire images of the coal face in the tunnel; the coal face images contain features of steel strip anchor holes and multiple light spot features; the light spot features correspond one-to-one with the laser pointer;

[0011] The industrial computer is used to locate the steel strip anchor holes based on the tunnel coal wall image.

[0012] The method for positioning steel strip anchor holes in the drilling and anchoring robot includes:

[0013] Acquire images of the coal face in the tunnel;

[0014] The coordinates of the center of each spot in the coal face image of the roadway are determined in the image coordinate system as the first spot coordinates of the corresponding spot center;

[0015] Transform the coordinates of the multiple first light spots into the camera coordinate system to obtain the coordinates of the center of each light spot in the camera coordinate system, which are the second light spot coordinates of the corresponding light spot center.

[0016] Based on the coordinates of multiple second light spots, determine the normal vector of the coal wall plane in the camera coordinate system;

[0017] The rotation matrix from the industrial camera to the coal face in the tunnel is determined based on the normal vector.

[0018] Based on the rotation matrix, determine the coordinates of the center of the steel strip anchor hole in the camera coordinate system.

[0019] Optionally, the number of laser pointers is three.

[0020] Optionally, determining the coordinates of the center of the steel strip anchor hole in the camera coordinate system based on the rotation matrix includes:

[0021] The coordinates of the center of the steel strip anchor hole in the coal wall image of the roadway are determined as the coordinates of the first anchor hole in the image coordinate system.

[0022] Determine the straight line between the optical center of the industrial camera and the coordinates of the first anchor hole;

[0023] Determine the coordinates of the intersection point between the straight line and the coal wall plane of the roadway in the camera coordinate system;

[0024] The coordinates of the intersection point are determined to be the coordinates of the center of the steel strip anchor hole in the camera coordinate system.

[0025] Optionally, after determining the coordinates of the intersection point as the coordinates of the center of the steel strip anchor hole in the camera coordinate system, the method further includes:

[0026] The drilling and anchoring robot is controlled based on the rotation matrix of the industrial camera to the coal wall of the roadway and the coordinates of the center of the steel strip anchor hole in the camera coordinate system.

[0027] Optionally, before determining the rotation matrix from the industrial camera to the roadway coal wall based on the normal vector, the method further includes:

[0028] Based on the coordinates of multiple second light spots, determine the unit vector of the coal wall plane in the camera coordinate system;

[0029] Based on the unit vector and the normal vector, determine the conversion angle and rotation axis from the industrial camera to the coal face of the roadway.

[0030] A drilling and anchoring robot steel strip anchor hole positioning system includes:

[0031] The roadway coal wall image acquisition module is used to acquire roadway coal wall images;

[0032] The first spot coordinate determination module is used to determine the coordinates of the center of each spot in the coal wall image of the roadway in the image coordinate system as the first spot coordinates of the corresponding spot center.

[0033] The second spot coordinate determination module is used to transform multiple first spot coordinates to the camera coordinate system, so that the coordinates of each spot center in the camera coordinate system are the second spot coordinates of the corresponding spot center.

[0034] The coal wall plane normal vector determination module is used to determine the normal vector of the roadway coal wall plane in the camera coordinate system based on the coordinates of multiple second light spots;

[0035] A steel strip anchor hole rotation matrix determination module is used to determine the rotation matrix from the industrial camera to the roadway coal wall based on the normal vector.

[0036] The steel strip anchor hole positioning module is used to determine the coordinates of the center of the steel strip anchor hole in the camera coordinate system according to the rotation matrix.

[0037] An electronic device includes a memory and a processor, the memory storing a computer program and the processor running the computer program to enable the electronic device to perform the aforementioned method for positioning steel strip anchor holes in a drilling and anchoring robot.

[0038] Optionally, the memory is a readable storage medium.

