Gob-side entry retaining roof blasting roof cutting pressure relief drilling positioning and length judging system based on machine vision

Abstract

The invention discloses a gob-side entry retaining roof blasting roof cutting pressure relief drilling positioning and length judging system based on machine vision, which comprises a mechanical arm, the mechanical arm is at least a four-axis mechanical arm, the end part of the mechanical arm is provided with a mounting base, the mounting base is provided with a coaxial drilling device, and the coaxial drilling device is provided with a mechanical arm. And a machine vision detection structure is arranged on the mounting base and located on one side of the coaxial drilling device. The invention relates to the technical field of gob-side entry retaining, in particular to a gob-side entry retaining roof blasting roof cutting pressure relief drilling positioning and length judging system based on machine vision, which adopts a mechanical arm to control the position and angle of a drilling device, and a judging and observing system based on machine vision is coaxially arranged on the drilling device. When the drilling position and the drilling depth are selected, more accurate drilling position selection and more accurate drilling depth selection are provided according to judgment data of machine vision, and risks caused by manual position and depth determination are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of gob-side tunnel retaining, and in particular to a machine vision-based system for positioning and length determination of top slab blasting, top cutting and pressure relief drilling holes for gob-side tunnel retaining. Background Art

[0002] In modern deep-shaft coal mining, maintaining the original mining tunnel along the edge of the goaf behind the coal mining face is called goaf-retaining tunnel. Goaf-retaining tunnels can maximize resource recovery and avoid coal loss. Goaf-retaining tunnels can be constructed on the basis of a full understanding of the geological conditions of the original working face, which improves construction safety and construction difficulty. The use of a coal-pillar-free method can reduce tunnel excavation volume and alleviate the problem of connection tension. Therefore, the application of coal-pillar-free goaf-retaining tunnels in deep-shaft mining is the general trend of future coal mining tunnel construction.

[0003] In the modern process of retaining tunnels along the goaf, although coal pillars are reserved, the pressure on the tunnel roof is still relatively high, which makes the tunnel support structure complicated. Therefore, it is necessary to blast the roof to relieve some of the pressure in advance. This is a commonly used pressure relief method. At present, directional blasting is often used in the blasting process, which requires drilling holes to install blasting cartridges.

[0004] In the process of placing and drilling modern blasting cartridges, the drilling position is often determined manually. This method requires that when drilling, the person needs to be close to the drilling point and determine the drilling length based on the penetration length of the drill bit. This operation method requires the person to be close to the working position, which is easy to be injured by falling rocks. Secondly, the measurement structure is inaccurate and cannot reflect the drilling length in real time, which can easily cause problems such as excessive drilling depth, affecting the subsequent blasting effect. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention intends to provide a machine vision-based drilling hole positioning and length discrimination system for roof blasting and top cutting pressure relief along the goaf-retaining tunnel, which can perform more accurate drilling position selection and more precise drilling depth selection.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a machine vision-based drilling positioning and length discrimination system for roof blasting and top pressure relief along gob-retaining entry, comprising a mechanical arm, the mechanical arm is at least a 4-axis mechanical arm, a mounting base is provided at the end of the mechanical arm, a coaxial driller is provided on the mounting base, and a machine vision detection structure is provided on one side of the coaxial driller on the mounting base;

[0007] The machine vision detection structure includes a follower assembly, the follower assembly moves synchronously with the drilling end of the coaxial driller, the follower assembly is connected to an industrial camera, a lighting source is provided on one side of the industrial camera, the lighting source is connected to the follower assembly, and the encoder is placed on a mounting base;

[0008] The coaxial drilling device comprises a traveling shaft seat, the traveling shaft seat is arranged on the mounting base, a telescopic push rod is installed on one side of the traveling shaft seat, a coaxial seat is arranged on the telescopic end of the telescopic push rod, a driving drill is installed on the coaxial seat, a gear box is arranged on one side of the driving drill, a drilling rod is linked to the gear box, a coaxial groove is opened in the center of the drilling rod, and a drilling drill bit is arranged at the head end of the drilling rod;

[0009] The follower assembly is assembled in the drilling slot, the industrial camera is assembled on one side of the coaxial slot, a rotating shaft seat is arranged on one side of the industrial camera, the rotating shaft seat is connected to the industrial camera, and the rotating shaft seat is connected to the follower assembly;

[0010] A controller is arranged on the mounting base, the controller is connected to an encoder, a wireless communication module is connected to one side of the controller, and the controller is connected to an industrial camera via a follow-up component.

