Intelligent anchor protection control method and device, digging and anchoring all-in-one machine, electronic equipment and chip

Abstract

The embodiment of the invention provides an intelligent anchor protection control method and device, a digging and anchoring all-in-one machine, electronic equipment and a chip, and relates to the technical field of intelligent tunneling, and the intelligent anchor protection control method comprises the steps that a first coordinate system is established with the optical center of a depth camera as a first original point; the reference coordinates of the constructed anchor rod in the first coordinate system are determined according to the depth camera; determining a first coordinate of the at least one target anchor hole in a first coordinate system according to the reference coordinate; a second coordinate system is established with any point on a telescopic frame supporting shaft of the digging and anchoring all-in-one machine as a second original point; second coordinates of the jumbolter in the second coordinate system are determined according to the oil cylinder parameters and the telescopic frame parameters; converting the second coordinate into a third coordinate in the first coordinate system; and generating a moving path according to the first coordinate and the third coordinate, and controlling the jumbolter to move from the position of the third coordinate to the position of the first coordinate. According to the scheme, the anchor rod drilling machine is controlled to complete automatic anchor hole drilling operation.

Description

Technical Field

[0001] The present invention relates to the field of intelligent tunneling technology, and in particular to an intelligent anchoring control method, device, integrated tunneling and anchoring machine, electronic equipment and chip. Background Art

[0002] At present, the actual anchoring and protection working conditions underground are usually carried out manually. For the anchoring and protection operations after tunnel excavation, the workers mainly rely on their construction experience to manually adjust the digging and anchoring robot to complete a series of excavation and drilling and anchoring operations. The positioning accuracy and efficiency during manual operation are difficult to guarantee, which can easily cause over-excavation, under-excavation, cheap anchor rods or inaccurate coordinate calculation problems, resulting in the anchoring and protection device of the digging and anchoring machine being unable to achieve automatic hole positioning and anchoring operations, thereby failing to meet the operational requirements of automatic anchoring, and the automation and safety of the anchoring and protection machine are defective. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide an intelligent anchor control method, device, anchor digging machine, electronic device and chip, which can solve the problem that the anchor device of the anchor digging machine cannot automatically find holes and control anchor operations, the anchor hole positioning is difficult, and the automatic anchor operation requirements cannot be met.

[0004] In view of this, an embodiment of the first aspect of the present invention provides an intelligent anchor protection control method.

[0005] An embodiment of the second aspect of the present invention provides an intelligent anchor protection control device.

[0006] The embodiment of the third aspect of the present invention provides an integrated digging and anchoring machine.

[0007] An embodiment of a fourth aspect of the present invention provides an electronic device.

[0008] An embodiment of the fifth aspect of the present invention provides a chip.

[0009] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention provides an intelligent anchor protection control method for an integrated digging and anchoring machine, the integrated digging and anchoring machine includes a depth camera and an anchor drill, the constructed anchor is positioned by the depth camera, the anchor drill is connected to the body of the integrated digging and anchoring machine through a telescopic frame, and the intelligent anchor protection control method includes: establishing a first coordinate system with the optical center of the depth camera as the first origin; determining the reference coordinates of the constructed anchor in the first coordinate system according to the depth camera; determining the first coordinates of at least one target anchor hole in the first coordinate system according to the reference coordinates; establishing a second coordinate system with any point on the telescopic frame support shaft of the integrated digging and anchoring machine as the second origin; obtaining the cylinder parameters and telescopic frame parameters of the integrated digging and anchoring machine; determining the second coordinates of the anchor drill in the second coordinate system according to the cylinder parameters and the telescopic frame parameters; converting the second coordinate into a third coordinate in the first coordinate system; generating a moving path according to the first coordinate and the third coordinate, and controlling the anchor drill to move from the position of the third coordinate to the position of the first coordinate.

[0010] According to the intelligent anchor protection control method proposed in the present invention, the drilling and anchoring machine is used to identify the constructed anchor rods by using the depth camera to find holes by visual recognition, and determine the position coordinates of the target anchor hole. The anchor drilling machine coordinates the position obtained by the oil cylinder sensor through coordinate conversion. The drilling and anchoring machine controls the anchor drilling machine to move to the target anchor hole position and complete the anchor hole drilling operation, thereby realizing the automated operation of the anchor protection part of the drilling and anchoring machine. Specifically, in order to enable the depth camera to accurately locate multiple constructed anchor rods by visual recognition, a coordinate system is established with the optical center of the depth camera itself as the origin, that is, a first coordinate system is established with the first origin, at least one constructed anchor rod is located by the first coordinate system, the position coordinates of the constructed anchor rod in the first coordinate system are determined, and the position coordinates of the constructed anchor rod in the first coordinate system are used as reference coordinates, in order to determine the position coordinates of the anchor rod to be drilled by the reference coordinates, that is, the first coordinates of the target anchor hole in the first coordinate system. After determining the first coordinate of at least one target anchor hole by the depth camera, a coordinate system is established by taking any point on the telescopic support shaft of the anchor drilling machine as the coordinate origin, in order to determine the position coordinates of the anchor drilling machine. Among them, any point on the telescopic support shaft is the projection of the center of gravity of the connection between the telescopic frame of the anchor drilling machine and the anchor drilling machine falling on the telescopic support shaft, and the specific position of the anchor drilling machine on the telescopic frame can be determined by this point. After determining the first coordinate of the target anchor hole in the first coordinate system and the position coordinate of the anchor drilling machine in the second coordinate system, the cylinder sensor and inertial navigation system in the anchor drilling machine are used to determine multiple parameters of the anchor drilling machine, including: the extension length of the inner cylinder of the telescopic frame, the rotation angle of the telescopic frame, the lifting angle of the telescopic frame, the length of the cylinder of the telescopic frame, and the heading angle, pitch angle and roll angle of the fuselage of the anchor drilling machine. According to the cylinder parameters and the telescopic frame parameters, the influence of the heading angle, pitch angle and roll angle of the drilling and anchoring machine body on the coordinate change corresponding to the extension length of the inner tube of the telescopic frame is determined, so as to transform the position coordinates of the anchor drilling rig in the second coordinate system to eliminate the influence of the coordinate change of the anchor drilling rig in the second coordinate system after the inner tube of the telescopic frame is extended, and the converted position coordinates are determined as the second coordinates, thereby improving the accuracy of the positioning of the anchor drilling rig.

