Anchor breaking apparatus and method with variable chassis and visual aid lock positioning

Abstract

The present application relates to a kind of variable chassis and visual auxiliary lock positioning function's broken anchor equipment and method, belong to broken anchor device technical field.Broken anchor equipment includes variable chassis, hydraulic mechanism, electric control mechanism, broken anchor mechanical arm, visual auxiliary positioning mechanism and machine box;Variable chassis is installed in the lower of machine box, hydraulic mechanism and electric control mechanism are installed in machine box, broken anchor mechanical arm is installed in the front of machine box, visual auxiliary positioning mechanism is installed on broken anchor mechanical arm and machine box, hydraulic mechanism is connected with variable chassis and broken anchor mechanical arm and is used for for variable chassis and broken anchor mechanical arm liquid supply, electric control mechanism is electrically connected with variable chassis, hydraulic mechanism, broken anchor mechanical arm and visual auxiliary positioning mechanism and is used to control variable chassis, hydraulic mechanism, broken anchor mechanical arm and visual auxiliary positioning mechanism action.The present application can adjust track distance as required, so that the operation of broken anchor equipment is not affected by track distance, it is flexible and convenient to use, and the scope of application is wide.

Description

Technical Field

[0001] The present invention relates to the technical field of anchor breaking devices, and in particular to an anchor breaking device and method with a variable chassis and a visually assisted lock positioning function. Background Art

[0002] Anchor breaking operations in coal mine roadways are essential for the normal operation of fully mechanized mining faces. Traditionally, underground coal mine roof anchor breaking operations have mostly been performed manually with handheld anchor breakers, which is labor-intensive, poses high safety risks, and results in low anchor breaking efficiency. Existing anchor breaking vehicles suffer from difficulties in connecting the anchor breaking mechanism to the anchor cable lock and cause the vehicle to become unstable while operating. These issues hinder safe, efficient, and intelligent mining in fully mechanized coal mine faces.

[0003] Jiangyin Changli Technology Co., Ltd. has published a patent for a "mining anchor unloading vehicle" (application number 202111231465.4). With this mining anchor unloading vehicle, anchor unloading is no longer manually controlled on-site at close range, but can also be remotely controlled from a longer distance, avoiding threats to personal safety. The anchor unloading vehicle carries various equipment and replaces manual travel in narrow mine tunnels, reducing labor intensity. However, the track spacing between the two tracks of the mining anchor unloading vehicle chassis is fixed, which limits its use scenarios due to the influence of the track spacing. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides an anchor breaking device and method with a variable chassis and visually assisted lock positioning function. The technical solution of the present invention is as follows:

[0005] The present invention provides an anchor breaking device with a variable chassis and a visually assisted lock positioning function, which includes a variable chassis, a hydraulic mechanism, an electric control mechanism, an anchor breaking mechanical arm, a visually assisted positioning mechanism, and a chassis;

[0006] The variable chassis is installed below the chassis, the hydraulic mechanism and the electric control mechanism are installed in the chassis, the anchor-breaking mechanical arm is installed in front of the chassis, and the visually assisted positioning mechanism is installed on the anchor-breaking mechanical arm and the chassis. The hydraulic mechanism is hydraulically connected to the variable chassis and the anchor-breaking mechanical arm and is used to supply fluid to the variable chassis and the anchor-breaking mechanical arm. The electric control mechanism is electrically connected to the variable chassis, the hydraulic mechanism, the anchor-breaking mechanical arm and the visually assisted positioning mechanism and is used to control the actions of the variable chassis, the hydraulic mechanism, the anchor-breaking mechanical arm and the visually assisted positioning mechanism.

[0007] The variable chassis comprises a first track frame and a second track frame arranged in parallel and spaced apart, a chassis frame is arranged between the first track frame and the second track frame, two first rectangular columns are fixedly connected to the front and rear sides of the first track frame and are slidably connected to one side of the chassis frame, two second rectangular columns are fixedly connected to the front and rear sides of the second track frame and are slidably connected to the other side of the chassis frame, the cylinder bodies of a first push oil cylinder and a second push oil cylinder are fixedly connected to the middle portions of the first track frame and the second track frame respectively, the piston rods of the first push oil cylinder and the second push oil cylinder are connected to the two sides of the chassis frame through pins respectively, tracks are installed on the peripheries of the first track frame and the second track frame, a chassis driving mechanism is installed at the rear ends of the first track frame and the second track frame, the chassis driving mechanism is electrically connected to an electric control mechanism, the first push oil cylinder and the second push oil cylinder are hydraulically connected to a hydraulic mechanism, two side plates parallel to each other are fixedly connected to the top surface of the chassis frame, a chassis bending plate is fixedly connected to the top surfaces of the two side plates, a case is fixed to the chassis bending plate, and a broken anchor mechanical arm is installed at the front portion of the chassis bending plate.

[0008] Optionally, the broken anchor mechanical arm comprises a rotating assembly, a lifting arm, and a telescopic arm, the rotating assembly is connected to the front portion of the chassis bending plate, a lifting arm base is installed on the top surface of the rotating assembly, the bottom end of the lifting arm is hingedly connected to the bottom portion of the lifting arm base, a mounting seat is hingedly connected to the top end of the lifting arm, one end of the telescopic arm is hingedly connected to the mounting seat, mounting ears are fixedly connected to the position close to the mounting seat on one side of the telescopic arm, the cylinder body of a lifting oil cylinder is fixedly connected to the top portion of the lifting arm base, the piston rod of the lifting oil cylinder is hingedly connected to the mounting ears, the cylinder bodies of two telescopic oil cylinders are fixedly connected to the two sides of the telescopic arm, a first sleeve is slidably connected in the telescopic arm, a second sleeve is slidably connected in the first sleeve, the piston rods of the two telescopic oil cylinders are connected to the first sleeve and the second sleeve respectively, an end flange is fixedly connected to the end of the second sleeve away from the telescopic arm, the end flange is fixedly connected to the housing of a first swing oil cylinder, a connecting flange is connected to the rotating shaft of the first swing oil cylinder, the connecting flange is fixedly connected to the housing of a second swing oil cylinder, the rotating shaft of the second swing oil cylinder is fixedly connected to a U-shaped connecting bracket, and a broken anchor device is fixedly connected to the unopened side of the U-shaped connecting bracket.

[0009] Optionally, the visual auxiliary positioning mechanism comprises a first depth camera, a second depth camera, and a video display, the first depth camera is installed below the broken anchor device, the second depth camera is installed on the top surface of one end of the telescopic arm, and the video display is installed on the rear side of the case, and the first depth camera, the second depth camera, and the video display are electrically connected to the electric control mechanism.