[0011] Preferably, the mounting base is separately connected to the end of the robotic arm via a plurality of bolts.

[0012] Preferably, the coaxial groove passes through the bottom end of the drilling rod, the drilling rod is fixedly connected to the drilling bit, the coaxial groove is a groove of a cylindrical structure, and the lighting source and the industrial camera are installed on the same side of the rotating shaft seat.

[0013] Preferably, a protective cover is provided on the outside of the industrial camera, and the protective cover is a disc-shaped plate, and the protective cover is fixedly connected to the head end of the industrial camera.

[0014] Preferably, the rotating shaft seat includes a rotating groove, a rotating groove is arranged at the top of the coaxial groove, a mounting seat is mounted on the rotating groove, the bottom of the mounting seat is coaxially connected with an axis, a search hole is opened on the radial side of the coaxial groove, a fixed seat is arranged on one side of the mounting seat, and the industrial camera and the lighting source are both mounted on the fixed seat.

[0015] Preferably, the follower assembly includes a power socket, the shaft outer shell is provided with the power socket, one side of the power socket is connected to a communication cable, and the shaft is provided with a rotating joint connected to an industrial camera and an illumination light source.

[0016] Preferably, the gearbox includes a drive housing, an input shaft is provided on the drive housing, the input shaft is connected to the driving end of the driving drill, a reduction gear set is provided in the drive housing, an output shaft is provided on the reduction box, a driven gear is provided on the output shaft, and a rotating tooth is provided at the bottom of the drilling rod to mesh with the driven gear.

[0017] Preferably, the rotating teeth are assembled on a coaxial seat, a pair of guide rods are arranged on the mounting base, and a pair of guide grooves are arranged on the coaxial seat to match the pair of guide rods.

[0018] The beneficial effects of the present invention are as follows: the machine vision-based system for positioning and length determination of drilling holes for roof blasting and top cutting and pressure relief along goaf-retaining tunnels adopts a mechanical arm to control the position and angle of the drilling device, and a determination and observation system based on machine vision is coaxially arranged on the drilling device. When selecting the drilling position and the drilling depth, a more accurate drilling position selection and a more precise drilling depth selection are provided according to the determination data of the machine vision, thereby avoiding the risks brought by manual determination of the position and depth. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the front view of the present invention.

[0020] Figure 2 It is a partial side view of the present invention.

[0021] Figure 3 It is a partial top view of the present invention.

[0022] Figure 4 for Figure 2 A partial enlarged view of .

[0023] Figure 5 for Figure 1 A partial enlarged view of .

[0024] In the figure: 1. Robotic arm; 2. Mounting base; 3. Coaxial driller; 4. Machine vision detection structure; 21. Traveling shaft seat; 22. Guide rod; 31. Telescopic push rod; 32. Driving drill; 33. Gear box; 34. Drilling rod; 35. Coaxial groove; 36. Drilling drill bit; 37. Rotating shaft seat; 41. Follow-up assembly; 42. Industrial camera; 43. Illumination source; 44. Encoder; 331. Drive housing; 332. Input shaft; 333. Reduction gear set; 334. Output shaft; 335. Driven gear; 371. Rotating groove; 372. Mounting seat; 373. Fixed seat; 421. Protective cover; 422. Searchlight hole; 411. Power socket; 412. Communication cable; 413. Rotary joint. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] like Figure 1-5 As shown, a machine vision-based system for positioning and length determination of drilling holes for roof blasting and top cutting and pressure relief along goaf-retaining tunnels is shown, which uses a robotic arm 1 as the main support and motion control structure. The specific robotic arm 1 is at least a 4-axis robotic arm, and a mounting base 2 is provided at the end of the robotic arm 1. Therefore, the angle and position of the mounting base 2 can be quickly adjusted by the robotic arm 1.