[0011] In the above technical solution, optionally, the reference coordinates of the constructed anchor in the first coordinate system are determined according to the depth camera, including: determining the anchor construction plane according to the first coordinate system, the anchor construction plane including multiple constructed anchors; determining the projection of the constructed anchor on the anchor construction plane; and determining the reference coordinates of the constructed anchor in the first coordinate system according to the center point of the projection.

[0012] In this solution, the three-dimensional spatial positioning problem is converted into a two-dimensional projection calculation through the first coordinate system. The anchor construction plane including multiple constructed anchors is determined through the tunnel roof image captured by the depth camera, and the anchor construction plane is perpendicular to the optical axis of the depth camera. The coordinates of the constructed anchor in the first coordinate system are determined through the projection center point of the constructed anchor on the plane as the reference coordinates for determining the target anchor hole position coordinates. By converting the three-dimensional spatial positioning problem into a two-dimensional plane projection calculation, the data processing dimension is reduced, the data processing amount is reduced, and the information processing efficiency of the integrated digging and anchoring machine in the automated anchoring process is improved.

[0013] In any of the above technical solutions, optionally, determining the first coordinates of at least one target anchor hole in the first coordinate system based on the reference coordinates includes: determining adjacent spacing parameters of anchors and spacing parameters of anchors in the same row; determining a reference anchor among multiple constructed anchors; determining the reference coordinates corresponding to the reference anchor; determining the first coordinates of at least one target anchor hole in the first coordinate system based on the reference coordinates corresponding to the reference anchor, the adjacent spacing parameters of anchors and the spacing parameters of anchors in the same row.

[0014] In this solution, the adjacent spacing parameters of anchors and the spacing parameters of anchors in the same row are determined among multiple constructed anchors to determine the distance between each row of anchors and the distance between adjacent anchors in the same row, and a reference anchor is determined among multiple constructed anchors. The reference coordinates of the anchor hole corresponding to the anchor in the first coordinate system are used as the basis to determine the position coordinates of at least one target anchor hole in the first coordinate system, and the above position coordinates are used as the first coordinates. The first coordinates of at least one target anchor hole are determined by determining the reference anchor on the basis of the constructed anchors. It is only necessary to perform high-precision visual positioning on the reference anchor. The position of the target anchor hole corresponding to the subsequent anchor to be driven is determined by calculation, which reduces the cumulative error caused by sensor noise or tunnel environment interference, thereby improving the accuracy of the target anchor hole positioning. In addition, by determining multiple target anchor holes through a reference anchor, a unified coordinate reference is provided for multiple anchor holes, thereby improving the working efficiency of the automatic anchor protection of the excavator and anchoring machine.

[0015] In any of the above technical solutions, optionally, the second coordinate of the anchor drilling rig in the second coordinate system is determined according to the cylinder parameters and the telescopic frame parameters, including: determining the initial coordinate of the anchor drilling rig in the second coordinate system; determining the extension length of the telescopic frame of the anchor drilling machine according to the cylinder parameters; determining the rotation angle and lifting angle of the telescopic frame according to the telescopic frame parameters; determining the coordinate change value of the extension length corresponding to the initial coordinate according to the rotation angle and the lifting angle; determining the coordinates of the telescopic frame according to the coordinate change value and the initial coordinate; and determining the second coordinate of the anchor drilling rig in the second coordinate system according to the coordinates of the telescopic frame.

[0016] In this solution, the telescopic frame of the integrated mining and anchoring machine includes a multi-section telescopic inner cylinder, which is extended or retracted by a cylinder. The cylinder is provided with a cylinder sensor accordingly. The anchor drill is fixed at the end of the telescopic frame. The position of the anchor drill is completely determined by the state of the extended part of the telescopic frame. That is, the second coordinate of the anchor drill in the second coordinate system can be determined by determining the position coordinates of the telescopic frame in the second coordinate system in the initial state and the position coordinates of the extended part in the second coordinate system.

[0017] In any of the above technical solutions, optionally, determining the second coordinate of the anchor drilling rig in the second coordinate system according to the telescopic frame coordinates includes: determining at least one body inertia parameter of the anchor drilling rig; and determining the second coordinate corresponding to the telescopic frame coordinates according to the body inertia parameters, rotation angle and lifting angle.

[0018] In this scheme, the fuselage inertia parameters include the heading angle, pitch angle and roll angle of the digging and anchoring machine. During the tunnel operation, the fuselage inertia parameters directly reflect the posture change of the digging and anchoring machine in the tunnel space. The posture change of the digging and anchoring machine will directly affect the position coordinates of the end of the telescopic frame. The actual construction position coordinates of the anchor drilling rig will be deviated due to the posture change of the digging and anchoring machine. Therefore, the telescopic frame coordinates are corrected by the fuselage inertia parameters to compensate for the influence of the tilt of the fuselage posture due to uneven ground or load changes on the position of the drilling rig.

[0019] In any of the above technical solutions, optionally, converting the second coordinate into a third coordinate in the first coordinate system includes: determining a distance parameter between the first origin and the second origin; determining a size parameter corresponding to the anchor mining machine; determining a conversion parameter corresponding to the second coordinate system based on the distance parameter and the size parameter; and converting at least one second coordinate into a third coordinate in the first coordinate system based on the conversion parameter.

