Autonomous positioning and control device and method for underground coal mine anchor rod

Abstract

The invention discloses a coal mine underground anchor rod self-positioning and control device and method.The coal mine underground anchor rod self-positioning and control device comprises a rack, a visual positioning mechanism and a control mechanism, the rack is connected with the first end of a swing arm, and the second end of the swing arm is connected with a rotation drive; the rotary drive is connected with the platform and used for driving the swing arm to rotate relative to the platform, the jumbolter is connected with the side, away from the swing arm, of the rack, the visual positioning mechanism comprises a camera and a laser transmitter, and the camera is arranged on the platform and spaced from the rack by a preset distance and points to a roadway roof to obtain an image of the roadway roof; the laser transmitter is arranged on the rack and used for transmitting laser to the roadway roof, the control mechanism comprises a controller and an industrial personal computer, and the industrial personal computer is arranged on the platform and used for moving along with the platform. The coal mine underground anchor rod self-positioning and control device and method provided by the invention have the advantages of high positioning precision, high installation efficiency and less manual participation.

Description

Technical Field

[0001] The present invention relates to the technical field of anchor rod positioning, and in particular to an autonomous anchor rod positioning and control device and method in a coal mine. Background Art

[0002] During tunneling in coal mines, it is necessary to support the tunnels by installing anchor bolts. The tunnel support effect has an important impact on coal mine safety, and accurate and rapid positioning of anchor bolts before construction is a prerequisite for support. At present, anchor bolt positioning is mainly achieved manually, and its basic process is as follows: workers roughly estimate the position of the pre-installed anchor hole by observing the front row of anchor bolts; control the drill arm to swing to the position pointing to the coordinate point through the operation panel; confirm the pre-installed anchor bolt position again by observing the number of metal grids between the front and rear rows of anchor bolts, and continuously fine-tune the direction during the feeding process until the anchor bolt contacts the coal wall.

[0003] The entire positioning process not only has obvious errors, which affects the overall support effect of the tunnel, but the manual operation time is often long, which is a key factor restricting the improvement of anchor construction efficiency. Summary of the invention

[0004] The present invention is based on the inventor's discovery and understanding of the following facts and problems: anchor bolt positioning requires much manual intervention and large errors. The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention proposes an autonomous positioning and control device for underground anchor bolts in coal mines, which has the advantages of high positioning accuracy, high installation efficiency and less manual intervention.

[0005] According to the coal mine underground anchor autonomous positioning and control device of the embodiment of the present invention, the coal mine underground anchor autonomous positioning and control device includes a frame, a visual positioning mechanism and a control mechanism, the frame is connected to the first end of the swing arm, the second end of the swing arm is connected to the rotary drive, the rotary drive is connected to the platform to drive the swing arm to rotate relative to the platform, the anchor drill is connected to the side of the frame away from the swing arm, the visual positioning mechanism includes a camera and a laser transmitter, the camera is arranged on the platform and is spaced a preset distance from the frame, the camera points to the tunnel roof to obtain the image of the tunnel roof, the laser transmitter is arranged on the frame to emit laser to the tunnel roof, the control mechanism includes a controller and an industrial computer, the industrial computer is arranged on the platform to move with the platform, the controller is arranged on the anchor drill, and the industrial computer is communicatively connected to the camera and the controller.

[0006] The coal mine underground anchor autonomous positioning and control device according to the embodiment of the present invention has the advantages of high positioning accuracy, high installation efficiency and less manual participation. The present application has the following advantages: the device can reduce the positioning error caused by the current manual positioning, improve the positioning accuracy before the anchor construction, and ensure the safety of the tunnel support; the device can realize the automated process of anchor support positioning in the coal mine underground tunnel, reduce the labor intensity of workers, and improve the efficiency of tunnel support.

[0007] In some embodiments, the coal mine underground anchor autonomous positioning and control device also includes a hydraulic motor, which is located at the first end of the swing arm and is transmission-connected to the frame, and the hydraulic motor is used to drive the frame to rotate relative to the swing arm.