[0027] In order to realize the function of drilling, a coaxial driller 3 is arranged on the mounting base 2. The mounting base 2 and the end of the robot arm 1 are separately connected by a plurality of bolts. The bolts can disassemble and assemble the robot arm 1, and a machine vision detection structure 4 is arranged on one side of the coaxial driller 3 on the mounting base 2. The machine vision detection structure 4 can effectively detect the position of the drilling and the drilling distance.

[0028] The machine vision detection structure 4 includes a follower assembly 41, which moves synchronously with the drilling end of the coaxial drill 3, and the follower assembly 41 plays the role of connecting electricity. An industrial camera 42 is connected to the follower assembly 41, and the follower assembly 41 can provide power to the industrial camera 42 and realize data transmission. An illumination light source 43 is arranged on one side of the industrial camera 42, and the illumination light source 43 is connected to the follower assembly 41. The encoder 44 is placed on the mounting base 2.

[0029] As the follower component 41 moves, the lighting source 43 and the industrial camera 42 move, and the follower component 41 passes through the position of the encoder 44, linking the drive gear of the encoder 44, so that the encoder 44 determines the position information according to the number of rotations and the rotation angle, thereby determining the drilling depth. In addition, in conjunction with the industrial camera 42, the situation inside the borehole can be observed more accurately, and the lighting source 43 plays an auxiliary role to facilitate observation by the user.

[0030] The coaxial drilling device 3 includes a traveling shaft seat 21. The traveling shaft seat 21 is arranged on the mounting base 2, a telescopic push rod 31 is mounted on one side of the traveling shaft seat 21, a coaxial seat is arranged at the telescopic end of the telescopic push rod 31, a driving drill 32 is mounted on the coaxial seat, a gear box 33 is arranged on one side of the driving drill 32, a drilling rod 34 is arranged on the gear box 33, a coaxial groove 35 is opened in the center of the drilling rod 34, and a drilling drill bit 36 ​​is arranged at the head end of the drilling rod 34.

[0031] In the specific implementation process, the traveling shaft seat 21 is arranged on the mounting base 2. Under the support of the mounting base 2, the telescopic push rod 31 is fixed, so that the telescopic push rod 31 is used to push the coaxial seat to move, so that the coaxial seat drives the driving drill 32 to move, and the driving drill 32 drives the gear box 33 to move. The gear box 33 links the drilling rod 34 to rotate, so that the drilling bit 36 ​​impacts the top wall of the tunnel along the air, and the follower assembly 41 moves forward with the drilling rod 34. The traveling shaft seat 21 is used for the passage of the drilling rod 34.

[0032] The follower assembly 41 is assembled in the drilling groove, the industrial camera 42 is assembled on one side of the coaxial groove 35, a rotating shaft seat 37 is set on one side of the industrial camera 42, the rotating shaft seat 37 is connected to the industrial camera 42, and the rotating shaft seat 37 is connected to the follower assembly 41.

[0033] During the specific implementation process, the rotating shaft seat 37 is connected to the follower component 41, and the industrial camera 42 and the lighting source 43 are powered by the follower component 41. The rotating shaft seat 37 matches the movement of the drilling rod 34 while ensuring the illumination angle of the industrial camera 42. The follower component 41 maintains a coaxial arrangement with the drilling rod 34 through the drilling groove and can penetrate into the drilling position.

[0034] The mounting base 2 is provided with a controller, which is connected to the encoder 44. A wireless communication module is connected to one side of the controller, and the controller is connected to the industrial camera 42 via the follower component 41. The controller is used as the control center, and the data of the industrial camera 42 is transmitted to the controller via the follower component 41. The data of the encoder 44 is also processed by the controller. The data processed by the controller is sent to the control center via the wireless communication module. The control center determines the position and depth of the blasting drill hole on the top wall according to the returned data based on machine vision.

[0035] The above-mentioned coaxial groove 35 passes through the bottom end of the drilling rod 34, and the drilling rod 34 is fixedly connected to the drilling bit 36. The coaxial groove 35 is a groove of a cylindrical structure. The lighting source 43 and the industrial camera 42 are installed on the same side of the rotating shaft seat 37, and the industrial camera 42 is kept in the same direction as the lighting source 43, which is convenient for observing the drill hole and the internal depth of the top wall. In addition, a protective cover 421 is provided on the outside of the industrial camera 42. The protective cover 421 is a cylindrical plate. The protective cover 421 is fixedly connected to the head end of the industrial camera 42 for protecting the lens of the industrial camera 42.