[0039] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0040] The purpose of this invention is to provide a method, system, and electronic device for locating steel strip anchor holes in a drilling and anchoring robot. This method involves acquiring images of the coal face in a roadway; these images contain features of steel strip anchor holes and multiple light spot features; each light spot feature corresponds one-to-one with a laser pointer; the coordinates of the center of each light spot in the image coordinate system are determined as the first light spot coordinates; these first light spot coordinates are transformed to the camera coordinate system to obtain the second light spot coordinates of each light spot center; based on these second light spot coordinates, the normal vector of the roadway coal face plane in the camera coordinate system is determined; the rotation matrix from the industrial camera to the roadway coal face is determined based on the normal vector; the coordinates of the center of each steel strip anchor hole in the image coordinate system are determined as the corresponding first anchor hole center; and the translation vector from the industrial camera to the steel strip anchor hole is determined based on the intersection of the line containing the camera's optical center and the first anchor hole center with the equation of the coal face plane. This invention achieves automatic control of the drilling and anchoring robot by determining the pose information of the anchor holes. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the steel strip anchor hole positioning device of the drilling and anchoring robot in Embodiment 1 of the present invention;

[0043] Figure 2 This is a flowchart of the steel strip anchor hole positioning method of the drilling and anchoring robot in Embodiment 1 of the present invention;

[0044] Figure 3 This is a schematic diagram of the anchor hole pose visual measurement unit structure in Embodiment 1 of the present invention;

[0045] Figure 4 This is a schematic diagram illustrating the positioning principle of the steel strip anchor hole of the drilling and anchoring robot in Embodiment 1 of the present invention.

[0046] Explanation of reference numerals in the attached figures:

[0047] 1-Anchor hole pose visual measurement unit, 11-Camera bracket, 12-Industrial camera, 13-Laser pointer, 2-Industrial computer. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] The purpose of this invention is to provide a method, system, and electronic device for locating steel strip anchor holes in a drilling and anchoring robot, which can determine the position and orientation of the anchor hole based on visual information, realize the automatic control of the drilling and anchoring robot, and thus improve the support efficiency of coal mine roadways.

[0050] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] Example 1

[0052] This embodiment provides a method for locating steel strip anchor holes in a drilling and anchoring robot. This method is applied to a steel strip anchor hole positioning device for a drilling and anchoring robot to measure the pose of the steel strip anchor holes. The steel strip anchor hole positioning device is mounted on the drill arm of the drilling and anchoring robot. Figure 1 and Figure 3 As shown, the anchor hole positioning device for the drilling and anchoring robot includes: an anchor hole pose visual measurement unit 1 and an industrial computer 2; the anchor hole pose visual measurement unit 1 includes a camera bracket 11, an industrial camera 12, and multiple laser pointers 13; the camera bracket 11 is installed at the end of the drilling arm of the drilling and anchoring robot to fix the industrial camera and laser pointers. The industrial camera 12 is connected to the industrial computer 2. There are three laser pointers. All three laser pointers 13 are installed on the camera bracket 11, and the laser pointers 13 project laser spots onto the coal wall of the roadway; the industrial camera 12 is installed at the center of the camera bracket to acquire images of the coal wall of the roadway with light spot features and steel strip anchor hole features, and transmits them to the industrial computer 2 via network cable; the industrial computer 2 obtains the pose of the steel strip anchor hole in the camera coordinates by running a program based on the visual positioning method in this paper.

[0053] like Figure 4 As shown, to ensure the calculation accuracy of the visual measurement system for the steel strip anchor hole position, it is necessary to calibrate the extrinsic parameters between the camera and the three laser pointers. This calibration is used to determine the coordinates of the laser pointer center in the camera coordinate system and the direction vector of the laser ray in the camera coordinate system. During calibration, a total station can be used to calibrate the camera's optical center O. C Laser pointer center P i (i = 1, 2, 3) and a point Q on the laser beam i The coordinates of (i = 1, 2, 3) are determined, and P is obtained through coordinate system transformation.i and Q i Coordinates in the camera coordinate system.

[0054] like Figure 2 As shown, the method for positioning steel strip anchor holes in a drilling and anchoring robot includes:

[0055] Step 101: Obtain images of the coal face in the roadway.

[0056] Step 102: Determine the coordinates of the center of each spot in the coal face image of the roadway in the image coordinate system as the first spot coordinate R of the corresponding spot center. i .

[0057] Step 103: Transform the coordinates of the multiple first light spots to the camera coordinate system to obtain the coordinates of the center of each light spot in the camera coordinate system as the second light spot coordinates R of the corresponding light spot center. i .