[0020] In this scheme, the position coordinates of the anchor drill in the second coordinate system (local coordinate system of the telescopic frame) are mapped to the first coordinate system (global visual positioning coordinate system). The mechanical dimension distance between the origins of the two coordinate systems is determined, and the mechanical dimension distance is decomposed into three axial directions in the first coordinate system. The projections in the three directions are determined separately to compensate for the origin offset of the anchor guard part (second coordinate system) caused by the fuselage posture. The projection of the mechanical dimension distance and the corrected second coordinate are superimposed to obtain the third coordinate in the first coordinate system.

[0021] It can be understood that by determining the size parameters of the drilling and anchoring machine, the second coordinate in the second coordinate system is converted into the third coordinate in the first coordinate system, that is, according to the size of the drilling and anchoring machine of different models or sizes, the position coordinates of the anchor drilling rig in the mechanical part are converted into a global coordinate system centered on the depth camera, that is, by pre-storing the size parameters of different models of drilling and anchoring machines, the system can quickly adapt to a variety of drilling and anchoring machine models, without the need to redesign the algorithm for different models of drilling and anchoring machines, thereby improving the adaptability of the intelligent anchor protection control method.

[0022] An embodiment of the second aspect of the present application provides an intelligent anchor control device, including: a coordinate system determination module, used to establish a first coordinate system with the optical center of the depth camera as the first origin; establish a second coordinate system with any point on the telescopic frame support shaft of the anchor drilling machine as the second origin; a data acquisition module, used to obtain the cylinder parameters and telescopic frame parameters of the anchor drilling machine; a coordinate determination module, used to determine the reference coordinates of the constructed anchor in the first coordinate system according to the depth camera; determine the first coordinates of at least one target anchor hole in the first coordinate system according to the reference coordinates; determine the second coordinates of the anchor drilling rig in the second coordinate system according to the cylinder parameters and the telescopic frame parameters; a conversion module, used to convert the second coordinate into a third coordinate in the first coordinate system; a path movement module, used to generate a movement path according to the first coordinate and the third coordinate, and control the anchor drilling rig to move from the position of the third coordinate to the position of the first coordinate.

[0023] The present application realizes an intelligent anchor protection control method through an intelligent anchor protection control device, which is used for an integrated digging and anchoring machine. The constructed anchor rods are identified by a depth camera using a visual recognition hole finding and positioning method, and the position coordinates of the target anchor hole are determined. The coordinate position of the anchor drilling rig is obtained through coordinate conversion based on the cylinder sensor. The integrated digging and anchoring machine controls the anchor drilling rig to move to the target anchor hole position and completes the anchor hole drilling operation, thereby realizing the automated operation of the anchor protection part of the integrated digging and anchoring machine. The coordinate origin corresponding to the second coordinate system that determines the position coordinates of the anchor drill rig is converted with the coordinate origin corresponding to the first coordinate system that determines the target anchor hole, so that the position coordinates of the anchor drill rig are transferred to the coordinate system of the corresponding body of the digging and anchoring machine. That is, the relative distance between the first origin and the second origin is determined according to the mechanical size of the digging and anchoring machine itself, and the distance between the first origin and the second origin is proportional to the mechanical size of the digging and anchoring machine itself. By converting the coordinate origin of the anchor protection part with the coordinate origin corresponding to the body of the digging and anchoring machine, the path that the anchor drill rig needs to move is transferred to the coordinate system corresponding to the body of the digging and anchoring machine, thereby improving the movement accuracy and control accuracy of the digging and anchoring machine in the process of automatic hole finding, thereby improving the accuracy of automated anchor drilling operations.

[0024] An embodiment of the third aspect of the present application provides an all-in-one drilling and anchoring machine, which includes: a depth camera and an anchor drill, and the constructed anchors are positioned by the depth camera. The anchor drill is connected to the body of the drilling and anchoring machine through a telescopic frame; the drilling and anchoring machine also includes an intelligent anchor protection control device as provided in the second aspect.

[0025] In this solution, the drilling and anchoring machine uses a depth camera to perform visual recognition to locate the positions of multiple constructed anchors and target anchor holes, and determines the position coordinates of the anchor drill rig through coordinate conversion based on the cylinder sensor. When the automatic anchoring operation is started, the drilling and anchoring machine controls the anchor drill rig to move to the target anchor hole position and starts automatic anchor drilling until all anchor drilling operations are completed, thereby realizing the automation of the anchoring part of the drilling and anchoring machine.

[0026] Among them, since the integrated drilling and anchoring machine includes any of the above-mentioned intelligent anchoring and protection control devices, it has the beneficial effects of any of the above-mentioned intelligent anchoring and protection control devices, which will not be repeated here.

[0027] An embodiment of the fourth aspect of the present application provides an electronic device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the intelligent anchor control method in the first aspect are implemented.

[0028] An embodiment of the fifth aspect of the present application provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the steps of the intelligent anchor protection control method in the first aspect.

[0029] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of a flow chart of an intelligent anchor protection control method according to an embodiment of the present application is shown;

[0031] Figure 2 A partial flow chart of an intelligent anchor protection control method according to an embodiment of the present application is shown;

[0032] Figure 3 A partial flow chart of an intelligent anchor protection control method according to an embodiment of the present application is shown;

[0033] Figure 4 A partial flow chart of an intelligent anchor protection control method according to an embodiment of the present application is shown;

[0034] Figure 5A partial flow chart of an intelligent anchor protection control method according to an embodiment of the present application is shown;

[0035] Figure 6 A partial flow chart of an intelligent anchor protection control method according to an embodiment of the present application is shown;

[0036] Figure 7 A schematic structural block diagram of an intelligent anchor guarding control device according to an embodiment of the present application is shown;

[0037] Figure 8 A schematic diagram of visual positioning of anchor holes according to an embodiment of the present application is shown;

[0038] Fig. 9 A schematic diagram of a telescopic frame coordinate system according to an embodiment of the present application is shown;

[0039] Fig.10 A schematic diagram of a telescopic frame cylinder according to an embodiment of the present application is shown;

[0040] Fig.11 A schematic diagram of conversion between anchor coordinates and fuselage coordinates according to an embodiment of the present application is shown;

[0041] Fig.12 A schematic structural block diagram of an electronic device according to an embodiment of the present application is shown;

[0042] Fig.13 A schematic structural diagram of a drilling and anchoring machine according to an embodiment of the present application is shown.