[0010] Optionally, the broken anchor equipment with the variable chassis and the visual auxiliary lock positioning function further comprises a jacking oil cylinder, the cylinder body of the jacking oil cylinder is connected to the middle portion of the inner bottom surface of the case, the piston rod of the jacking oil cylinder extends out from the top surface of the case, and the jacking oil cylinder is hydraulically connected to the hydraulic mechanism.

[0011] Optionally, the front side of the cabinet is provided with a bell and a gas sensor arranged side by side, and the top surface of the cabinet is provided with a vehicle lamp, and the vehicle lamp, the bell and the gas sensor are electrically connected with the electric control mechanism.

[0012] Optionally, an angle sensor is arranged on the rotating assembly, displacement sensors are arranged on the lifting oil cylinder and the telescopic oil cylinder, angle sensors are arranged on the first swing oil cylinder and the second swing oil cylinder, and each angle sensor and displacement sensor is electrically connected with the electric control mechanism; a proportional valve is arranged on the oil circuit of the lifting oil cylinder, the telescopic oil cylinder, the first swing oil cylinder and the second swing oil cylinder, and each proportional valve is electrically connected with the electric control mechanism.

[0013] The application further provides a method for breaking an anchor by using the anchor breaking equipment with the variable chassis and the visual auxiliary lock positioning function.

[0014] S1, the electric control mechanism acquires the anchor breaking image collected by the visual auxiliary positioning mechanism;

[0015] S2, the electric control mechanism inputs the anchor breaking image into a pre-trained anchor cable lock identification network arranged on the edge computer of the electric control mechanism;

[0016] S3, the anchor cable lock identification network analyzes and outputs the position of the anchor cable lock;

[0017] S4, the visual auxiliary positioning mechanism displays the position of the anchor cable lock;

[0018] S5, when the anchor cable lock breaking instruction is acquired, the anchor cable lock is broken by cooperation of the electric control mechanism, the hydraulic mechanism and the anchor breaking mechanical arm.

[0019] Optionally, the anchor cable lock identification network adopts an improved YOLOv8 model, the improved YOLOv8 model comprises a backbone network module, a neck network module and a head network module, the output end of the backbone network module is connected with the input end of the neck network module, and the output end of the neck network module is connected with the input end of the head network module.

[0020] The backbone network module of the improved YOLOv8 model replaces the C2f module in the YOLOv8 model backbone network module with a C2f-MLCA module;

[0021] When the MLCA processes data, the following steps are included:

[0022] S3.1, the input feature map is locally pooled in the spatial dimension through the LAP operation;

[0023] S3.2, the locally pooled features are divided into two parallel branches, the first branch sequentially performs a GAP operation and a reshaping operation on the locally pooled features; and the second branch performs a reshaping operation on the locally pooled features;

[0024] S3.3, perform one-dimensional convolution on the features after the reshaping operation of the two branches, and perform UNAP operation on the features after the one-dimensional convolution operation of the first branch. The features after the one-dimensional convolution operation of the second branch are reshaped again and then fused with the features after the UNAP operation of the first branch by addition;

[0025] S3.4, perform UNAP operation on the features after additive fusion, and multiply fuse the features after UNAP operation with the input feature map to obtain the output of MLCA.

[0026] Optionally, the neck network module of the improved YOLOv8 model replaces the PANet structure in the neck network module of the YOLOv8 model with a RepGFPN structure; the RepGFPN performs feature extraction and processing through CSPStage when processing data;

[0027] The CSPStage includes the following steps when performing feature extraction and processing:

[0028] S3-1, perform a concatenation operation on the input features and divide the concatenated features into two branches;

[0029] S3-2, the features of the first branch pass through a convolution layer with a convolution kernel size of 1; the features of the other branch first pass through a convolution layer with a convolution kernel size of 1, and then pass through ELAM for multiple processing;

[0030] S3-3, after fusing the features of the two branches through the connection operation, a convolution layer with a convolution kernel size of 1 is used to merge the processed feature maps and output the final result.

[0031] Optionally, when S3 is implemented, it includes:

[0032] S31, the anchor lock recognition network divides the broken anchor image into S×S grids and extracts the feature vector of each grid through its feature extraction network;

[0033] S32, using the fully connected layer of the anchor lock recognition network to predict the bounding box and confidence for each grid according to the feature vector of each grid;

[0034] S33, select the bounding box with the highest confidence, and remove duplicate bounding boxes through the non-maximum suppression algorithm to obtain the target box where the anchor lock is located, and use the target box as the position of the anchor lock.

[0035] All the above optional technical solutions can be combined arbitrarily, and the present invention does not provide detailed descriptions of the structures after each combination.

[0036] By means of the above solution, the beneficial effects of the present invention are as follows:

[0037] By setting up a variable chassis including a first push cylinder and a second push cylinder, the first push cylinder and the second push cylinder can be extended and retracted under the control of the hydraulic mechanism, thereby realizing the change of the track distance between the first crawler frame and the second crawler frame. When the anchor-breaking equipment passes through a single pillar, in order to maintain good passability, the piston rods of the first push cylinder and the second push cylinder are retracted, and the track distance is kept at a minimum. When the anchor-breaking equipment is in an operating condition, the piston rods of the first push cylinder and the second push cylinder are extended, and the track distance is kept at a maximum distance to improve the stability of the entire machine. Therefore, the embodiment of the present invention can adjust the track distance as needed, so that the operation of the anchor-breaking equipment is not affected by the track distance, and it is flexible and convenient to use and has a wide range of applications.

[0038] By setting up a visual auxiliary positioning mechanism, the position of the anchor cable lock can be intelligently identified and displayed with the cooperation of the electronic control mechanism, reducing the difficulty of the anchor breaker docking with the anchor cable lock, making it easier for the operator to locate the position of the anchor cable lock, thereby improving the efficiency of anchor breaking.

[0039] In summary, the anchor-breaking equipment can reduce the labor intensity of workers, reduce the safety risk factor, and improve the efficiency of anchor-breaking. The whole machine is stable and has a wide range of applications.

[0040] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of the anchor breaking equipment provided by an embodiment of the present invention from one perspective.

[0042] Figure 2 It is a structural schematic diagram of the anchor breaking equipment provided by an embodiment of the present invention from another perspective.

[0043] Figure 3 It is a structural schematic diagram of the anchor-breaking equipment provided by an embodiment of the present invention from another perspective.

[0044] Figure 4 It is a structural schematic diagram of a variable chassis in an anchor-breaking equipment provided by an embodiment of the present invention at one viewing angle.