[0036] The above-mentioned rotating shaft seat 37 includes a rotating groove 371. The rotating groove 371 is arranged at the top of the coaxial groove 35. A mounting seat 372 is mounted on the rotating groove 371. The bottom of the mounting seat 372 is coaxially connected with the axis. A search hole 422 is opened on the radial side of the coaxial groove 35. A fixed seat 373 is arranged on one side of the mounting seat 372. The industrial camera 42 and the lighting source 43 are both mounted on the fixed seat 373.

[0037] During the specific implementation process, the rotating groove 371 and the mounting seat 372 are movably matched, and the mounting seat 372 can rotate on the rotating groove 371. The bottom of the mounting seat 372 extends coaxially with the axis, and the power socket 411 is installed using the axis. The communication cable 412 is connected through the power socket 411. The communication cable 412 and the power socket 411 adopt an aerial plug design to complete the power supply to the axis position. A rotating joint 413 is provided on the other side of the axis, which is connected to the fixed seat 373 through the rotating joint 413. The fixed seat 373 is fixed on the side wall of the coaxial groove 35. During the drilling process of the drill rod 34, the mounting seat 372 rises and falls with the rotating groove 371, and then a search hole 422 is provided at the position corresponding to the industrial camera 42 and the lighting source 43, which is used for lens search of the industrial camera 42.

[0038] The gearbox 33 includes a drive housing 331, on which an input shaft 332 is provided. The input shaft 332 is connected to the driving end of the driving drill 32. A reduction gear set 333 is provided in the drive housing 331. An output shaft 334 is provided on the reduction box. A driven gear 335 is provided on the output shaft 334. A rotating tooth is provided at the bottom of the drilling rod 34 to mesh with the driven gear 335.

[0039] In the specific implementation process, the driving shell 331 is installed based on the coaxial seat, and the driving drill 32 is connected to the input shaft 332 on the driving shell 331 to transmit power to the input shaft 332, so that the input shaft 332 is linked to the reduction gear set 333. The reduction gear set 333 is composed of at least one pair of gear boxes 33 with a small tooth ratio. Under the deceleration action of the reduction gear set 333, the output shaft 334 increases the torque. The rotating teeth are not completely supported on the driving shell 331 for installation, but are assembled on the coaxial seat. The coaxial seat and the rotating teeth are used to cooperate to achieve a more stable installation. The transmission action of the gear box 33 provides a rotational torque for the drilling drill rod 34, and cooperates with the telescopic push rod 31 to provide an axial travel torque to realize the drilling operation. A pair of guide rods 22 are provided on the mounting base 2, and a pair of guide grooves are provided on the coaxial seat to match the pair of guide rods 22, which play a stable guiding role for the mounting base 2.

[0040] From the above, it can be generally known that the machine vision-based system for positioning and length determination of drilling holes for roof blasting and top cutting and pressure relief along goaf-retaining tunnels adopts a mechanical arm 1 to control the position and angle of the drilling device, and a determination and observation system based on machine vision is coaxially arranged on the drilling device. When selecting the drilling position and the drilling depth, a more accurate drilling position selection and a more precise drilling depth selection are provided according to the determination data of machine vision, thereby avoiding the risks brought by manual determination of the position and depth.