[0043] in, Figure 7 , Figure 8 , Fig.12 and Fig.13 The corresponding relationship between the reference numerals and the component names is as follows:

[0044] 900: intelligent anchor control device; 902: coordinate system determination module; 904: data acquisition module; 906: coordinate determination module; 908: conversion module; 910: path movement module; 3000: depth camera; 3003: anchor rod one has been driven; 3004: anchor rod two has been driven; 3007: anchor rod one to be driven; 3005: anchor rod two to be driven; 1000: electronic equipment; 1109: memory; 1110: processor; 2000: anchor drilling machine; 2004: fuselage; 2002: telescopic frame; 4000: anchor drilling rig; 400: left cylinder; 402: right cylinder. DETAILED DESCRIPTION

[0045] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0047] The following is combined with Figures 1 to 13 , the intelligent anchor protection control method, device, anchor digging machine, electronic device and chip provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0048] This embodiment provides an intelligent anchor protection control method for an integrated digging and anchoring machine, which includes a depth camera and an anchor drill. The constructed anchor is located by the depth camera. The anchor drill is connected to the body of the integrated digging and anchoring machine through a telescopic frame. Figure 1 As shown, the intelligent anchor protection control method includes:

[0049] Step S100: establishing a first coordinate system with the optical center of the depth camera as the first origin;

[0050] Step S102: determining the reference coordinates of the constructed anchor rod in the first coordinate system according to the depth camera;

[0051] Step S104: determining a first coordinate of at least one target anchor hole in a first coordinate system according to the reference coordinate;

[0052] Step S106: establishing a second coordinate system with any point on the telescopic frame support shaft of the anchor and digging machine as the second origin;

[0053] Step S108: Obtaining the oil cylinder parameters and telescopic frame parameters of the anchoring and digging machine;

[0054] Step S110: determining the second coordinate of the anchor drilling machine in the second coordinate system according to the oil cylinder parameters and the telescopic frame parameters;

[0055] Step S112: converting the second coordinate into a third coordinate in the first coordinate system;

[0056] Step S114: generating a moving path according to the first coordinate and the third coordinate, and controlling the anchor drilling machine to move from the position of the third coordinate to the position of the first coordinate.

[0057] According to the intelligent anchor protection control method proposed in the present invention, the drilling and anchoring machine is used to identify the constructed anchor rods by using the depth camera to find holes by visual recognition, and determine the position coordinates of the target anchor hole. The anchor drilling machine coordinates the position obtained by the oil cylinder sensor through coordinate conversion. The drilling and anchoring machine controls the anchor drilling machine to move to the target anchor hole position and complete the anchor hole drilling operation, thereby realizing the automated operation of the anchor protection part of the drilling and anchoring machine. Specifically, in order to enable the depth camera to accurately locate multiple constructed anchor rods by visual recognition, a coordinate system is established with the optical center of the depth camera itself as the origin, that is, a first coordinate system is established with the first origin, at least one constructed anchor rod is located by the first coordinate system, the position coordinates of the constructed anchor rod in the first coordinate system are determined, and the position coordinates of the constructed anchor rod in the first coordinate system are used as reference coordinates, in order to determine the position coordinates of the anchor rod to be drilled by the reference coordinates, that is, the first coordinates of the target anchor hole in the first coordinate system. After determining the first coordinate of at least one target anchor hole by the depth camera, a coordinate system is established by taking any point on the telescopic support shaft of the anchor drilling machine as the coordinate origin, in order to determine the position coordinates of the anchor drilling machine. Among them, any point on the telescopic support shaft is the projection of the center of gravity of the connection between the telescopic frame of the anchor drilling machine and the anchor drilling machine falling on the telescopic support shaft, and the specific position of the anchor drilling machine on the telescopic frame can be determined by this point. After determining the first coordinate of the target anchor hole in the first coordinate system and the position coordinate of the anchor drilling machine in the second coordinate system, the cylinder sensor and inertial navigation system in the anchor drilling machine are used to determine multiple parameters of the anchor drilling machine, including: the extension length of the inner cylinder of the telescopic frame, the rotation angle of the telescopic frame, the lifting angle of the telescopic frame, the length of the cylinder of the telescopic frame, and the heading angle, pitch angle and roll angle of the fuselage of the anchor drilling machine. According to the cylinder parameters and the telescopic frame parameters, the influence of the heading angle, pitch angle and roll angle of the drilling and anchoring machine body on the coordinate change corresponding to the extension length of the inner tube of the telescopic frame is determined, so as to transform the position coordinates of the anchor drilling rig in the second coordinate system to eliminate the influence of the coordinate change of the anchor drilling rig in the second coordinate system after the inner tube of the telescopic frame is extended, and the converted position coordinates are determined as the second coordinates, thereby improving the accuracy of the positioning of the anchor drilling rig.