[0058] By P i and Q i Calculate the coordinates R of the second spot in the camera coordinate system. i The coordinates of (i = 1, 2, 3) in the camera coordinate system (i.e., the coordinates of the second spot at the center of the spot) include the following:

[0059] Known and Then the line L i The direction vector can be represented as:

[0060] Therefore, line L i The equation can be expressed as:

[0061] The coordinates of the first light spot are known. Then the straight line l i The direction vector can be represented as:

[0062]

[0063] Therefore, the straight line l i The equation of the straight line can be expressed as:

[0064] Considering L caused by system or camera measurement errors i With l i In the case where the lines are not coplanar, the linear least squares method is used to calculate the intersection point of the two lines.

[0065] L i With l i The equation of the line is decomposed into four linear equations, namely:

[0066]

[0067] Equation (5) can be expressed in matrix form as follows:

[0068] in,

[0069]

[0070]

[0071] The solution obtained using the least squares method is:

[0072] Right now The coordinates are

[0073] Step 104: Determine the normal vector of the coal wall plane in the camera coordinate system based on the coordinates of multiple second spot.

[0074] Step 105: Determine the rotation matrix from the industrial camera to the coal wall of the roadway based on the normal vector.

[0075] Specifically, the rotation matrix from the industrial camera to the coal face in the tunnel is as follows:

[0076]

[0077] Where R is the rotation matrix from the industrial camera to the coal face of the roadway; θ is the rotation angle from the axis of the industrial camera to the normal vector of the coal face plane; (ω x ω y ω z ω is the rotation axis from the industrial camera axis to the normal vector of the coal face plane in the roadway; x Let ω be the x-axis component of the rotation axis from the industrial camera axis to the normal vector of the coal wall plane in the roadway, in the camera coordinate system; y ω represents the y-axis component of the rotation axis from the industrial camera axis to the coal face plane normal in the camera coordinate system; z Let z be the z-axis component of the rotation axis from the industrial camera axis to the normal vector of the coal wall plane in the roadway in the camera coordinate system.

[0078] The specific calculation process of the rotation matrix R is as follows:

[0079] From the formula The obtained laser spot R i coordinates The coal wall plane S can be obtained w The normal vector is:

[0080]

[0081] Normalizing equation (10) yields the unit vector of the coal face plane as follows:

[0082]

[0083] In the camera coordinate system, since its z-axis points forward along the camera's optical center, the unit normal vector of the imaging plane of the camera coordinate system can be defined as: e c =(X c Y c Z c ) T = (0, 0, 1) T .

[0084] The rotation matrix R from the camera to the coal face is calculated using Rodriguez's rotation formula, and then the vector e is determined. w e c The rotation angle is expressed as:

[0085] θ = arccos(e w e c ).

[0086] Vector e w e c The axis of rotation can be represented as:

[0087] ω=(ω x ω y ω z ) = e w ×e c .

[0088] According to Rodriguez's formula, the rotation matrix from the camera to the coal face is R. Similarly, this rotation matrix is ​​also the rotation matrix from the camera to the steel strip anchor hole.

[0089] Step 106: Determine the coordinates of the center of the steel strip anchor hole in the camera coordinate system according to the rotation matrix.

[0090] For example, step 106 includes:

[0091] Step 1061: Determine the coordinates of the center of the steel strip anchor hole in the image coordinate system of the roadway coal wall as the coordinates of the first anchor hole.

[0092] Step 1062: Determine the straight line between the optical center of the industrial camera and the coordinates of the first anchor hole.

[0093] Step 1063: Determine the coordinates of the intersection point between the straight line and the coal wall plane of the roadway in the camera coordinate system.

[0094] Step 1064: Determine the coordinates of the intersection point as the coordinates of the center of the steel strip anchor hole in the camera coordinate system.

[0095] Step 1065: Control the drilling and anchoring robot to run according to the rotation matrix of the industrial camera to the coal wall of the roadway and the coordinates of the center of the steel strip anchor hole in the camera coordinate system.

[0096] Specifically, the coordinates of the center of each steel strip anchor hole in the coal wall image of the roadway are determined as the center of the first anchor hole. The translation vector t from the industrial camera to the steel strip anchor hole is determined based on the intersection of the line where the camera optical center and the center of the first anchor hole are located and the coal wall plane equation.

