Underground coal mine anchor rod driving method, device and system

Abstract

The invention relates to a coal mine underground anchor rod driving method, device and system. The method comprises the following steps: acquiring a first image of a target anchor rod driving area; inputting the first image into a pre-trained target detection model to obtain position coordinates of at least one driven anchor rod output after the target detection model identifies the driven anchor rod in the first image; performing straight line fitting processing on the position coordinates belonging to the same row in the position coordinates of the at least one drilled anchor rod to obtain a fitting straight line corresponding to each row of drilled anchor rods; determining a target point location based on the fitting straight line corresponding to each row of drilled anchor rods and the distance between the position coordinates of the same row; and controlling the drill boom to drive the anchor rod according to the target point location. According to the scheme, the anchor rod driving efficiency and accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine tunnel support, and in particular to a method, device and system for driving anchor bolts underground in a coal mine. Background Art

[0002] In the related technology, during the tunneling process in coal mines, it is necessary to support the tunnel by installing anchor rods. The tunnel support effect has an important impact on coal mine safety. At present, many coal mine safety-related documents clearly stipulate the row spacing and spacing of anchor rod support. Therefore, it is necessary to accurately judge the location of anchor rods so as to control the drill arm to accurately install anchor rods. However, the traditional method of determining the location of anchor rods relies on manual positioning, resulting in low efficiency and accuracy of anchor rod installation. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present invention provides a method, device and system for driving an anchor in an underground coal mine.

[0004] According to a first aspect of an embodiment of the present disclosure, a method for driving an anchor in an underground coal mine is provided, comprising:

[0005] Acquire a first image of a target anchor driving area;

[0006] Inputting the first image into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor rod output by the target detection model after identifying the installed anchor rod in the first image;

[0007] Performing straight line fitting processing on the position coordinates of the same row of the position coordinates of at least one installed anchor rod to obtain a fitting straight line corresponding to each row of installed anchor rods; the fitting straight line is arranged parallel to the lane to which the target anchor rod installation area belongs;

[0008] Determine the target point based on the fitting straight line corresponding to each row of anchors and the distance between the position coordinates of the same row;

[0009] The drill arm is controlled to drive anchor bolts according to the target point.

[0010] In some embodiments of the present disclosure, determining the target point based on the fitting straight line corresponding to each row of installed anchors and the distance between the position coordinates of the same row includes:

[0011] For the position coordinates belonging to the same row, the coordinate distance between two adjacent position coordinates is calculated, and all the coordinate distances are averaged to obtain a first average distance;

[0012] Determine the first ordinate of the last anchor rod that has been driven; the last anchor rod that has been driven is the last anchor rod that has been driven among at least one anchor rod that has been driven in the same row;

[0013] Adding the first ordinate to the first average distance to obtain a second ordinate of the target point;

[0014] Substituting the second ordinate into the fitting straight line to obtain the abscissa of the target point;

[0015] The target point position is determined based on the second ordinate and the abscissa.

[0016] In some embodiments of the present disclosure, before inputting the first image into a pre-trained object detection model, the method further includes:

[0017] Performing illumination homogenization processing, and / or non-correlated region cropping processing, and / or denoising processing on the first image to obtain a preprocessed first image;

[0018] The step of inputting the first image into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor rod output by the target detection model after identifying the installed anchor rod in the first image comprises:

[0019] The preprocessed first image is input into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor rod output after the target detection model identifies the installed anchor rod in the preprocessed first image.

[0020] In some embodiments of the present disclosure, a laser is installed on the drill arm; an anchor to be driven is loaded on the drill arm; and controlling the drill arm to drive the anchor according to the target point includes:

[0021] Acquire a second image using a visual sensor; the second image includes the laser light emitted by the laser;

[0022] Using a laser detection algorithm, the laser position coordinates in the second image are identified, and the position coordinates of the driving end of the anchor rod to be driven are determined using the relative position relationship between the laser position coordinates and the driving end of the anchor rod to be driven; the driving end is the end of the anchor rod to be driven close to the tunnel roof;

[0023] Determining the adjustment angle of the drill arm based on the position coordinates of the drilling end and the target point;

[0024] Controlling the drill arm to adjust its posture according to the adjustment angle;

[0025] The drill arm is controlled to move toward the target point, and the step of acquiring the second image by using the visual sensor is returned to be executed until the laser coincides with the target point.