[0058] Furthermore, determining the path that the anchor drill needs to move based on the first coordinate of the target anchor hole in the first coordinate system and the converted second coordinate of the anchor drill in the second coordinate system also includes: converting the coordinate origin corresponding to the second coordinate system for determining the position coordinates of the anchor drill with the coordinate origin corresponding to the first coordinate system for determining the target anchor hole, so that the position coordinates of the anchor drill are transferred to the coordinate system of the corresponding body of the digging and anchoring machine, that is, determining the relative distance between the first origin and the second origin according to the mechanical size of the digging and anchoring machine itself, and the distance between the first origin and the second origin is proportional to the mechanical size of the digging and anchoring machine itself, and by converting the coordinate origin of the anchor protection part with the coordinate origin corresponding to the body of the digging and anchoring machine, the path that the anchor drill needs to move is transferred to the coordinate system corresponding to the body of the digging and anchoring machine, thereby improving the movement accuracy and control accuracy of the digging and anchoring machine during the automatic hole finding process, thereby improving the accuracy of the automated anchor drilling operation.

[0059] Optionally, the depth camera is detachably connected to the body of the drilling and anchoring machine, the camera lens of the depth camera is directed vertically upward, and the optical axis of the depth camera is perpendicular to the tunnel roof and the ground, so that the depth camera can obtain the image of the tunnel roof, that is, the first coordinate system established with the depth camera's own optical center as the first origin is used as the coordinate system corresponding to the body of the drilling and anchoring machine.

[0060] In some embodiments, optionally, Figure 2 As shown, the reference coordinates of the constructed anchor rods in the first coordinate system are determined according to the depth camera, including:

[0061] Step S1020: determining an anchor construction plane according to the first coordinate system, where the anchor construction plane includes a plurality of constructed anchors;

[0062] Step S1022: determining the projection of the constructed anchor rod on the anchor rod construction plane;

[0063] Step S1024: Determine the reference coordinates of the constructed anchor rod in the first coordinate system according to the center point of the projection.

[0064] In this embodiment, the three-dimensional spatial positioning problem is converted into a two-dimensional projection calculation through the first coordinate system, and the anchor construction plane including multiple constructed anchors is determined through the tunnel roof image captured by the depth camera, and the anchor construction plane is perpendicular to the optical axis of the depth camera. The coordinates of the constructed anchor in the first coordinate system are determined through the projection center point of the constructed anchor on the plane as the reference coordinates for determining the target anchor hole position coordinates. By converting the three-dimensional spatial positioning problem into a two-dimensional plane projection calculation, the data processing dimension is reduced, the data processing amount is reduced, and the information processing efficiency of the integrated digging and anchoring machine in the automated anchoring process is improved.

[0065] It can be understood that by determining the anchor construction plane, the actual working area of ​​the anchor is converted from three-dimensional space to a two-dimensional plane, reducing the measurement error caused by the unevenness or bumps in the construction plane and eliminating the impact of uneven tunnel roof or local deformation.

[0066] Furthermore, by determining the projection center points of multiple anchors as reference coordinates, the influence caused by the bending or tilting of the anchors themselves is reduced, and the accuracy of determining the anchor position coordinates is increased.

[0067] In some embodiments, optionally, Figure 3 As shown, determining a first coordinate of at least one target anchor hole in a first coordinate system according to a reference coordinate includes:

[0068] Step S1040: determining the spacing parameters between adjacent anchor rods and the spacing parameters between anchor rods in the same row;

[0069] Step S1042: determining a reference anchor rod among multiple constructed anchor rods;

[0070] Step S1044: determining the reference coordinates corresponding to the reference anchor;

[0071] Step S1046: Determine the first coordinate of at least one target anchor hole in the first coordinate system according to the reference coordinate corresponding to the reference anchor, the anchor adjacent spacing parameter and the anchor same row spacing parameter.

[0072] In this embodiment, the adjacent spacing parameters of anchors and the spacing parameters of anchors in the same row are determined among multiple constructed anchors to determine the distance between each row of anchors and the distance between adjacent anchors in the same row, and a reference anchor is determined among multiple constructed anchors. The reference coordinates of the anchor hole corresponding to the anchor in the first coordinate system are used as a basis to determine the position coordinates of at least one target anchor hole in the first coordinate system, and the above position coordinates are used as the first coordinates. The first coordinates of at least one target anchor hole are determined by determining the reference anchor on the basis of the constructed anchors. It is only necessary to perform high-precision visual positioning on the reference anchor. The position of the target anchor hole corresponding to the subsequent anchor to be driven is determined by calculation, reducing the cumulative error caused by sensor noise or tunnel environment interference, thereby improving the accuracy of the target anchor hole positioning. In addition, by determining multiple target anchor holes through a reference anchor, a unified coordinate reference is provided for multiple anchor holes, thereby improving the working efficiency of the automatic anchor protection of the excavator and anchoring machine.

[0073] Optionally, the distance U between each row of anchors and the distance V between adjacent anchors in the same row are set by the host computer as preset anchor adjacent spacing parameters and preset anchor same-row spacing parameters, and the preset anchor adjacent spacing parameters and preset anchor same-row spacing parameters are sent to a programmable logic controller (PLC). By presetting the anchor arrangement by the host computer, the anchor density is adjusted in real time, which can adapt to different tunnel roof geological conditions and improve the adaptability of the drilling and anchoring machine operation.

[0074] Optionally, the reference anchor is the first constructed anchor.

[0075] Optionally, the reference anchor rod is a constructed anchor rod automatically selected by the host computer, and the value corresponding to the position coordinate of the constructed anchor rod is an extreme value among the position coordinates of multiple constructed anchor rods.

[0076] In some embodiments, optionally, Figure 4 As shown, determining the second coordinate of the anchor drilling rig in the second coordinate system according to the cylinder parameters and the telescopic frame parameters includes:

[0077] Step S1060: determining the initial coordinates of the anchor drilling machine in the second coordinates;

[0078] Step S1062: determining the extension length of the telescopic frame of the anchor and digging machine according to the oil cylinder parameters;

[0079] Step S1064: determining the rotation angle and lifting angle of the telescopic frame according to the telescopic frame parameters;

[0080] Step S1066: determining the coordinate change value of the extension length corresponding to the initial coordinate according to the rotation angle and the lifting angle;

[0081] Step S1068: determining the coordinates of the telescopic frame according to the coordinate change value and the initial coordinates;

[0082] Step S1070: Determine the second coordinate of the anchor drilling rig in the second coordinate system according to the coordinate of the telescopic frame.