[0097] The specific calculation process for the translation vector is as follows:

[0098] Known Then the straight line The direction vector can be represented as:

[0099]

[0100] straight line The equation of the straight line can be expressed as:

[0101]

[0102] The coal face plane S can be obtained from the coordinates of the second spot in the camera coordinate system of the first spot R1. w The equation of the plane is:

[0103]

[0104] Simplifying, we get:

[0105] straight line The linear equation is split into two linear equations and compared with the coal face plane S. w Solving the plane equations simultaneously, we get:

[0106]

[0107] Equation (20) can be expressed in matrix form as follows:

[0108] in,

[0109]

[0110]

[0111] Solving

[0112] That is, the translation vector t from the camera to the steel strip anchor hole is

[0113] The system controls the drilling and anchoring robot's operation based on the rotation matrix and translation vector from the industrial camera to the coal face in the roadway. Using the pose information provided by the rotation matrix R and translation vector t, the system generates corresponding control commands to move the robot's drill arm to the steel strip anchor hole position, thus performing drilling and anchoring support operations.

[0114] Before step 105, the following is also included:

[0115] Step 105-1: Determine the unit vector of the coal wall plane in the camera coordinate system based on the coordinates of multiple second spot lights.

[0116] Step 105-2: Determine the conversion angle and rotation axis from the industrial camera to the coal wall of the roadway based on the unit vector and the normal vector.

[0117] Example 2

[0118] To execute the method corresponding to Embodiment 1 above and achieve the corresponding functions and technical effects, a drilling and anchoring robot steel strip anchor hole positioning system is provided below, characterized in that it includes:

[0119] The tunnel coal wall image acquisition module is used to acquire images of the tunnel coal wall.

[0120] The first spot coordinate determination module is used to determine the coordinates of the center of each spot in the roadway coal wall image in the image coordinate system as the first spot coordinates of the corresponding spot center.

[0121] The second spot coordinate determination module is used to transform the coordinates of multiple first spot to the camera coordinate system, so as to obtain the coordinates of the center of each spot in the camera coordinate system as the second spot coordinates of the corresponding spot center.

[0122] The coal wall plane normal vector determination module is used to determine the normal vector of the roadway coal wall plane in the camera coordinate system based on the coordinates of multiple second light spots.

[0123] The steel strip anchor hole rotation matrix determination module is used to determine the rotation matrix from the industrial camera to the roadway coal wall based on the normal vector.

[0124] The steel strip anchor hole positioning module is used to determine the coordinates of the center of the steel strip anchor hole in the camera coordinate system according to the rotation matrix.

[0125] Example 3

[0126] This embodiment provides an electronic device, including a memory and a processor. The memory stores a computer program, and the processor runs the computer program to enable the electronic device to execute the steel strip anchor hole positioning method of a drilling and anchoring robot according to Embodiment 1. The memory is a readable storage medium.

[0127] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0128] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for positioning steel strip anchor holes in a drilling and anchoring robot, characterized in that, The method for locating steel strip anchor holes in a drilling and anchoring robot is applied to a steel strip anchor hole positioning device for a drilling and anchoring robot, which includes: an anchor hole pose visual measurement unit and an industrial computer. The anchor hole pose visual measurement unit includes a camera bracket, an industrial camera, and multiple laser pointers; The industrial camera is connected to the industrial computer; the industrial camera is mounted on the camera bracket. The laser pointer is used to irradiate the coal wall of the roadway to generate a light spot feature; The industrial camera is used to acquire images of the coal face in the tunnel; the coal face images contain features of steel strip anchor holes and multiple light spot features; the light spot features correspond one-to-one with the laser pointer; The industrial computer is used to locate the steel strip anchor holes based on the tunnel coal wall image. The method for positioning steel strip anchor holes in the drilling and anchoring robot includes: Acquire images of the coal face in the tunnel; The coordinates of the center of each spot in the coal face image of the roadway are determined in the image coordinate system as the first spot coordinates of the corresponding spot center; Transform the coordinates of the multiple first light spots into the camera coordinate system to obtain the coordinates of the center of each light spot in the camera coordinate system, which are the second light spot coordinates of the corresponding light spot center. From the center of the laser pointer And a point on the laser beam Calculate the coordinates of the second light spot in the camera coordinate system. The coordinates in the camera coordinate system, specifically the coordinates of the second spot at the center of the spot, include: Given: and , Then the straight line The direction vector can be represented as: ; straight line The equation can be expressed as: ; The coordinates of the first light spot are known. , Then the straight line The direction vector can be represented as: ; straight line The equation of the straight line can be expressed as: ; Will and The equation of the line is decomposed into four linear equations, namely: ； The linear equation can be expressed in matrix form as follows: ; Among them, matrix ; matrix ; variable ; The solution obtained using the least squares method is: ; The coordinates of the second light spot at the center of the i-th light spot for , ; Based on the coordinates of multiple second light spots, determine the normal vector of the coal wall plane in the camera coordinate system; Based on the normal vector, the rotation matrix from the industrial camera to the coal wall in the roadway is determined using the Rodrigues rotation formula; the rotation matrix from the industrial camera to the coal wall in the roadway is: ； Where R is the rotation matrix from the industrial camera to the coal wall of the roadway; θ is the rotation angle from the axis of the industrial camera to the normal vector of the coal wall plane. The axis of rotation is the axis of rotation from the industrial camera axis to the normal vector of the coal wall plane in the tunnel; The x-axis component of the rotation axis from the industrial camera axis to the normal vector of the coal wall plane in the roadway in the camera coordinate system; The component of the y-axis in the camera coordinate system is the rotation axis of the industrial camera axis to the normal vector of the coal wall plane in the roadway. The z-axis component of the rotation axis from the industrial camera axis to the normal vector of the coal wall plane in the roadway in the camera coordinate system; Based on the rotation matrix, determine the coordinates of the center of the steel strip anchor hole in the camera coordinate system.