[0026] In some embodiments of the present disclosure, the step of determining the adjustment angle of the drill arm based on the position coordinates of the drilling end and the target point position includes:

[0027] Calculating the relative distance between the position coordinates of the setting end and the target point;

[0028] The swing direction of the drill arm is determined based on the relative distance, and the adjustment angle of the drill arm is obtained based on the swing direction.

[0029] According to a second aspect of an embodiment of the present disclosure, there is provided an underground coal mine anchor driving device, comprising:

[0030] An acquisition unit, used for acquiring a first image of a target anchor bolt driving area;

[0031] A recognition unit, used for inputting the first image into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor rod outputted by the target detection model after the installed anchor rod in the first image is identified;

[0032] A fitting unit is used to perform straight line fitting processing on the position coordinates of the same row of the position coordinates of at least one installed anchor rod to obtain a fitting straight line corresponding to each row of installed anchor rods; the fitting straight line is arranged parallel to the lane to which the target anchor rod installation area belongs;

[0033] A determination unit, used to determine the target point based on the fitting straight line corresponding to each row of anchor rods and the distance between the position coordinates of the same row;

[0034] The control unit is used to control the drill arm to drive the anchor bolt according to the target point.

[0035] In some embodiments of the present disclosure, the determining unit is specifically configured to:

[0036] The distance between each fitted straight line is averaged to obtain the first average distance;

[0037] For each fitted straight line, using the first average distance to obtain the ordinate of the target point in the fitted straight line;

[0038] Substituting the second ordinate into the fitting straight line to obtain the abscissa of the target point;

[0039] The target point position is determined based on the ordinate and the abscissa.

[0040] According to a third aspect of an embodiment of the present disclosure, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of the first aspects is implemented.

[0041] According to a fourth aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method according to any one of the first aspects is implemented.

[0042] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the method as described in any one of the first aspects when executed by a processor.

[0043] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: by acquiring a first image of the target anchor driving area; inputting the first image into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor which is output by the target detection model after identifying the installed anchor in the first image; performing straight line fitting processing on the position coordinates of at least one installed anchor belonging to the same row to obtain a fitted straight line corresponding to each row of installed anchors; determining the target point based on the fitted straight line corresponding to each row of installed anchors and the distance between the position coordinates of the same row; controlling the drill arm to drive the anchor according to the target point, so as to quickly and accurately locate the position of the installed anchor, thereby improving the efficiency and accuracy of the anchor driving.

[0044] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0046] Figure 1 The present invention is a flow chart of a method for driving an anchor bolt in an underground coal mine according to an exemplary embodiment.

[0047] Figure 2 It is a block diagram of an underground coal mine bolt driving device according to an exemplary embodiment.

[0048] Figure 3 It is a block diagram of a device for an underground anchor driving method in a coal mine according to an exemplary embodiment. DETAILED DESCRIPTION

[0049] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0050] The terms used in the disclosed embodiments are only for the purpose of describing specific embodiments, and are not intended to limit the disclosed embodiments. The singular forms "a", "an" and "the" used in the disclosed embodiments and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0051] It should be understood that although the terms first, second, third, etc. may be used to describe various information in the disclosed embodiments, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the disclosed embodiments, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at" or "when" or "in response to determination".

[0052] In addition, various forms of processes shown in the embodiments of the present disclosure may be used to reorder, add or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present disclosure can be achieved, and this document does not limit this.