[0045] Figure 5 It is a structural schematic diagram of the variable chassis in the anchor-breaking equipment provided by an embodiment of the present invention from another perspective.

[0046] Figure 6 It is a structural schematic diagram of the anchor-breaking mechanical arm in the anchor-breaking equipment provided by an embodiment of the present invention.

[0047] Figure 7Figure 1 is a partial structural schematic diagram of the anchor breaking mechanical arm in the anchor breaking equipment provided by the embodiment of the present application.

[0048] Figure 8 Figure 1 is a partial structural schematic diagram of the anchor breaking mechanical arm in the anchor breaking equipment provided by the embodiment of the present application.

[0049] Figure 9 Figure 1 is a partial structural schematic diagram of the anchor breaking mechanical arm in the anchor breaking equipment provided by the embodiment of the present application.

[0050] Figure 10 Figure 1 is a partial structural schematic diagram of the anchor breaking mechanical arm in the anchor breaking equipment provided by the embodiment of the present application.

[0051] Figure 11 Figure 1 is a partial structural schematic diagram of the anchor breaking mechanical arm in the anchor breaking equipment provided by the embodiment of the present application.

[0052] Figure 12 Figure 1 is a partial structural schematic diagram of the anchor breaking mechanical arm in the anchor breaking equipment provided by the embodiment of the present application.

[0053] The figure is marked as: 1, variable chassis, 1-1, first track frame, 1-2, second track frame, 1-3, chassis rack, 1-4, first rectangular column, 1-5, second rectangular column, 1-6, first push oil cylinder, 1-7, second push oil cylinder, 1-8, track, 1-9, chassis driving mechanism, 1-10, side plate, 1-11, chassis bending plate, 2, hydraulic mechanism, 3, electric control mechanism, 4, anchor breaking mechanical arm, 4-1, rotating assembly, 4-2, lifting arm, 4-3, lifting oil cylinder, 4-4, telescopic arm, 4-5, telescopic oil cylinder, 4-6, first swing oil cylinder, 4-7, second swing oil cylinder, 4-8, anchor breaker, 4-9, U-shaped connecting frame, 4-10, connecting flange, 4-11, lifting wall base, 4-12, mounting seat, 4-13, mounting lug, 4-14, end flange, 4-15, first sleeve, 4-16, second sleeve, 5, jacking oil cylinder, 5-1, first depth camera, 5-2, second depth camera, 5-3, video display, 6, case, 7, car light, 8, bell. DETAILED DESCRIPTION

[0054] The specific embodiments of the present application are described in further detail below in conjunction with the drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0055] As Figures 1 to 5As shown, the anchor breaking equipment with variable chassis and visual auxiliary lock positioning function provided by the embodiment of the application comprises a variable chassis 1, a hydraulic mechanism 2, an electric control mechanism 3, an anchor breaking mechanical arm 4, a visual auxiliary positioning mechanism and a machine box 6.

[0056] The variable chassis 1 is installed below the machine box 6, the hydraulic mechanism 2 and the electric control mechanism 3 are installed in the machine box 6, the anchor breaking mechanical arm 4 is installed in front of the machine box 6, the visual auxiliary positioning mechanism is installed on the anchor breaking mechanical arm 4 and the machine box 6, the hydraulic mechanism 2 is in hydraulic connection with the variable chassis 1 and the anchor breaking mechanical arm 4 and is used for supplying liquid to the variable chassis 1 and the anchor breaking mechanical arm 4, and the electric control mechanism 3 is in electrical connection with the variable chassis 1, the hydraulic mechanism 2, the anchor breaking mechanical arm 4 and the visual auxiliary positioning mechanism and is used for controlling the actions of the variable chassis 1, the hydraulic mechanism 2, the anchor breaking mechanical arm 4 and the visual auxiliary positioning mechanism.

[0057] The hydraulic mechanism 2 at least comprises an oil tank, a hydraulic pump and a motor, which cooperate to enable the hydraulic mechanism 2 to supply liquid to the oil cylinder in the variable chassis 1 and the anchor breaking mechanical arm 4. The electric control mechanism 3 at least comprises an edge computer and a human-computer interaction interface, which cooperate to control the actions of the variable chassis 1, the hydraulic mechanism 2, the anchor breaking mechanical arm 4 and the visual auxiliary positioning mechanism.

[0058] During the specific anchor breaking operation, the hydraulic mechanism 2 and the electric control mechanism 3 are manually operated, the variable chassis 1 is walked to a suitable position of anchor breaking, and then the anchor breaking mechanical arm 4 is continuously operated to lift and rotate the anchor breaking mechanical arm 4 to a certain position and then break the anchor.

[0059] In one specific embodiment, the variable chassis 1 comprises a first track frame 1-1 and a second track frame 1-2 arranged in parallel and spaced apart, a chassis frame 1-3 arranged between the first track frame 1-1 and the second track frame 1-2, two first rectangular columns 1-4 fixedly connected to the front and rear sides of the first track frame 1-1 and slidably connected to one side of the chassis frame 1-3, two second rectangular columns 1-5 fixedly connected to the front and rear sides of the second track frame 1-2 and slidably connected to the other side of the chassis frame 1-3, a cylinder body of a first push oil cylinder 1-6 and a second push oil cylinder 1-7 fixedly connected to the first track frame 1-1 and the second track frame 1-2 respectively, a piston rod of the first push oil cylinder 1-6 and the second push oil cylinder 1-7 connected to the two sides of the chassis frame 1-3 through pins respectively, a track 1-8 mounted on the periphery of the first track frame 1-1 and the second track frame 1-2, a chassis driving mechanism 1-9 mounted at the rear end of the first track frame 1-1 and the second track frame 1-2, the chassis driving mechanism 1-9 electrically connected to an electric control mechanism 3, the first push oil cylinder 1-6 and the second push oil cylinder 1-7 hydraulically connected to a hydraulic mechanism 2, two side plates 1-10 fixedly connected to the top surface of the chassis frame 1-3 and arranged in parallel, a chassis bending plate 1-11 fixedly connected to the upper surface of the two side plates 1-10, a case 6 fixed to the chassis bending plate 1-11, and a breaking anchor mechanical arm 4 mounted to the front part of the chassis bending plate 1-11.

[0060] The front end of the first track frame 1-1 and the second track frame 1-2 is provided with a driven roller and other components. The chassis driving mechanism 1-9 at least includes a speed reducer, a gear and a hydraulic motor. It should be noted that the above content mainly introduces the related components of the variable chassis 1 for adjusting the track distance, and the specific components of the chassis driving mechanism 1-9 cooperating with other mechanisms to realize the walking and steering of the variable chassis 1 are not limited in the embodiments of the present application, and can be referred to the related structures in the existing track mechanism.