[0008] In some embodiments, the camera is arranged on the top of the industrial computer.

[0009] In some embodiments, the coal mine underground anchor autonomous positioning and control device also includes a calibration component, which emits laser to the tunnel roof to provide calibration point coordinates, and the calibration component is arranged on the platform.

[0010] According to the coal mine underground anchor autonomous positioning and control method of the embodiment of the present invention, the coal mine underground anchor autonomous positioning and control method comprises the following steps:

[0011] Turn on the camera to obtain a real-time image of the tunnel roof, turn on the laser transmitter to emit a cross laser to the tunnel roof, and the industrial computer receives the image data from the camera and obtains the center coordinates of the anchor rod on the tunnel roof and the center point coordinates of the cross laser;

[0012] The direction of the anchor drill is obtained according to the coordinates of the center point of the cross laser, and the industrial computer calculates the difference between the actual coordinates of the anchor drill and the expected coordinates of the anchor drill;

[0013] The industrial computer sends a command to the controller, and the controller controls the rotary drive and the hydraulic motor to drive the anchor drilling rig to move until the actual pointing coordinate coincides with the expected coordinate, thereby completing the automatic positioning of the anchor.

[0014] In some embodiments, the actual coordinates are obtained by performing manual compensation processing based on the center point coordinates of the cross laser and the fixed deviation between the pointing coordinates of the laser transmitter and the anchor drill.

[0015] In some embodiments, a straight line is fitted to the center point coordinates of all existing anchor rods according to the center point coordinates of each existing anchor rod on the tunnel roof, and the expected coordinates are obtained according to the average relative distance between an existing anchor rod and any adjacent existing anchor rod.

[0016] In some embodiments, the multiple existing anchor rods on the tunnel roof are numbered, the existing anchor rods in the same row are divided into the same group, the anchor rod positions and the center point coordinates of the existing anchor rods in each group are linearly fitted, and the expected coordinates are obtained based on the average relative distance of the anchor rods in each group.

[0017] In some embodiments, the real-time lane image acquired by the camera is preprocessed to improve the image quality.

[0018] In some embodiments, the preprocessing includes denoising, contrast enhancement, geometric correction, and image sharpening. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of an autonomous positioning and control device for an underground anchor in a coal mine according to an embodiment of the present invention.

[0020] Figure 2 It is a schematic diagram of the anchor arrangement of the roadway roof of the coal mine underground anchor autonomous positioning and control device according to an embodiment of the present invention.

[0021] Figure numerals: 1. frame; 2. swing arm; 3. rotary drive; 4. platform; 5. camera; 6. laser transmitter; 7. industrial computer; 8. hydraulic motor; 9. anchor drilling rig. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0023] According to the coal mine underground anchor autonomous positioning and control device of the embodiment of the present invention, the coal mine underground anchor autonomous positioning and control device comprises a frame 1, a visual positioning mechanism and a control mechanism, the frame 1 is connected to the first end of the swing arm 2, the second end of the swing arm 2 is connected to the rotary drive 3, the rotary drive 3 is connected to the platform 4 to drive the swing arm 2 to rotate relative to the platform 4, the bolt drill 9 is connected to the side of the frame 1 away from the swing arm 2, the visual positioning mechanism comprises a camera 5 and a laser transmitter 6, the camera 5 is arranged on the platform 4 and is spaced from the frame 1 by a preset distance, the camera 5 points to the tunnel roof to obtain the image of the tunnel roof, the laser transmitter 6 is arranged on the frame 1 to emit laser to the tunnel roof, the control mechanism comprises a controller and an industrial computer 7, the industrial computer 7 is arranged on the platform 4 to move with the platform 4, the controller is arranged on the bolt drill 9, and the industrial computer 7 is connected to the camera 5 and the controller in communication. The controller is a PLC controller. The frame 1 is used to install the anchor drill 9, and the anchor drill 9 can move relative to the frame 1 to complete the installation of the anchor. The swing arm 2 is connected to the frame 1 to drive the frame 1 to move, and the slewing drive 3 is used to drive the swing arm 2 to rotate relative to the platform 4. The frame 1, the swing arm 2 and the slewing drive 3 provide multiple rotational degrees of freedom for the entire device, which is convenient for adjusting the position and angle of the anchor drill 9. The visual positioning mechanism collects image information of the anchor on the tunnel roof through the camera 5, and the laser transmitter 6 marks the position and posture of the frame 1 by emitting laser. After the control mechanism analyzes and processes the image information, the anchor installation position coordinates and the actual installation position and coordinates of the anchor drill 9 can be obtained. The swing arm 2, slewing drive 3, etc. on the control frame 1 are controlled to control the rotation of the frame 1 and the anchor drill 9 to complete the adjustment of the actual installation position of the anchor, which can realize automatic positioning and installation of the anchor.