[0053] In the related art, during the tunneling process in coal mines, it is necessary to support the tunnel by driving anchor bolts. The tunnel support effect has an important impact on coal mine safety. At present, many coal mine safety-related documents clearly stipulate the row spacing and spacing of anchor bolt support. Therefore, it is necessary to accurately judge the driving position of the anchor bolt so as to control the drill arm to accurately drive the anchor bolt. However, the traditional method of determining the anchor bolt position relies on manual positioning. (1) The worker roughly estimates the position of the pre-driven anchor hole by observing the front row of anchor bolts, controls the drill arm to swing to the position pointing to the coordinate point through the operation panel, and determines the pre-driven anchor bolt position again by observing the number of metal grids between the front and rear rows of anchor bolts, and continuously fine-tunes the direction during the feeding process until the anchor bolt contacts the coal wall. The entire positioning process not only has obvious errors, which affects the overall support effect of the tunnel, but also the manual operation time is often long, resulting in low efficiency and accuracy of anchor bolt driving.

[0054] In order to solve the above problems, the present disclosure provides a method, device and system for driving anchor bolts in an underground coal mine, which comprises the following steps: obtaining a first image of a target anchor bolt driving area; inputting the first image into a pre-trained target detection model to obtain the position coordinates of at least one driven anchor bolt output by the target detection model after identifying the driven anchor bolts in the first image; performing straight line fitting processing on the position coordinates of at least one driven anchor bolt that belong to the same row to obtain a fitted straight line corresponding to each row of driven anchor bolts; determining a target point based on the fitted straight line corresponding to each row of driven anchor bolts and the distance between the position coordinates of the same row; and controlling the drill arm to drive the anchor bolts according to the target point, so as to quickly and accurately locate the position of the driven anchor bolts, thereby improving the efficiency and accuracy of the anchor bolt driving.

[0055] Figure 1 is a flow chart of a method for driving an anchor in a coal mine according to an exemplary embodiment. Figure 1 As shown, it should be noted that the method for driving an anchor in a coal mine in an embodiment of the present disclosure is applied to an anchor driving device in a coal mine. Figure 1 As shown, the method may include the following steps:

[0056] Step 101, acquiring a first image of a target anchor driving area.

[0057] In one embodiment, the target anchor rod driving region may include a first sub-region where anchor rods have been driven and a second sub-region where no anchor rods have been driven. That is, the first image may include images of regions where anchor rods have been driven and regions where no anchor rods have been driven.

[0058] As an example, the first image may be a real-time image acquired by a visual sensor, or may be a real-time image obtained by pulling a video stream acquired by the visual sensor.

[0059] Step 102, inputting the first image into a pre-trained target detection model, and obtaining the position coordinates of at least one installed anchor rod outputted by the target detection model after identifying the installed anchor rod in the first image.

[0060] In some embodiments, the target detection model can be pre-trained using deep learning-based models such as the YOLO series, RCNN series, SSD, and DETR.

[0061] In one embodiment, the first image is input into a pre-trained target detection model, and the target detection model identifies the installed anchors in the first image and outputs the position coordinates of at least one installed anchor.

[0062] As a possible example, the first anchor in the target anchor driving area can be located manually or by other means, and the drill arm is controlled to insert the anchor at that point. Subsequent points are determined based on the position of the first point and driven using the method proposed in this application.

[0063] In some embodiments of the present application, before step 102, the method may further include: performing illumination homogenization processing on the first image, and / or performing non-correlated region cropping processing, and / or performing denoising processing to obtain a pre-processed first image;

[0064] Step 102 may specifically include: inputting the preprocessed first image into a pre-trained target detection model, and obtaining the position coordinates of at least one installed anchor rod output by the target detection model after identifying the installed anchor rod in the preprocessed first image.

[0065] It is understandable that since the initially collected first image may have uneven lighting, include areas unrelated to anchor driving, and contain noise, it is easy to interfere with the target monitoring model's identification of the position coordinates of the driven anchors. Therefore, the first image may be preprocessed before being input into the target detection model to improve the accuracy of the position coordinate recognition results.

[0066] In one embodiment, the regional position coordinates of the anchor tray in the first image can be identified through the target detection model, the center line of the regional position coordinates of the anchor tray can be determined, and the center point position coordinates can be used as the position coordinates of the corresponding anchor.