[0061] In the embodiments of the present application, the first push oil cylinder 1-6 and the second push oil cylinder 1-7 can be extended and retracted under the control of the hydraulic mechanism 2, thereby realizing the change of the track distance between the first track frame 1-1 and the second track frame 1-2. When the breaking anchor equipment passes through a single prop, in order to maintain good passability, the piston rod of the first push oil cylinder 1-6 and the second push oil cylinder 1-7 is retracted, and the track distance is kept to be minimum. When the breaking anchor equipment is in the working condition, the piston rod of the first push oil cylinder 1-6 and the second push oil cylinder 1-7 is extended, and the track distance is kept to be maximum, so as to improve the stability of the whole machine. Therefore, the embodiments of the present application can adjust the track distance according to the needs, so that the operation of the breaking anchor equipment is not affected by the track distance, and the use is flexible and convenient, and the application range is wide.

[0062] In one specific embodiment, as shown in Figure 6 and Figure 7As shown, the anchor breaking mechanical arm 4 comprises a slewing assembly 4-1, a lifting arm 4-2 and a telescopic arm 4-4, the slewing assembly 4-1 is connected to the front of the chassis bent plate 1-11, a lifting arm base 4-11 is installed on the top surface of the slewing assembly 4-1, the bottom end of the lifting arm 4-2 is hingedly connected to the bottom of the lifting arm base 4-11, a mounting seat 4-12 is hingedly connected to the top end of the lifting arm 4-2, one end of the telescopic arm 4-4 is hingedly connected to the mounting seat 4-12, a mounting lug 4-13 is fixedly connected to the position close to the mounting seat 4-12 on one side of the telescopic arm 4-4, the cylinder body of a lifting oil cylinder 4-3 is fixedly connected to the top of the lifting arm base 4-11, the piston rod of the lifting oil cylinder 4-3 is hingedly connected to the mounting lug 4-13, the cylinder bodies of two telescopic oil cylinders 4-5 are fixedly connected to the two sides of the telescopic arm 4-4, a first sleeve 4-15 is slidably connected in the telescopic arm 4-4, a second sleeve 4-16 is slidably connected in the first sleeve 4-15, the piston rods of the two telescopic oil cylinders 4-5 are connected to the first sleeve 4-15 and the second sleeve 4-16 respectively, an end flange 4-14 is fixedly connected to the end of the second sleeve 4-16 away from the telescopic arm 4-4, the end flange 4-14 is fixedly connected to the housing of a first swing oil cylinder 4-6, a connecting flange 4-10 is connected to the rotating shaft of the first swing oil cylinder 4-6, the housing of a second swing oil cylinder 4-7 is fixedly connected to the connecting flange 4-10, a U-shaped connecting frame 4-9 is fixedly connected to the rotating shaft of the second swing oil cylinder 4-7, and the anchor breaker 4-8 is fixedly connected to the non-opening side of the U-shaped connecting frame 4-9.

[0063] The slewing assembly 4-11 at least comprises a slewing reducer and a hydraulic motor, and under the action of these components, the slewing assembly 4-11 can rotate at the front of the chassis bent plate 1-11.

[0064] Specifically, when the anchor breaking mechanical arm 4 is performing anchor breaking operation, the electric control mechanism 3 first controls the slewing assembly 4-11 to rotate to a certain position; then the electric control mechanism 3 and the hydraulic mechanism 2 control the lifting oil cylinder 4-3 to lift to a suitable position, further control the telescopic oil cylinder 4-5 to extend to a certain length, and control the first swing oil cylinder 4-6 and the second swing oil cylinder 4-7 to rotate to a certain angle, so that the anchor breaker 4-8 is in a suitable anchor breaking position, and the pose adjustment of the anchor breaker 4-8 when it is docked with the anchor cable lock is realized.

[0065] In one embodiment, the visual auxiliary positioning mechanism includes a first depth camera 5-1, a second depth camera 5-2 and a video display 5-3. The first depth camera 5-1 is installed below the anchor breaker 4-8, which can capture anchor cable lock information through the section of the anchor breaker 8, mainly solving the problem that it is difficult for manual observation of anchor cable locks to enter the anchor breaking hole of the anchor breaker 8. The second depth camera 5-2 is installed on the top surface of one end of the telescopic arm 4-4, which is used to preliminarily and roughly capture the position information of the anchor cable lock on the roof. The video display 5-3 is installed on the rear side of the machine box 6, which is used to display video data. The first depth camera 5-1, the second depth camera 5-2 and the video display 5-3 are electrically connected with the electric control mechanism 3. The operator can observe the anchor cable lock position information on the video display 5-3, and through the machine vision technology, the first depth camera 5-1 and the second depth camera 5-2 can assist in intelligent identification of the anchor cable lock, and the position of the anchor cable lock can be displayed on the video display 5-3.

[0066] In one embodiment, the anchor breaking equipment with variable chassis and visual auxiliary lock positioning function further comprises a jacking oil cylinder 5. The cylinder body of the jacking oil cylinder 5 is connected with the inner bottom surface of the machine box 6, the piston rod of the jacking oil cylinder 5 extends from the top surface of the machine box 6, and the jacking oil cylinder 5 is hydraulically connected with the hydraulic mechanism 2. Specifically during anchor breaking, the hydraulic mechanism 2 controls the piston rod of the jacking oil cylinder 5 to press against the roadway roof, thereby improving the stability of the whole machine during anchor breaking.

[0067] In one embodiment, the electric bell 8 and the gas sensor are installed side by side on the front side of the machine box 6, the vehicle lamp 7 is installed on the top surface of the machine box 6, and the vehicle lamp 7, the electric bell 8 and the gas sensor are electrically connected with the electric control mechanism 3. When the anchor breaking equipment is running, the electric control mechanism 3 controls the electric bell 8 to ring to remind pedestrians to pay attention. The gas sensor is used to measure gas data in real time and send it to the electric control mechanism 3. The vehicle lamp 7 is used for lighting under the action of the electric control mechanism 3 during anchor breaking.