[0024] The coal mine underground anchor autonomous positioning and control device according to the embodiment of the present invention has the advantages of high positioning accuracy, high installation efficiency and less manual participation.

[0025] In some embodiments, the coal mine underground anchor autonomous positioning and control device also includes a hydraulic motor 8, which is located at the first end of the swing arm 2 and is transmission-connected to the frame 1, and the hydraulic motor 8 is used to drive the frame 1 to rotate relative to the swing arm 2.

[0026] Specifically, the hydraulic motor 8 is arranged at the first end of the swing arm 2 to increase the rotational freedom of the frame 1. The hydraulic motor 8 is fixedly connected to the first end of the swing arm 2, and the rotation of the hydraulic motor 8 can drive the frame 1 to rotate. On the one hand, the hydraulic motor 8 increases the movement flexibility of the frame 1 and can meet the requirements of anchor rod installation at different angles and positions. On the other hand, the hydraulic motor 8 can achieve precise control to meet the precise positioning requirements of the anchor rod.

[0027] In some embodiments, the camera 5 is arranged on the top of the industrial computer 7 .

[0028] Specifically, the camera 5 is arranged on the top of the industrial computer 7 to avoid the rack 1 from blocking or hindering the camera 5 from collecting image information during the movement. The camera 5 is arranged on the top of the industrial computer 7 to fully collect the image information of the machine tunnel roof, and the camera 5 is at a certain distance from the rack 1, and there is a certain distance difference with the laser transmitter 6 on the rack 1, and the distance difference can be a fixed value for application in subsequent image processing. The camera 5 is a panoramic camera 5.

[0029] In some embodiments, the coal mine underground anchor autonomous positioning and control device also includes a calibration component, which emits laser to the tunnel roof to provide calibration point coordinates, and the calibration component is arranged on the platform 4.

[0030] Specifically, the calibration piece is arranged on the platform 4 to provide an accurate reference point, which can ensure the accuracy of visual positioning. The calibration piece can use a laser emitter 6 to emit laser light. The distance between the calibration piece and the camera 5 is fixed. The calibration piece emits laser light to the top plate of the tunnel to generate one or more calibration points with known coordinates, which can help the camera 5 calibrate the collected image information and generate a coordinate system. The calibration piece can be movably connected to the platform 4, and the position of the calibration point can be adjusted as needed to meet the positioning requirements of different tunnel conditions.

[0031] According to the coal mine underground anchor autonomous positioning and control method of the embodiment of the present invention, the coal mine underground anchor autonomous positioning and control method comprises the following steps:

[0032] Turn on the camera 5 to obtain the real-time image of the tunnel roof, turn on the laser transmitter 6 to emit a cross laser to the tunnel roof, the industrial computer 7 receives the image data of the camera 5 and obtains the center coordinates of the anchor rod on the tunnel roof and the center point coordinates of the cross laser, providing necessary data for subsequent image processing and coordinate calculation.