[0083] In this embodiment, the telescopic frame of the drilling and anchoring machine includes a multi-section telescopic inner cylinder, which is extended or retracted by a cylinder. The cylinder is correspondingly provided with a cylinder sensor. The anchor drill is fixed at the end of the telescopic frame. The position of the anchor drill is completely determined by the state of the extended part of the telescopic frame. That is, the second coordinate of the anchor drill in the second coordinate system can be determined by determining the position coordinates of the telescopic frame in the second coordinate system in the initial state and the position coordinates of the extended part in the second coordinate system.

[0084] It can be understood that the first coordinate system and the second coordinate system are independently set by establishing a second coordinate system with any point on the telescopic frame support shaft of the anchor drilling machine as the coordinate origin. The first coordinate system is intended to use the depth camera as the coordinate origin for visual identification and position calculation of anchor holes, ensuring that the anchor arrangement meets the preset parameters. Due to the use of the visual recognition method of the depth camera, the determination of the first coordinate system is not affected by the mechanical movement of the anchor drilling machine, reducing the visual positioning error caused by the vibration of the fuselage or the change of posture; the second coordinate system uses the telescopic frame support shaft as the origin, and directly calculates the position coordinates of the anchor drilling rig through the motion control of the anchor drilling rig and the mechanical parameters such as the length and angle of the cylinder. Since the position of the anchor drilling rig is affected by the mechanical parameters, the corresponding second coordinate system is independent of the first coordinate system of visual positioning, thereby improving the real-time and stability of the position coordinate determination of the anchor drilling rig.

[0085] Furthermore, visual positioning may be subject to environmental interference, for example, coordinate deviations caused by environmental factors such as dust and light changes. If it is directly bound to the anchor drill control and the same coordinate system is determined, the error will be transmitted to the mechanical movement of the anchor drill.

[0086] Furthermore, the oil cylinder comprises a left oil cylinder and a right oil cylinder, the rotation angle of the telescopic frame and the lifting angle of the telescopic frame are jointly controlled by the left and right oil cylinders of the telescopic frame, the lengths of the left oil cylinder and the right oil cylinder are determined by the oil cylinder sensor, and the rotation angle and the lifting angle of the telescopic frame can be determined according to the length of the left oil cylinder and the length of the right oil cylinder, wherein, when the length of the left oil cylinder is equal to the length of the right oil cylinder, the rotation angle of the telescopic frame is zero, and the lifting angle of the telescopic frame is determined by the mechanical structure parameters of the left side bracket of the telescopic frame and the length of the left oil cylinder; when the length of the left oil cylinder is greater than the length of the right oil cylinder, the rotation angle of the telescopic frame is zero, and the lifting angle of the telescopic frame is determined by the mechanical structure parameters of the left side bracket of the telescopic frame and the length of the left oil cylinder; when the length of the left oil cylinder is greater than the length of the right oil cylinder, the telescopic frame rotates. To the right, the rotation angle of the telescopic frame is determined by the distance between the left and right brackets of the telescopic frame, the length of the left cylinder and the length of the right cylinder, and the lifting angle of the telescopic frame is determined by the mechanical structure parameters of the right bracket of the telescopic frame and the length of the right cylinder; when the length of the left cylinder is less than the length of the right cylinder, the telescopic frame turns to the left, and the rotation angle of the telescopic frame is determined by the distance between the left and right brackets of the telescopic frame, the length of the left cylinder and the length of the right cylinder, and the lifting angle of the telescopic frame is determined by the mechanical structure parameters of the left bracket of the telescopic frame and the length of the left cylinder. According to the rotation angle and the lifting angle of the telescopic frame combined with the mechanical structure parameters of the left bracket and the right bracket of the telescopic frame, the coordinate change value corresponding to the extended part of the telescopic frame is determined, thereby determining the second coordinate of the anchor drill in the second coordinate system.

[0087] It is understandable that the telescopic length and angle parameters are obtained through the cylinder sensor, combined with the mechanical structure parameters, and the three-dimensional coordinates of the anchor drill in the second coordinate system are accurately calculated. In the complex working environment of the tunnel, the accuracy of the coordinate calculation is ensured through angle compensation, and the posture changes such as the tilt or vibration of the fuselage are responded to, and the error caused by the tilt of the fuselage due to uneven ground is reduced. In addition, the complex mechanical movement is converted into coordinate offset for calculation, which facilitates the PLC or host computer controller to generate a straight or curved moving path, and improves the automatic construction capability and reliability of the anchor drilling machine in a complex tunnel environment.

[0088] In some embodiments, optionally, Figure 5 As shown, determining the second coordinate of the anchor drilling rig in the second coordinate system according to the coordinate of the telescopic frame includes:

[0089] Step S10702: determining at least one body inertia parameter of the anchoring and digging machine;

[0090] Step S10704: Determine the second coordinate corresponding to the telescopic frame coordinate according to the fuselage inertia parameter, the rotation angle and the lifting angle.

[0091] In this embodiment, the fuselage inertia parameters include the heading angle, pitch angle and roll angle of the digging and anchoring machine. During the tunnel operation, the fuselage inertia parameters directly reflect the posture change of the digging and anchoring machine in the tunnel space. The posture change of the digging and anchoring machine will directly affect the position coordinates of the end of the telescopic frame. The actual construction position coordinates of the anchor drilling rig will be deviated due to the posture change of the digging and anchoring machine. Therefore, the telescopic frame coordinates are corrected by the fuselage inertia parameters to compensate for the influence of the inclination of the fuselage posture due to uneven ground or load changes on the position of the drilling rig.