[0068] In one embodiment, the rotary assembly 4-1 is provided with an angle sensor for measuring the rotation angle of the rotary assembly 4-1 in real time. The lifting oil cylinder 4-3 and the telescopic oil cylinder 4-5 are provided with displacement sensors for measuring the extension displacement of the lifting oil cylinder 4-3 and the telescopic oil cylinder 4-5 in real time. The first swing oil cylinder 4-6 and the second swing oil cylinder 4-7 are provided with angle sensors for measuring the rotation angle of the first swing oil cylinder 4-6 and the second swing oil cylinder 4-7 in real time. Each angle sensor and displacement sensor is electrically connected with the electric control mechanism 3. Proportional valves are installed on the oil circuits of the lifting oil cylinder 4-3, the telescopic oil cylinder 4-5, the first swing oil cylinder 4-6 and the second swing oil cylinder 4-7, and each proportional valve is electrically connected with the electric control mechanism 3.

[0069] The lifting oil cylinder 4-3, the telescopic oil cylinder 4-5, the first swing oil cylinder 4-6 and the second swing oil cylinder 4-7 are controlled by respective high-precision proportional valves, each proportional valve and each execution element and sensor form a closed-loop feedback control loop, and the control accuracy of the anchor breaking mechanical arm 4 is improved.

[0070] The anchor breaking method of the anchor breaking equipment with the variable chassis and the visual auxiliary lock positioning function also comprises the following steps S1 to S5.

[0071] S1, the electric control mechanism 3 acquires the anchor breaking image collected by the visual auxiliary positioning mechanism.

[0072] The anchor breaking image is obtained by frame division of video data collected by the first depth camera 5-1 and / or the second depth camera 5-2.

[0073] S2, the electric control mechanism 3 inputs the anchor breaking image into a pre-trained anchor cable lock identification network deployed on an edge computer of the electric control mechanism 3.

[0074] The specific component structure of the anchor cable lock identification network is not limited in the embodiment of the application, and a common target identification classification network can be used in specific implementation. In one specific embodiment, the anchor cable lock identification network uses an improved YOLOv8 model.

[0075] It should be noted that the anchor cable lock identification network needs to be trained before the anchor breaking image is input into the pre-trained anchor cable lock identification network. Specifically, when training the anchor cable lock identification network, the following method can be used:

[0076] S10, collect data and make a data set.

[0077] First, the first depth camera 5-1 and the second depth camera 5-2 installed in the well are used to collect video data of the anchor cable lock, and the recorded video data is frame by frame split into pictures to form an original data set.

[0078] Due to the complex environment of the tunneling working face, in the real-time monitoring scene of the anchor breaking process, it is often in low-illumination and dusty fog conditions, so it is necessary to expand the original data set. However, it is difficult to obtain image data in a harsh underground environment, so the original data set is processed by data enhancement. First, an image synthesis fog enhancement algorithm is used to generate images in a dusty fog environment; then, an image brightness darkening processing algorithm is used to generate images in a low-illumination environment. Finally, the three data sets (the original data set, the dusty fog data set and the low-illumination data set) are integrated together to form a more diversified comprehensive data set.

[0079] Next, the comprehensive data set is labeled, specifically using Labelimg labeling software to label the anchor cable lock in the comprehensive data set image. After labeling, the system automatically generates an XML format file corresponding to each image, and the XML format file content records the labeling category, image size, and the size and position of the labeling box in detail.

[0080] In order to facilitate subsequent model training, the XML file is uniformly converted into a TXT format. The TXT file will serve as a label data set, and the TXT file content contains several five-tuples (the number depends on the number of labeling boxes in the image). The first element of the five-tuple is the category information, and the last four elements are the coordinates of the two end points of the normalized labeling box, and the specific position of the labeling box can be determined through the two end points.

[0081] Finally, the label data set is divided into a training set, a validation set and a test set according to a 7:2:1 ratio.

[0082] S20, build an improved YOLOv8 model as an anchor cable lock identification network.

[0083] Specifically, the anchor cable lock identification network in the embodiment of the application adopts an improved YOLOv8 model, the improved YOLOv8 model includes a backbone network module, a neck network module and a head network module, the output end of the backbone network module is connected with the input end of the neck network module, and the output end of the neck network module is connected with the input end of the head network module; the improvement scheme is: based on the YOLOv8 network model structure, the C2f module in the backbone network module is replaced by the C2f-MLCA module, and the PANet structure in the neck network module of the YOLOv8 model is replaced by the RepGFPN structure. Specifically as follows:

[0084] S2.1, improve the C2f module.

[0085] The backbone network module of the YOLOv8 model is composed of a CBS module, a C2f module and a SPPF module, wherein the C2f module contains many Bottleneck residual modules, and the concatenation of these Bottleneck residual modules can realize the extraction and fusion of features of different scales. However, the Bottleneck residual module also has obvious shortcomings. These Bottleneck residual modules make the model superimpose a large amount of information at the same position, produce a lot of redundant features in the process of obtaining key features, and may cause the loss of key information. Therefore, a lightweight attention mechanism module MLCA (mixed local channel attention) is added in the Bottleneck residual module in the embodiment of the application, so that the key feature information extracted by it contains channel information, spatial information, local channel information and global channel information, and the composition structure of the C2f-MLCA module is as follows:Figure 8 As shown in FIG. 1, the input feature map is first processed by the Bottleneck and Bottleneck_MLCA. Figure 9 As shown in FIG. 1, the input feature map is first processed by the Bottleneck and Bottleneck_MLCA.

[0086] The MLCA is designed to make up for the deficiency of the traditional channel attention mechanism in capturing spatial feature information. Unlike the attention mechanism that only focuses on channel information, the MLCA contains not only channel feature information but also spatial feature information. The following is a detailed description of the MLCA processing data.

[0087] In one specific embodiment, when the MLCA processes data, it includes:

[0088] S3.1, the input feature map is locally pooled in the spatial dimension by the LAP (Local Adaptive Average Pooling) operation.

[0089] Specifically, the input feature map of the MLCA is a feature vector with a shape of C x W x H, where C is the number of channels, and W and H are the spatial dimensions (width and height). The input feature map is locally pooled in the spatial dimension by the LAP operation. After local pooling, the spatial dimension of the input feature map is compressed from W x H to ks x ks, and the shape of the output feature is C x ks x ks. This step preserves the local spatial information and is used to capture fine-grained features.

[0090] S3.2, the locally pooled feature is divided into two parallel branches, the first branch sequentially performs GAP (Global Adaptive Average Pooling) operation and reshaping (Reshape) operation on the locally pooled feature; the second branch performs reshaping operation on the locally pooled feature.

[0091] Specifically, the GAP operation converts the locally pooled feature into a vector with a shape of 1 x C x ks x ks. The GAP operation preserves the global feature information of the channel dimension and compresses the spatial information of the pooling into a more compact representation. The purpose of the reshaping operation is to adapt to the subsequent one-dimensional convolution operation. The second branch directly performs reshaping operation on the locally pooled feature to ensure that this branch can preserve the global feature and prepare for the subsequent one-dimensional convolution operation.