2. The method for positioning steel strip anchor holes in a drilling and anchoring robot according to claim 1, characterized in that, The number of laser pointers is 3.

3. The method for positioning steel strip anchor holes in a drilling and anchoring robot according to claim 1, characterized in that, Based on the rotation matrix, the coordinates of the center of the steel strip anchor hole in the camera coordinate system are determined, including: The coordinates of the center of the steel strip anchor hole in the coal wall image of the roadway are determined as the coordinates of the first anchor hole in the image coordinate system. Determine the straight line between the optical center of the industrial camera and the coordinates of the first anchor hole; Determine the coordinates of the intersection point between the straight line and the coal wall plane of the roadway in the camera coordinate system; The coordinates of the intersection point are determined to be the coordinates of the center of the steel strip anchor hole in the camera coordinate system.

4. The method for positioning steel strip anchor holes in a drilling and anchoring robot according to claim 3, characterized in that, After determining the coordinates of the intersection point as the coordinates of the center of the steel strip anchor hole in the camera coordinate system, the method further includes: The drilling and anchoring robot is controlled based on the rotation matrix of the industrial camera to the coal wall of the roadway and the coordinates of the center of the steel strip anchor hole in the camera coordinate system.

5. The method for positioning steel strip anchor holes in a drilling and anchoring robot according to claim 1, characterized in that, Before determining the rotation matrix from the industrial camera to the coal face in the roadway based on the normal vector, the process also includes: Based on the coordinates of multiple second light spots, determine the unit vector of the coal wall plane in the camera coordinate system; Based on the unit vector and the normal vector, determine the conversion angle and rotation axis from the industrial camera to the coal face of the roadway.

6. A steel strip anchor hole positioning system for a drilling and anchoring robot, characterized in that, The system employs the steel strip anchor hole positioning method for drilling and anchoring robots as described in any one of claims 1-5, and the system comprises: The roadway coal wall image acquisition module is used to acquire roadway coal wall images; The first spot coordinate determination module is used to determine the coordinates of the center of each spot in the coal wall image of the roadway in the image coordinate system as the first spot coordinates of the corresponding spot center. The second spot coordinate determination module is used to transform multiple first spot coordinates to the camera coordinate system, so that the coordinates of each spot center in the camera coordinate system are the second spot coordinates of the corresponding spot center. The coal wall plane normal vector determination module is used to determine the normal vector of the roadway coal wall plane in the camera coordinate system based on the coordinates of multiple second light spots; The steel strip anchor hole rotation matrix determination module is used to determine the rotation matrix from the industrial camera to the roadway coal wall based on the normal vector and using the Rodrigues rotation formula. The steel strip anchor hole positioning module is used to determine the coordinates of the center of the steel strip anchor hole in the camera coordinate system according to the rotation matrix.

7. An electronic device, characterized in that, The device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform a steel strip anchor hole positioning method for a drilling and anchoring robot according to any one of claims 1 to 5.

8. An electronic device according to claim 7, characterized in that, The memory is a readable storage medium.

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