[0092] It is understandable that during long-distance excavation, manual calibration of the mechanical origin is required on a regular basis to eliminate cumulative attitude errors. In this solution, the heading angle, pitch angle and roll angle of the drilling and anchoring machine are corrected in real time to reduce the calibration frequency, thereby avoiding frequent shutdowns for calibration during long-distance excavation and improving the automation efficiency of the drilling and anchoring machine.

[0093] Furthermore, the inertial parameters of the machine body are the attitude angles of the anchor-digger in three-dimensional space, which are determined by the inertial navigation system in the anchor-digger, where the heading angle is the rotation angle of the anchor-digger around the vertical axis, indicating the left and right deflection direction of the anchor-digger; the pitch angle is the rotation angle of the horizontal axis of the anchor-digger, indicating the forward or backward tilt of the anchor-digger; the roll angle is the rotation angle of the longitudinal axis of the anchor-digger, indicating the left and right tilt of the anchor-digger. The coordinate transformation in the second coordinate system is completed by means of a rotation matrix to correct the heading angle, pitch angle and roll angle, thereby reducing the attitude deviation of the machine body and improving the accuracy of automated anchoring construction.

[0094] In some embodiments, optionally, Figure 6 As shown, the second coordinate is converted into a third coordinate in the first coordinate system, including:

[0095] Step S1120: determining a distance parameter between the first origin and the second origin;

[0096] Step S1122: determining the size parameters corresponding to the anchoring and digging machine;

[0097] Step S1124: determining a conversion parameter corresponding to the second coordinate system according to the distance parameter and the size parameter;

[0098] Step S1126: Convert at least one second coordinate into a third coordinate in the first coordinate system according to the conversion parameter.

[0099] In this embodiment, the position coordinates of the anchor drill in the second coordinate system (local coordinate system of the telescopic frame) are mapped to the first coordinate system (global visual positioning coordinate system). The mechanical dimension distance between the origins of the two coordinate systems is determined, and the mechanical dimension distance is decomposed into three axial directions in the first coordinate system. The projections in the three directions are determined respectively to compensate for the origin offset of the anchor guard part (second coordinate system) caused by the fuselage posture. The projection of the mechanical dimension distance and the corrected second coordinate are superimposed to obtain the third coordinate in the first coordinate system.

[0100] It can be understood that by determining the size parameters of the drilling and anchoring machine, the second coordinate in the second coordinate system is converted into the third coordinate in the first coordinate system, that is, according to the size of the drilling and anchoring machine of different models or sizes, the position coordinates of the anchor drilling rig in the mechanical part are converted into a global coordinate system centered on the depth camera, that is, by pre-storing the size parameters of different models of drilling and anchoring machines, the system can quickly adapt to a variety of drilling and anchoring machine models, without the need to redesign the algorithm for different models of drilling and anchoring machines, thereby improving the adaptability of the intelligent anchor protection control method.

[0101] Furthermore, the coordinates determined by the mechanical part of the anchor drilling rig are mapped to a first coordinate system based on the visual positioning of the depth camera, and the visual positioning error is limited within the first coordinate system. The error is avoided from being transmitted to the mechanical control by means of posture correction and dimensional parameters. The mechanical control error is locally absorbed in the second coordinate system by means of cylinder telescopic correction. The accuracy and construction reliability of the automatic anchoring of the drilling and anchoring machine are improved by means of dual coordinate system error filtering.

[0102] In a specific embodiment, the intelligent anchor protection control method includes:

[0103] Step 1: Set the distance U between each row of anchor rods and the distance V between adjacent anchor rods in the same row through the host computer software, and send the parameter data to the PLC;

[0104] Step 2: PLC calculates the position coordinates of the anchor drilling rig based on the set parameters, mechanical parameters of the anchor drilling rig, and data parameters of the oil cylinder sensor;

[0105] Step 3: Start the automatic anchoring operation. The anchor drilling machine controls the anchor drilling machine to move to the specified position coordinate point and starts the automatic anchor drilling operation. The automatic anchoring operation process is as follows:

[0106] In order to enable the integrated digging and anchoring machine to identify and locate the anchor hole position, the anchor hole position is located by visual positioning through the depth camera, and a coordinate system is established with the depth camera as the origin, such as Figure 8 As shown, the height of the depth camera from the top plate is H, the distance U between each row of anchors and the distance V between adjacent anchors in the same row can be set. The distance L1 and L2 between the depth camera and the two anchors that have been driven can be measured by the depth camera. The distance between two anchors in the same row is:

[0107] ;

[0108] in, is the distance between two anchors in the same row, and V is the distance between adjacent anchors in the same row.

[0109] From the Pythagorean theorem we know that:

[0110] ;

[0111] in, is the distance between the anchor rod 3003 and the projection of the origin of the coordinate system, is the distance between the depth camera and the driven anchor 3003, is the height of the depth camera from the top plate.

[0112] ;

[0113] in, is the distance between the anchor rod 2 3004 and the projection of the origin of the coordinate system, is the distance between the depth camera and the driven anchor 3004, is the height of the depth camera from the top plate.

[0114] but:

[0115] ;

[0116] in, for The corresponding direction and The angle between the corresponding directions of is the distance between the anchor rod 3003 and the projection of the origin of the coordinate system, is the distance between the anchor rod 2 3004 and the projection of the origin of the coordinate system, is the distance between two anchors in the same row.

[0117] Take the driven anchor 3003 as the reference anchor, and the coordinate value of the reference anchor is:

[0118] ;

[0119] in, is the horizontal coordinate of the reference anchor.

[0120] ;

[0121] in, is the ordinate of the reference anchor.

[0122] Based on the reference anchor rod, the position coordinates of the anchor rod to be driven can be further calculated. The position coordinates of the anchor rod 3007 to be driven are:

[0123] ;

[0124] in, It is the horizontal coordinate of the anchor point 3007.