[0092] S3.3, one-dimensional convolution (Conv1d) operation is performed on the features after the reshaping operation of the two branches, and UNAP operation is performed on the features after the one-dimensional convolution operation of the first branch, and the features after the one-dimensional convolution operation of the second branch are reshaped again and fused with the features after the UNAP operation of the first branch by addition.

[0093] Specifically, both branches are operated by a one-dimensional convolution (Conv1d) operation, which can reduce the computational complexity and further extract sequence or channel information. The one-dimensional convolution operation of the first branch is used to capture the complex relationship between local spatial and channel features. The one-dimensional convolution operation is directly applied to the global features after the reshaping operation in the second branch, further extracting global information.

[0094] The features after the first branch one-dimensional convolution operation are subjected to a UNAP (unpooling) operation to restore the original spatial resolution C x W x H. The UNAP operation ensures that the feature map of this branch matches the input feature map in the spatial dimension.

[0095] The features after the addition fusion not only contain global context information (second branch), but also combine local spatial features (first branch), making the feature expression more comprehensive.

[0096] S3.4, UNAP operation is performed on the features after the addition fusion, and the features after the UNAP operation are multiplied with the input feature map to obtain the output of the MLCA.

[0097] Specifically, the UNAP operation makes the fused features further restore to a higher spatial resolution for more effective feature expression. The role of multiplication fusion is to highlight key features and suppress redundant information. The final output features of the MLCA contain both channel attention information and global and local spatial features, making the model pay more attention to important information.

[0098] In summary, MLCA combines local and global spatial information with channel attention through a branch architecture, preserving channel information while enhancing attention mechanisms by introducing spatial features. It uses local and global pooling, convolution, and unpooling operations to improve the model's attention to spatial and channel information without significantly increasing computational complexity. The data processing flow of the MLCA is shown in Figure 10 .

[0099] S2.2, improve the feature fusion network.

[0100] YOLOv8 uses PANet to fuse multi-scale feature maps in the neck network module, which increases an additional bottom-up path to enhance the entire feature hierarchy using accurate positioning information in the low layer, thereby shortening the information path between high and low layer features. However, this bottom-up path design lacks interaction between high-level semantic information and low-level spatial information, resulting in suboptimal multi-scale detection. To address this issue, the present embodiment proposes an improved efficient hierarchical aggregation network, RepGFPN, as an alternative solution for the neck network module.

[0101] RepGFPN solves the above problems through skip connection structure and cross-scale connection, and effectively integrates multi-scale features. Its network structure is as follows Figure 11 As shown in the figure, P3-in, P4-in, and P5-in represent the feature maps from the three input layers, respectively. The processed intermediate feature maps are P4-hid and P5-hid, which are extracted and processed by the multi-scale fusion module (CSPStage). The feature maps of the output layer are P3-out, P4-out, and P6-out, which output features at different scales and are suitable for multi-scale detection tasks. Figure 11 The upward-diagonal arrow in the figure indicates a 2x downsampling operation, which is used to extract more abstract semantic information at a higher level. The downward-diagonal arrow indicates a 2x upsampling operation, which is used to refine the spatial resolution and supplement the position information at the lower level. The upsampling operation uses nearest neighbor interpolation to restore spatial details, thereby improving detection accuracy while maintaining computational efficiency.

[0102] In a specific embodiment, the RepGFPN performs feature extraction and processing through CSPStage when processing data; the CSPStage structure is as follows: Figure 12 As shown, its input is 2 or 3 feature layers. After concat (connection), it is divided into two branches. One branch passes through a 1×1 convolutional reduction channel, and the other branch passes through an efficient layer aggregation network (ELAN). The two branches are concat again, and the output finally passes through a 1×1 convolutional reduction channel to obtain the final output. Specifically, the CSPStage includes the following when performing feature extraction and processing:

[0103] S3-1, perform a concatenation operation on the input features and divide the concatenated features into two branches.

[0104] Specifically, CspStage receives the input feature map and splits the input into two branches through a Concat operation.

[0105] In S3-2, the features of the first branch pass through a convolution layer with a convolution kernel size of 1; the features of the other branch first pass through a convolution layer with a convolution kernel size of 1, and then pass through ELAM for multiple processing.

[0106] Specifically, the features of the first branch pass directly through a convolution layer with a kernel size of 1 (Conv K = 1), which is equivalent to adjusting the number of channels without changing the spatial dimension. The features of the other branch pass through a convolution layer with a kernel size of 1 (Conv K = 1), and then are processed multiple times by ELAM (repeated N times).

[0107] After receiving a feature map input, ELAM first passes it through a RepConv layer. Following RepConv, it passes through a convolutional layer with a kernel size of 3 (Conv K=3) to extract deeper spatial features. Next, an additive skip connection is used to additively fuse the input features with the results of Conv K=3.

[0108] After receiving the input feature map, RepConv divides it into two paths: Path 1 passes through a convolutional layer with a kernel size of 3 and a stride of 2 (Conv2d K=3, s=2, p=1), followed by a BatchNorm2d layer and a ReLU activation function. Path 2 passes through a convolutional layer with a kernel size of 1 and a stride of 2 (Conv2d K=1, s=2, p=0), followed by a BatchNorm2d layer. The outputs of these two paths are then fused together through an addition operation to form the final output.

[0109] S3-3, after fusing the features of the two branches through the connection operation, a convolution layer with a convolution kernel size of 1 is used to merge the processed feature maps and output the final result.

[0110] S30, model training and optimization.

[0111] First, the training parameters are set. Based on the characteristics of the dataset and the computing power and video memory of the hardware device, the training parameters are set as follows: images of 640×640 pixels, 16 images per batch, 300 iterations, Adam optimizer, initial learning rate of 0.001, momentum value of 0.937, Moasic data augmentation method strength of 0.7, and Mixup data augmentation method strength of 0.5.

[0112] Secondly, the training set is input into the improved YOLOv8 model for iterative training, and verification is performed at the completion of each iteration. The weight file of the current model and the best model weight file in the previous training are saved. When the training reaches the set number of iterations, the training is ended and the best model weight file is saved.

[0113] Finally, after training, the final improved YOLOv8 model was tested on the validation set, calculating metrics such as mAP (mean average precision), accuracy, and recall for the object detection task. The performance of model weights at different training iterations was compared, and the optimal model was selected for deployment. Its detection accuracy for anchor locks was verified, and model parameters and data augmentation strategies were further adjusted as needed to improve the model's generalization and practical application effectiveness.