[0067] Step 103, performing straight line fitting processing on the position coordinates of at least one installed anchor rod that belong to the same row, to obtain a fitting straight line corresponding to each row of installed anchor rods.

[0068] Among them, the fitting straight line is set parallel to the tunnel to which the target anchor driving area belongs.

[0069] It is understandable that in the first image, multiple rows of anchor rods may need to be installed along the tunnel direction.

[0070] Therefore, it is necessary to first determine the position coordinates of the anchor rods that have been driven in the same row, perform straight line fitting processing on the position coordinates of the same row, and obtain the fitting straight line corresponding to each row of the anchor rods that have been driven.

[0071] Step 104, determining the target point based on the fitting straight line corresponding to each row of installed anchors and the distance between the position coordinates of the same row.

[0072] In some embodiments of the present application, step 104 may specifically include the following steps:

[0073] Step a1, for the position coordinates belonging to the same row, calculate the coordinate distance between two adjacent position coordinates, average all the coordinate distances to obtain a first average distance.

[0074] It is understandable that since there is a certain error in the distance between two adjacent anchors due to terrain and other reasons during the anchoring process, the position of the next anchor can be determined by averaging the coordinate distances between adjacent position coordinates, thereby improving the accuracy of target point determination and reducing errors.

[0075] Step a2, determining the first ordinate of the last driven anchor rod; the last driven anchor rod is the last driven anchor rod among at least one driven anchor rod belonging to the same row.

[0076] Step a3, adding the first ordinate to the first average distance to obtain a second ordinate of the target point.

[0077] It should be noted that the driving direction of the anchor rods is fixed. For the anchor rods in the same row, starting from the first driven anchor rod, the anchor rods are driven one by one along the driving direction.

[0078] Therefore, in one embodiment, the first ordinate of the last anchor rod driven may be obtained, and the first ordinate and the first average distance may be added to obtain the second ordinate of the target point.

[0079] Step a4, substituting the second ordinate into the fitting line to obtain the abscissa of the target point.

[0080] Step a5, determining the target point based on the second ordinate and abscissa.

[0081] In one embodiment, after the second ordinate of the target point is obtained, the second ordinate may be brought into the fitting line to obtain the abscissa of the target point using the fitting line.

[0082] It can be understood that by determining the horizontal coordinate by fitting a straight line, the accuracy of the distance between the target point and other installed anchors can be further improved, and the error of installing anchors can be reduced.

[0083] Step 105, controlling the drill arm to drive anchor bolts according to the target point.

[0084] In some embodiments of the present application, a laser is installed on the drill arm, and an anchor to be driven is mounted on the drill arm. Step 105 may specifically include the following steps:

[0085] Step b1, acquiring a second image using a visual sensor; the second image includes laser light emitted by the laser;

[0086] Step b2, using a laser detection algorithm to identify the laser position coordinates in the second image, and using the relative position relationship between the laser position coordinates and the driving end of the anchor to be driven, determining the driving end position coordinates; the driving end is the end of the anchor to be driven close to the tunnel roof;

[0087] Step b3, determining the adjustment angle of the drill arm based on the position coordinates of the drilling end and the target point;

[0088] Step b4, controlling the drill arm to adjust the posture according to the adjustment angle;

[0089] Step b5, control the drill arm to move toward the target point, and return to execute step a1 until the laser coincides with the target point.

[0090] In one embodiment, a cross laser is installed on the drill arm. As the drill arm moves, the cross laser emitted by the cross laser also moves. The position of the driving end of the anchor rod to be driven supported by the drill arm can be determined according to the position of the cross laser.

[0091] In one embodiment, the adjustment angle of the drill arm is determined according to the position coordinates of the driving end of the anchor rod to be driven and the target point, that is, the swing angle of the drill arm is determined, and the drill arm is controlled to adjust the posture according to the adjustment angle.