Claims

1. A machine vision-based system for positioning and length determination of drilling holes for roof blasting and pressure relief in gob-side entry retaining, comprising a mechanical arm (1), the mechanical arm (1) being at least a 4-axis mechanical arm, and a mounting base (2) being provided at the end of the mechanical arm (1), characterized in that: A coaxial driller (3) is arranged on the mounting base (2), and a machine vision detection structure (4) is arranged on one side of the coaxial driller (3) on the mounting base (2); The machine vision detection structure (4) comprises a follower component (41), the follower component (41) moves synchronously with the drilling end of the coaxial drill (3), the follower component (41) is connected to an industrial camera (42), a lighting source (43) is provided on one side of the industrial camera (42), the lighting source (43) is connected to the follower component (41), and the encoder (44) is placed on the mounting base (2); The coaxial drilling device (3) comprises a travel shaft seat (21), the travel shaft seat (21) is arranged on the mounting base (2), a telescopic push rod (31) is arranged on one side of the travel shaft seat (21), a coaxial seat is arranged on the telescopic end of the telescopic push rod (31), a driving drill (32) is arranged on the coaxial seat, a gear box (33) is arranged on one side of the driving drill (32), a drilling rod (34) is arranged on the gear box (33), a coaxial groove (35) is arranged at the center of the drilling rod (34), and a drilling bit (36) is arranged at the head end of the drilling rod (34); The follower assembly (41) is mounted in the drilling groove, the industrial camera (42) is mounted on one side of the coaxial groove (35), a rotating shaft seat (37) is provided on one side of the industrial camera (42), the rotating shaft seat (37) is connected to the industrial camera (42), and the rotating shaft seat (37) is connected to the follower assembly (41); A controller is provided on the mounting base (2), the controller is connected to an encoder (44), a wireless communication module is connected to one side of the controller, and the controller is connected to an industrial camera (42) via a follower component (41).

2. The machine vision-based drilling hole positioning and length determination system for roof blasting and pressure relief along gob-side entry retaining according to claim 1 is characterized in that: The mounting base (2) and the end of the mechanical arm (1) are separately connected via a plurality of bolts.

3. The machine vision-based drilling hole positioning and length determination system for roof blasting and pressure relief along gob-side entry retaining according to claim 1 is characterized in that: The coaxial groove (35) passes through the bottom end of the drilling rod (34), the drilling rod (34) is fixedly connected to the drilling bit (36), the coaxial groove (35) is a groove of a columnar structure, and the illumination light source (43) and the industrial camera (42) are installed on the same side of the rotating shaft seat (37).

4. The machine vision-based drilling hole positioning and length determination system for roof blasting and pressure relief along gob-side entry retaining according to claim 1 is characterized in that: A protective cover (421) is arranged outside the industrial camera (42); the protective cover (421) is a disc-shaped plate; and the protective cover (421) is fixedly connected to the head end of the industrial camera (42).

5. The machine vision-based drilling hole positioning and length determination system for roof blasting and pressure relief along gob-side entry retaining according to claim 1 is characterized in that: The rotating shaft seat (37) includes a rotating groove (371), the top of the coaxial groove (35) is provided with a rotating groove (371), a mounting seat (372) is mounted on the rotating groove (371), the bottom of the mounting seat (372) is coaxially connected with an axis, a search hole (422) is opened on one radial side of the coaxial groove (35), a fixed seat (373) is arranged on one side of the mounting seat (372), and the industrial camera (42) and the lighting source (43) are both mounted on the fixed seat (373).

6. The machine vision-based drilling hole positioning and length determination system for roof blasting and pressure relief along gob-side entry retaining according to claim 1 is characterized in that: The follower assembly (41) comprises a power receiving socket (411), the power receiving socket (411) is disposed on the outer sleeve of the shaft, a communication cable (412) is connected to one side of the power receiving socket (411), and a rotating joint (413) is disposed on the shaft to connect to an industrial camera (42) and an illumination light source (43).

7. The machine vision-based drilling hole positioning and length determination system for roof blasting and pressure relief along gob-side entry retaining according to claim 1 is characterized in that: The gearbox (33) comprises a drive housing (331), an input shaft (332) is arranged on the drive housing (331), the input shaft (332) is connected to the driving end of the driving drilling rig (32), a reduction gear set (333) is arranged in the drive housing (331), an output shaft (334) is arranged on the reduction box, a driven gear (335) is arranged on the output shaft (334), and a rotating tooth is arranged at the bottom of the drilling rod (34) to mesh with the driven gear (335).

8. The machine vision-based drilling hole positioning and length determination system for roof blasting and pressure relief along gob-side entry retaining according to claim 7 is characterized in that: The rotating teeth are assembled on a coaxial seat, a pair of guide rods (22) are arranged on the mounting base (2), and a pair of guide grooves are arranged on the coaxial seat to match the pair of guide rods (22).

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