[0114] S3, anchor lock identification network analysis and output of the anchor lock position.

[0115] In one specific embodiment, the S3 comprises, in particular implementation:

[0116] S31, the anchor cable lock identification network divides the broken anchor image into SxS grids, and extracts the feature vector of each grid through its feature extraction network.

[0117] Specifically, the broken anchor image is divided into SxS grids, realizing the decomposition of the broken anchor image into multiple small areas, and each grid is responsible for detecting one or more anchor cable locks that may exist in the broken anchor image. If the center point of the anchor cable lock falls into a certain grid, the grid will be responsible for predicting the position of the anchor cable lock. Through this division method, the anchor cable lock identification network can detect multiple anchor cable locks in parallel, and ensure that good detection results can be obtained even in complex scenes.

[0118] The feature extraction network is a convolutional neural network, which is responsible for extracting features at different levels from the broken anchor image. These feature vectors not only contain the boundary information of the anchor cable lock, but also capture the detailed features of the anchor cable lock, such as color, texture, and shape, etc. The continuous application of convolutional layers enables the model to identify objects in the image from local to global while maintaining computational efficiency.

[0119] S32, according to the feature vector of each grid, the anchor cable lock identification network predicts the boundary box and the confidence for each grid using the fully connected layer of the anchor cable lock identification network.

[0120] For each grid, the anchor cable lock identification network predicts one or more boundary boxes and outputs the following information at the same time: (1) Boundary box position: the model predicts the center position, width and height of the anchor cable lock, which is used to determine the exact position of the anchor cable lock in the image. (2) Category: whether it is an anchor cable lock. (3) Confidence score: confidence represents the possibility that the boundary box contains an anchor cable lock, the higher the score, the more confident the model is about the prediction. This score is composed of two parts: classification confidence and anchor cable lock existence confidence.

[0121] S33, select the boundary box with the highest confidence, and remove the repeated boundary box through the non-maximum suppression algorithm to obtain the target box where the anchor cable lock is located, and take the target box as the position of the anchor cable lock.

[0122] This step can avoid repeated detection of the same anchor cable lock, thereby ensuring that each anchor cable lock is only marked by a unique boundary box.

[0123] S4, the visual auxiliary positioning mechanism displays the position of the anchor cable lock.

[0124] Specifically, the video display 5-3 in the visual auxiliary positioning mechanism displays the position of the anchor cable lock, so that the operator can observe the position of the anchor cable lock from the video display 5-3.

[0125] S5, when the anchor cable lock is obtained, the anchor cable lock is broken through the cooperation of the electric control mechanism 3, the hydraulic mechanism 2 and the anchor breaking mechanical arm 4.

[0126] When the operator determines the position of the anchor cable lock, the anchor breaking equipment is operated to start the anchor breaking operation. Specifically, the variable chassis 1 is controlled to move to a suitable position by operating the electric control mechanism 3 to control the hydraulic mechanism 2, and then the anchor breaking mechanical arm 4 is controlled to move, so that the anchor breaking device 4-8 breaks the anchor.

[0127] The above is only the preferred embodiment of the present application, and is not used to limit the present application. It should be pointed out that for ordinary skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should be considered as the protection scope of the present application.

Claims

1. An anchor breaking device with a variable chassis and visually assisted lock positioning function, characterized in that: It includes a variable chassis (1), a hydraulic mechanism (2), an electric control mechanism (3), an anchor-breaking mechanical arm (4), a visually assisted positioning mechanism, and a chassis (6); The variable chassis (1) is installed below the chassis (6), the hydraulic mechanism (2) and the electric control mechanism (3) are installed in the chassis (6), the anchor-breaking mechanical arm (4) is installed in front of the chassis (6), and the visual auxiliary positioning mechanism is installed on the anchor-breaking mechanical arm (4) and the chassis (6). The hydraulic mechanism (2) is hydraulically connected to the variable chassis (1) and the anchor-breaking mechanical arm (4) and is used to supply fluid to the variable chassis (1) and the anchor-breaking mechanical arm (4). The electric control mechanism (3) is electrically connected to the variable chassis (1), the hydraulic mechanism (2), the anchor-breaking mechanical arm (4) and the visual auxiliary positioning mechanism and is used to control the movement of the variable chassis (1), the hydraulic mechanism (2), the anchor-breaking mechanical arm (4) and the visual auxiliary positioning mechanism. The variable chassis (1) comprises a first crawler frame (1-1) and a second crawler frame (1-2) arranged in parallel and spaced apart. A chassis frame (1-3) is arranged between the first crawler frame (1-1) and the second crawler frame (1-2). Two first rectangular columns (1-4) are fixedly connected to the front and rear sides of the first crawler frame (1-1), and the two first rectangular columns (1-4) are slidably connected to one side of the chassis frame (1-3). Two second rectangular columns (1-5) are fixedly connected to the front and rear sides of the second crawler frame (1-2), and the two second rectangular columns (1-5) are slidably connected to the other side of the chassis frame (1-3). The cylinder bodies of the first push oil cylinder (1-6) and the second push oil cylinder (1-7) are fixedly connected in the middle of the first crawler frame (1-1) and the second crawler frame (1-2). The first push oil cylinder (1-6) and the second push oil cylinder (1-7) are fixedly connected in the middle of the first crawler frame (1-1) and the second push oil cylinder (1-7). The piston rods of the oil shifting cylinders (1-7) are respectively connected to both sides of the chassis frame (1-3) through pins. The first crawler frame (1-1) and the second crawler frame (1-2) are both provided with crawlers (1-8). The rear ends of the first crawler frame (1-1) and the second crawler frame (1-2) are provided with chassis driving mechanisms (1-9). The chassis driving mechanisms (1-9) are electrically connected to the electric control mechanism (3). The first shifting oil cylinder (1-6) and the second shifting oil cylinder (1-7) are both hydraulically connected to the hydraulic mechanism (2). Two mutually parallel side plates (1-10) are fixedly connected to the top surface of the chassis frame (1-3). The two side plates (1-10) are fixedly provided with chassis bent plates (1-11). The chassis (6) is fixed to the chassis bent plates (1-11). The anchor breaking mechanical arm (4) is installed at the front of the chassis bent plates (1-11). The anchor breaking mechanical arm (4) comprises a slewing assembly (4-1), a lifting arm (4-2) and a telescopic arm (4-4), the slewing assembly (4-1) is connected to the front of the chassis bent plate (1-11), a lifting arm base (4-11) is installed on the top surface of the slewing assembly (4-1), the bottom end of the lifting arm (4-2) is hinged to the bottom of the lifting arm base (4-11), the top of the lifting arm (4-2) is hinged to a mounting seat (4-12), one end of the telescopic arm (4-4) is hinged to the mounting seat (4-12), a mounting ear (4-13) is fixedly connected to one side of the telescopic arm (4-4) near the mounting seat (4-12), the top of the lifting wall base (4-11) is fixedly connected to the cylinder body of the lifting cylinder (4-3), the piston rod of the lifting cylinder (4-3) is hinged to the mounting ear (4-13), and both sides of the telescopic arm (4-4) are fixedly connected to the telescopic cylinder (4-5 ), a first sleeve (4-15) is slidably connected in the telescopic arm (4-4), a second sleeve (4-16) is slidably connected in the first sleeve (4-15), piston rods of the two telescopic oil cylinders (4-5) are respectively connected to the first sleeve (4-15) and the second sleeve (4-16), one end of the second sleeve (4-16) away from the telescopic arm (4-4) is fixedly connected to an end flange (4-14), the end flange (4-14) is fixedly connected to the housing of the first swing oil cylinder (4-6), the rotating shaft of the first swing oil cylinder (4-6) is connected to a connecting flange (4-10), the connecting flange (4-10) is fixedly connected to the housing of the second swing oil cylinder (4-7), the rotating shaft of the second swing oil cylinder (4-7) is fixedly connected to a U-shaped connecting frame (4-9), and the unopened side of the U-shaped connecting frame (4-9) is fixedly connected to an anchor breaker (4-8); The visual auxiliary positioning mechanism comprises a first depth camera (5-1), a second depth camera (5-2) and a video display (5-3); the first depth camera (5-1) is installed below the anchor breaker (4-8); the second depth camera (5-2) is installed on the top surface of one end of the telescopic arm (4-4); the video display (5-3) is installed on the rear side of the chassis (6); the first depth camera (5-1), the second depth camera (5-2) and the video display (5-3) are all electrically connected to the electric control mechanism (3).