[0092] It is understandable that the drill arm needs to move forward from the last anchor rod installed. During this process, as the position of the drill arm changes, steps b1-b5 need to be continuously repeated until the position of the laser emitted by the laser coincides with the target point.

[0093] As an example, after the above adjustment angle is calculated, the host computer can communicate with the PLC controller to send the above data to the PLC, and the PLC controls the drill arm posture conversion.

[0094] In some embodiments of the present application, step a3 may specifically include the following steps:

[0095] Calculate the relative distance between the position coordinates of the setting end and the target point;

[0096] The swing direction of the drill arm is determined based on the relative distance, and the adjustment angle of the drill arm is obtained based on the swing direction.

[0097] According to the coal mine underground anchor driving method proposed in the embodiment of the present disclosure, a first image of the target anchor driving area is obtained; the first image is input into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor which is output by the target detection model after identifying the installed anchor in the first image; a straight line fitting process is performed on the position coordinates of at least one installed anchor which belong to the same row to obtain a fitted straight line corresponding to each row of installed anchors; a target point is determined based on the fitted straight line corresponding to each row of installed anchors and the distance between the position coordinates of the same row; the drill arm is controlled to drive the anchor according to the target point, so that the position of the installed anchor can be quickly and accurately located, thereby improving the efficiency and accuracy of the anchor driving.

[0098] Figure 2 1 is a block diagram of an underground anchoring device for a coal mine according to an exemplary embodiment. Figure 2 The device includes an acquisition unit 201, an identification unit 202, a fitting unit 203, a determination unit 204 and a control unit 205.

[0099] The acquisition unit 201 is used to acquire a first image of a target anchor bolt driving area;

[0100] The recognition unit 202 is used to input the first image into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor rod output by the target detection model after the installed anchor rod in the first image is recognized;

[0101] The fitting unit 203 is used to perform straight line fitting processing on the position coordinates of the same row of the position coordinates of at least one installed anchor rod to obtain a fitting straight line corresponding to each row of installed anchor rods; the fitting straight line is arranged parallel to the lane to which the target anchor rod installation area belongs;

[0102] A determination unit 204, configured to determine the target point based on the fitting straight line corresponding to each row of anchor rods and the distance between the position coordinates of the same row;

[0103] The control unit 205 is used to control the drill arm to drive the anchor bolt according to the target point.

[0104] In some embodiments of the present application, the determining unit 204 is specifically configured to:

[0105] For the position coordinates belonging to the same row, the coordinate distance between two adjacent position coordinates is calculated, and all the coordinate distances are averaged to obtain a first average distance;

[0106] Determine the first ordinate of the last anchor rod that has been driven; the last anchor rod that has been driven is the last anchor rod that has been driven among at least one anchor rod that has been driven in the same row;

[0107] Adding the first ordinate to the first average distance to obtain a second ordinate of the target point;

[0108] Substituting the second ordinate into the fitting straight line to obtain the abscissa of the target point;

[0109] The target point position is determined based on the second ordinate and the abscissa.

[0110] In some embodiments of the present application, the device may further include:

[0111] A preprocessing unit, used to perform illumination homogenization processing, and / or non-correlated region cropping processing, and / or denoising processing on the first image to obtain a preprocessed first image;

[0112] The recognition unit 202 can be specifically used to: input the preprocessed first image into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor rod output after the target detection model recognizes the installed anchor rod in the preprocessed first image.

[0113] In some embodiments of the present application, a laser is installed on the drill arm, and the control unit can be specifically used for:

[0114] Acquire a second image using a visual sensor; the second image includes the laser light emitted by the laser;

[0115] Using a laser detection algorithm, the second image is used to identify the anchor position coordinates of the drill arm;

[0116] Determining an adjustment angle of the drill arm based on the anchor position coordinates and the target point;

[0117] Controlling the drill arm to adjust its posture according to the adjustment angle;

[0118] The drill arm is controlled to move toward the target point, and the step of acquiring the second image by using the visual sensor is returned to be executed until the laser coincides with the target point.