[0033] The direction of the anchor drill 9 is obtained according to the center point coordinates of the cross laser, and the industrial computer 7 calculates the difference between the actual coordinates of the anchor drill 9 and the expected coordinates of the anchor drill 9; the direction and distance that the anchor drill 9 needs to be adjusted can be determined by comparing the actual coordinates and the expected coordinates.

[0034] The industrial computer 7 sends a command to the controller, and the controller controls the rotary drive 3 and the hydraulic motor 8 to drive the anchor drill 9 to move until the actual pointing coordinate coincides with the expected coordinate, completing the automatic positioning of the anchor. The controller controls the solenoid valve to complete the control of the hydraulic system of the anchor drill 9 and complete the installation of the anchor. Figure 2 The cross in the figure is a cross laser formed by the laser transmitter 6 on the top plate of the tunnel, the white circle is the existing anchor rod, and the circle with shadow is the position of the anchor rod to be installed.

[0035] The technical advantages of the method for autonomous positioning and control of underground anchor rods in coal mines according to an embodiment of the present invention are the same as the technical advantages of the above-mentioned device for autonomous positioning and control of underground anchor rods in coal mines, which will not be repeated here.

[0036] In some embodiments, the actual coordinates are obtained by performing manual compensation processing based on the fixed deviation between the center point coordinates of the cross laser and the pointing coordinates of the laser transmitter 6 and the anchor drill 9.

[0037] Specifically, there is a certain deviation distance between the laser transmitter 6 arranged on the side of the frame 1 and the anchor drill rig 9, and the deviation distance is a fixed value. The movement adjustment based on the center point coordinates of the cross laser will be affected by the deviation distance and cause errors. After manual compensation for the fixed deviation, the influence of the fixed deviation on the movement of the anchor drill rig 9 can be reduced and ignored, and the actual coordinates can be obtained and adjusted accordingly.

[0038] In some embodiments, a straight line is fitted to the center point coordinates of all existing anchor rods according to the center point coordinates of each existing anchor rod on the tunnel roof, and the expected coordinates are obtained according to the average relative distance between the existing anchor rod and any adjacent existing anchor rod.

[0039] Specifically, the expected coordinates are the positions of the existing anchors already installed on the top plate and the center point coordinates of the anchors detected by the industrial computer 7 running the target detection algorithm, and the center point coordinates of the next anchor to be installed are obtained by performing a straight line fitting calculation on the center point coordinates. The center point coordinates of the next anchor to be installed are obtained by calculating the average relative distance between one of the multiple anchors and any adjacent anchor.

[0040] In some embodiments, multiple existing anchor rods on the tunnel roof are numbered, existing anchor rods in the same row are divided into the same group, linear fitting is performed on the anchor rod positions and center point coordinates of the existing anchor rods in each group, and the expected coordinates are obtained based on the average relative distance of the anchor rods in each group.

[0041] Specifically, the existing anchor rods on the tunnel roof are arranged in multiple rows. Grouping the existing anchor rods according to rows can improve calculation efficiency, reduce the error caused by the relative distance between anchor rods in different rows, and make the distance between anchor rods in each group more accurate.

[0042] In some embodiments, the real-time lane image acquired by the camera 5 is preprocessed to improve the image quality.

[0043] Specifically, the acquired real-time tunnel image is preprocessed to improve the image quality, so as to facilitate the subsequent operation of the target detection algorithm by the industrial computer 7 to detect the anchor position and center point coordinates. In the complex underground environment, image preprocessing is crucial to improve image quality and ensure the accuracy of subsequent image analysis.

[0044] In some embodiments, pre-processing includes denoising, contrast enhancement, image filtering, and image sharpening.

[0045] Specifically, denoising can reduce the impact of noise in the image, contrast enhancement can more accurately identify existing anchors, image sharpening can enhance the edge information of the image to improve image clarity, and image filtering can reduce the brightness of the overexposed area while increasing the brightness of the underexposed area to make the image more uniform.