2. The anchor breaking equipment with a variable chassis and visually assisted lock positioning function according to claim 1 is characterized in that: It also includes a lifting cylinder (5), the cylinder body of the lifting cylinder (5) is connected to the middle of the inner bottom surface of the chassis (6), the piston rod of the lifting cylinder (5) extends from the top surface of the chassis (6), and the lifting cylinder (5) is hydraulically connected to the hydraulic mechanism (2).

3. The anchor breaking equipment with a variable chassis and visually assisted lock positioning function according to claim 1 is characterized in that: An electric bell (8) and a gas sensor are installed side by side on the front side of the chassis (6), and a headlight (7) is installed on the top surface of the chassis (6). The headlight (7), the electric bell (8) and the gas sensor are all electrically connected to the electric control mechanism (3).

4. The anchor breaking equipment with a variable chassis and visually assisted lock positioning function according to claim 1 is characterized in that: An angle sensor is installed on the rotary component (4-1), a displacement sensor is installed on the lifting cylinder (4-3) and the telescopic cylinder (4-5), and an angle sensor is installed on the first swing cylinder (4-6) and the second swing cylinder (4-7), and each angle sensor and displacement sensor is electrically connected to the electric control mechanism (3); a proportional valve is installed on the oil circuit of the lifting cylinder (4-3), the telescopic cylinder (4-5), the first swing cylinder (4-6) and the second swing cylinder (4-7), and each proportional valve is electrically connected to the electric control mechanism (3).

5. A method for breaking anchors using the anchor breaking equipment with a variable chassis and visually assisted lock positioning function as claimed in any one of claims 1 to 4, characterized in that: include: S1, the electric control mechanism (3) obtains the broken anchor image collected by the visual auxiliary positioning mechanism; S2, the electric control mechanism (3) inputs the broken anchor image into a pre-trained anchor lock recognition network deployed on its edge computer; S3, anchor lock identification network analysis and output of the anchor lock position; S4, visual auxiliary positioning mechanism displays the position of the anchor cable lock; S5, when the anchor breaking instruction of the anchor cable lock is obtained, the anchor cable lock is broken through the cooperation of the electric control mechanism (3), the hydraulic mechanism (2) and the anchor breaking mechanical arm (4).

6. The anchor breaking method according to claim 5, characterized in that: The anchor lock identification network adopts an improved YOLOv8 model, which includes a backbone network module, a neck network module and a head network module. The output end of the backbone network module is connected to the input end of the neck network module, and the output end of the neck network module is connected to the input end of the head network module. The backbone network module of the improved YOLOv8 model replaces the C2f module in the backbone network module of the YOLOv8 model with a C2f-MLCA module; The MLCA processes data including: S3.1, locally pool the input feature map in the spatial dimension through LAP operation; S3.2, the local pooled features are divided into two parallel branches. The first branch performs GAP and reshape operations on the local pooled features in sequence; the second branch performs reshape operations on the local pooled features. S3.3, perform one-dimensional convolution on the features after the reshaping operation of the two branches, and perform UNAP operation on the features after the one-dimensional convolution operation of the first branch. The features after the one-dimensional convolution operation of the second branch are reshaped again and then fused with the features after the UNAP operation of the first branch by addition; S3.4, perform UNAP operation on the features after additive fusion, and multiply fuse the features after UNAP operation with the input feature map to obtain the output of MLCA.

7. The anchor breaking method according to claim 5 or 6, characterized in that: The improved YOLOv8 model's neck network module replaces the PANet structure in the YOLOv8 model's neck network module with a RepGFPN structure; the RepGFPN performs feature extraction and processing through CSPStage when processing data; The CSPStage includes the following steps when performing feature extraction and processing: S3-1, perform a concatenation operation on the input features and divide the concatenated features into two branches; S3-2, the features of the first branch pass through a convolution layer with a convolution kernel size of 1; the features of the other branch first pass through a convolution layer with a convolution kernel size of 1, and then pass through ELAM for multiple processing; S3-3, after fusing the features of the two branches through the connection operation, a convolution layer with a convolution kernel size of 1 is used to merge the processed feature maps and output the final result.

8. The anchor breaking method according to claim 5, characterized in that: When S3 is specifically implemented, it includes: S31, the anchor lock recognition network divides the broken anchor image into S×S grids and extracts the feature vector of each grid through its feature extraction network; S32, using the fully connected layer of the anchor lock recognition network to predict the bounding box and confidence for each grid according to the feature vector of each grid; S33, select the bounding box with the highest confidence, and remove duplicate bounding boxes through the non-maximum suppression algorithm to obtain the target box where the anchor lock is located, and use the target box as the position of the anchor lock.

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