[0119] In some embodiments of the present application, the control unit may also be used to:

[0120] Calculating the relative distance between the anchor position coordinates and the target point;

[0121] The swing direction of the drill arm is determined based on the relative distance, and the adjustment angle of the drill arm is obtained based on the swing direction.

[0122] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0123] According to the coal mine underground anchor driving device proposed in the embodiment of the present disclosure, a first image of a target anchor driving area is obtained; the first image is input into a pre-trained target detection model to obtain the position coordinates of at least one driven anchor that is output after the target detection model identifies the driven anchor in the first image; a straight line fitting process is performed on the position coordinates of at least one driven anchor that belong to the same row to obtain a fitted straight line corresponding to each row of driven anchors; a target point is determined based on the fitted straight line corresponding to each row of driven anchors and the distance between the position coordinates of the same row; the drill arm is controlled to drive the anchor according to the target point, so that the position of the driven anchor can be quickly and accurately located, thereby improving the efficiency and accuracy of the anchor driving.

[0124] Figure 3 3 is a block diagram of a device for a method for driving an anchor bolt in a coal mine according to an exemplary embodiment. For example, the device 300 may be an electronic device, such as a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0125] Reference Figure 3 , the device 300 may include one or more of the following components: a processing component 302 , a memory 304 , a power component 306 , a multimedia component 308 , an audio component 310 , an input / output (I / O) interface 312 , a sensor component 314 , and a communication component 316 .

[0126] The processing component 302 generally controls the overall operation of the device 300, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 302 may include one or more processors 320 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 302 may include one or more modules to facilitate the interaction between the processing component 302 and other components. For example, the processing component 302 may include a multimedia module to facilitate the interaction between the multimedia component 308 and the processing component 302.

[0127] The memory 304 is configured to store various types of data to support operations on the device 300. Examples of such data include instructions for any application or method operating on the device 300, contact data, phone book data, messages, pictures, videos, etc. The memory 304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0128] The power component 306 provides power to the various components of the device 300. The power component 306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 300.

[0129] The multimedia component 308 includes a screen that provides an output interface between the device 300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 308 includes a front camera and / or a rear camera. When the device 300 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0130] The audio component 310 is configured to output and / or input audio signals. For example, the audio component 310 includes a microphone (MIC), and when the device 300 is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 304 or sent via the communication component 316. In some embodiments, the audio component 310 also includes a speaker for outputting audio signals.

[0131] I / O interface 312 provides an interface between processing component 302 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0132] The sensor assembly 314 includes one or more sensors for providing various aspects of status assessment for the device 300. For example, the sensor assembly 314 can detect the open / closed state of the device 300, the relative positioning of components, such as the display and keypad of the device 300, the sensor assembly 314 can also detect the position change of the device 300 or a component of the device 300, the presence or absence of user contact with the device 300, the orientation or acceleration / deceleration of the device 300, and the temperature change of the device 300. The sensor assembly 314 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 314 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0133] The communication component 316 is configured to facilitate wired or wireless communication between the device 300 and other devices. The device 300 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 316 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 316 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0134] In an exemplary embodiment, the apparatus 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above method.

[0135] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 304 including instructions, and the instructions can be executed by the processor 320 of the device 300 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0136] In an exemplary embodiment, a computer program product is also provided, comprising a computer program, which implements the above method when executed by the processor 320 of the device 300 .

[0137] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0138] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for installing an anchor bolt in a coal mine, characterized in that: include: Acquire a first image of a target anchor driving area; Inputting the first image into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor rod output by the target detection model after identifying the installed anchor rod in the first image; Performing straight line fitting processing on the position coordinates of the same row of the position coordinates of at least one installed anchor rod to obtain a fitting straight line corresponding to each row of installed anchor rods; the fitting straight line is arranged parallel to the lane to which the target anchor rod installation area belongs; Determine the target point based on the fitting straight line corresponding to each row of anchors and the distance between the position coordinates of the same row; The drill arm is controlled to drive anchor bolts according to the target point.