[0046] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0050] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0051] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. An autonomous positioning and control device for anchor bolts in coal mines, characterized in that: include: A frame, wherein the frame is connected to a first end of the swing arm, a second end of the swing arm is connected to a slewing drive, the slewing drive is connected to a platform to drive the swing arm to rotate relative to the platform, and the anchor drill is connected to a side of the frame away from the swing arm; A visual positioning mechanism, the visual positioning mechanism comprising a camera and a laser transmitter, the camera is arranged on the platform and is spaced a preset distance from the frame, the camera points to the tunnel roof to obtain an image of the tunnel roof, and the laser transmitter is arranged on the frame to emit laser to the tunnel roof; The control mechanism includes a controller and an industrial computer. The industrial computer is arranged on the platform to move with the platform. The controller is arranged on the anchor drilling rig. The industrial computer is communicatively connected with the camera and the controller.

2. The coal mine underground anchor autonomous positioning and control device according to claim 1, characterized in that: It also includes a hydraulic motor, which is located at the first end of the swing arm and is transmission-connected to the frame, and is used to drive the frame to rotate relative to the swing arm.

3. The coal mine underground anchor autonomous positioning and control device according to claim 1, characterized in that: The camera is arranged on the top of the industrial computer.

4. The coal mine underground anchor autonomous positioning and control device according to claim 1, characterized in that: It also includes a calibration piece, which emits laser to the tunnel roof to provide calibration point coordinates, and the calibration piece is arranged on the platform.

5. A method for autonomously positioning and controlling an anchor in a coal mine, wherein the anchor is positioned using the autonomously positioning and controlling device for an anchor in a coal mine as claimed in claim 1, characterized in that: The following steps are involved: Turn on the camera to obtain a real-time image of the tunnel roof, turn on the laser transmitter to emit a cross laser to the tunnel roof, and the industrial computer receives the image data from the camera and obtains the center coordinates of the anchor rod on the tunnel roof and the center point coordinates of the cross laser; The direction of the anchor drill is obtained according to the coordinates of the center point of the cross laser, and the industrial computer calculates the difference between the actual coordinates of the anchor drill and the expected coordinates of the anchor drill; The industrial computer sends a command to the controller, and the controller controls the rotary drive and the hydraulic motor to drive the anchor drilling rig to move until the actual pointing coordinate coincides with the expected coordinate, thereby completing the automatic positioning of the anchor.

6. The method for autonomously positioning and controlling an underground anchor in a coal mine according to claim 5, characterized in that: The actual coordinates are obtained by performing manual compensation processing based on the center point coordinates of the cross laser and the fixed deviation between the pointing coordinates of the laser transmitter and the anchor drilling machine.

7. The method for autonomously positioning and controlling an underground anchor in a coal mine according to claim 5, characterized in that: A straight line fitting is performed on the center point coordinates of all existing anchor rods according to the center point coordinates of each existing anchor rod on the tunnel roof, and the expected coordinates are obtained according to the average relative distance between an existing anchor rod and any adjacent existing anchor rod.

8. The method for autonomously positioning and controlling an underground anchor in a coal mine according to claim 7, characterized in that: The multiple existing anchor rods on the tunnel roof are numbered, the existing anchor rods in the same row are divided into the same group, the anchor rod positions and the center point coordinates of the existing anchor rods in each group are linearly fitted, and the expected coordinates are obtained according to the average relative distance of the anchor rods in each group.

9. The method for autonomously positioning and controlling an underground anchor in a coal mine according to claim 5, characterized in that: The real-time lane image acquired by the camera is preprocessed to improve the image quality.

10. The method for autonomously positioning and controlling an underground anchor in a coal mine according to claim 9, characterized in that: The preprocessing includes denoising, contrast enhancement, image filtering and sharpening.

Images