2. The method for installing anchor bolts in coal mines according to claim 1, characterized in that: The target point is determined based on the fitting straight line corresponding to each row of anchor rods and the distance between the position coordinates of the same row, including: For the position coordinates belonging to the same row, the coordinate distance between two adjacent position coordinates is calculated, and all the coordinate distances are averaged to obtain a first average distance; Determine the first ordinate of the last anchor rod that has been driven; the last anchor rod that has been driven is the last anchor rod that has been driven among at least one anchor rod that has been driven in the same row; Adding the first ordinate to the first average distance to obtain a second ordinate of the target point; Substituting the second ordinate into the fitting straight line to obtain the abscissa of the target point; The target point position is determined based on the second ordinate and the abscissa.

3. The method for installing anchor bolts in coal mines according to claim 1, characterized in that: Before inputting the first image into a pre-trained target detection model, the method further includes: Performing illumination homogenization processing, and / or non-correlated region cropping processing, and / or denoising processing on the first image to obtain a preprocessed first image; The step of inputting the first image into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor rod output by the target detection model after identifying the installed anchor rod in the first image comprises: The preprocessed first image is input into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor rod output after the target detection model identifies the installed anchor rod in the preprocessed first image.

4. The method for installing anchor bolts in coal mines according to claim 1, characterized in that: The drill arm is equipped with a laser; the drill arm is loaded with an anchor to be driven; and the control of the drill arm to drive the anchor according to the target point includes: Acquire a second image using a visual sensor; the second image includes the laser light emitted by the laser; Using a laser detection algorithm, the laser position coordinates in the second image are identified, and the position coordinates of the driving end of the anchor to be driven are determined using the relative position relationship between the laser position coordinates and the driving end of the anchor to be driven; the driving end is the end of the anchor to be driven close to the tunnel roof; Determining the adjustment angle of the drill arm based on the position coordinates of the drilling end and the target point; Controlling the drill arm to adjust its posture according to the adjustment angle; The drill arm is controlled to move toward the target point, and the step of acquiring the second image by using the visual sensor is returned to be executed until the laser coincides with the target point.

5. The method for installing anchor bolts in coal mines according to claim 4, characterized in that: The step of determining the adjustment angle of the drill arm based on the position coordinates of the drilling end and the target point position includes: Calculating the relative distance between the position coordinates of the setting end and the target point; The swing direction of the drill arm is determined based on the relative distance, and the adjustment angle of the drill arm is obtained based on the swing direction.

6. An underground anchor bolting device for a coal mine, characterized in that: include: An acquisition unit, used for acquiring a first image of a target anchor bolt driving area; A recognition unit, used for inputting the first image into a pre-trained target detection model to obtain the position coordinates of at least one installed anchor rod outputted by the target detection model after the installed anchor rod in the first image is identified; A fitting unit is used to perform straight line fitting processing on the position coordinates of the same row of the position coordinates of at least one installed anchor rod to obtain a fitting straight line corresponding to each row of installed anchor rods; the fitting straight line is arranged parallel to the lane to which the target anchor rod installation area belongs; A determination unit, used to determine the target point based on the fitting straight line corresponding to each row of anchor rods and the distance between the position coordinates of the same row; The control unit is used to control the drill arm to drive the anchor bolt according to the target point.

7. The coal mine underground anchor driving device according to claim 6, characterized in that: The determining unit is specifically used for: For the position coordinates belonging to the same row, the coordinate distance between two adjacent position coordinates is calculated, and all the coordinate distances are averaged to obtain a first average distance; Determine the first ordinate coordinate of the last anchor rod driven; The last driven anchor rod is the last driven anchor rod among at least one driven anchor rod in the same row; Adding the first ordinate to the first average distance to obtain a second ordinate of the target point; Substituting the second ordinate into the fitting straight line to obtain the abscissa of the target point; The target point position is determined based on the second ordinate and the abscissa.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

10. A computer program product, comprising a computer program, characterized in that The computer program implements the method according to any one of claims 1 to 5 when executed by a processor.

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