[0125] ;

[0126] in, is the vertical coordinate of the anchor rod 3007, and U is the distance between each row of anchor rods.

[0127] The coordinates of the location of anchor bolt 2 3005 are:

[0128] ;

[0129] in, is the horizontal coordinate of the anchor bolt 2 3005 to be driven. is the distance between adjacent anchor rods in the same row.

[0130] ;

[0131] in, is the vertical coordinate of the second anchor 3005 to be driven, and U is the distance between each row of anchors.

[0132] After determining the position coordinates of the anchor bolts through visual positioning, the position coordinates of the anchor drill need to be determined to realize the automatic anchor bolting operation of the anchor drill. The coordinate system is established with the support shaft of the telescopic frame of the drilling and anchoring machine as the coordinate origin, such as Fig. 9 As shown, the extension length h of the inner cylinder of the telescopic frame is known and can be obtained through the cylinder sensor.

[0133] Assuming the rotation angle of the telescopic frame is α and the lifting angle is β, the coordinate change value corresponding to the extended length h is:

[0134] ;

[0135] ;

[0136] ;

[0137] Among them, h is the extension length of the inner tube of the telescopic frame, α is the rotation angle, β is the lifting angle, is the change value of the horizontal axis, is the vertical axis change value, is the vertical coordinate change value.

[0138] Assume that the original anchor drilling rig position coordinates are (x, y, z), and the anchor drilling rig position coordinates after the telescopic frame is extended are (X, Y, Z), then the (X, Y, Z) coordinates are:

[0139] ;

[0140] ;

[0141] ;

[0142] Among them, X is the horizontal coordinate of the anchor drilling rig after the telescopic frame is extended, Y is the vertical coordinate of the anchor drilling rig after the telescopic frame is extended, Z is the vertical coordinate of the anchor drilling rig after the telescopic frame is extended, and z is the vertical coordinate of the original anchor drilling rig.

[0143] The rotation angle α and lifting angle β of the telescopic frame are controlled by the left and right cylinders of the telescopic frame. The lengths of the left and right cylinders can be obtained according to the cylinder sensors, such as Fig.10 As shown, , , , is the mechanical structure parameter of the left bracket of the telescopic frame, , , , They are the mechanical structure parameters of the right bracket of the telescopic frame. P is the distance between the left bracket and the right bracket. The length of the oil cylinder measured by the left oil cylinder 400 sensor is S1, and the length of the oil cylinder measured by the right oil cylinder 402 sensor is S2.

[0144] 1) When S1 = S2:

[0145] Slewing angle α:

[0146] ;

[0147] Lifting angle β:

[0148] ;

[0149] Among them, 、 、 、 are the mechanical structure parameters of the left bracket of the telescopic frame.

[0150] 2) When S1 > S2, slewing to the right:

[0151] Slewing angle α:

[0152] ;

[0153] Lifting angle β:

[0154] ;

[0155] Among them, 、 、 、 are the mechanical structure parameters of the right bracket of the telescopic frame. P is the distance between the left bracket and the right bracket. S2 is the length of the oil cylinder measured by the right oil cylinder sensor, and S1 is the length of the oil cylinder measured by the left oil cylinder sensor.

[0156] 3) When S1 < S2, slewing to the left:

[0157] Slewing angle α:

[0158] ;

[0159] Lifting angle β:

[0160] ;

[0161] Considering the influence of the heading angle, pitch angle and roll angle of the tunnel boring machine on the coordinate change corresponding to the extension length h of the inner tube of the telescopic frame, it can be known from the inertial navigation system of the tunnel boring machine that the heading angle of the machine body is μ, the pitch angle is σ, and the roll angle is φ. The coordinate values ​​(X', Y', Z') after coordinate conversion are:

[0162] ;

[0163] ;

[0164] ;

[0165] Among them, X' is the horizontal coordinate after coordinate transformation, Y' is the vertical coordinate after coordinate transformation, and Z' is the vertical coordinate after coordinate transformation.

[0166] Taking into account the influence of the heading angle, pitch angle and roll angle of the tunnel boring machine body on the coordinate change corresponding to the extension length h of the inner tube of the telescopic frame, it is necessary to convert the coordinate origin of the anchor protection part with the coordinate origin of the tunnel boring machine body according to the mechanical size of different models. The distance L between the origins is related to the mechanical size. Assume that after the coordinate conversion, the coordinate value of the anchor drilling rig is (X1, Y1, Z1), such as Fig.11 As shown, the anchor drilling rig coordinate values ​​(X1, Y1, Z1) are:

[0167] = ;

[0168] = ;

[0169] = ;

[0170] Among them, X1 is the horizontal coordinate of the anchor drilling rig, Y1 is the vertical coordinate of the anchor drilling rig, and Z1 is the vertical coordinate of the anchor drilling rig.

[0171] The automatic anchor protection operation process is as follows:

[0172] Step 1: The depth camera locates the position of the anchor to be driven based on the position of the anchor that has been driven through visual recognition, and sends the coordinates of the position of the anchor to be driven to the control unit.

[0173] Step 2: The control unit controls the anchor drilling machine to reach the designated position according to the coordinates of the anchor position to be drilled.

[0174] Step 3: After the anchor drilling rig arrives at the designated location, it starts drilling anchor holes.

[0175] Step 4: After the anchor hole drilling operation is completed, the control unit controls the anchor drill to reach the specified position according to the coordinates of the next anchor position to be drilled, and the process of steps 2 and 3 is repeated until the anchor hole drilling operation is completed.

[0176] By identifying the position of the driven anchor bolts, the position coordinates of the target anchor hole are calculated, and the coordinate position of the anchor drill rig is obtained through coordinate conversion based on the cylinder sensor. The drilling and anchoring machine controls the anchor drill rig to move to the target anchor hole position and completes the anchor hole drilling operation, thereby realizing the automation of the anchor protection part of the drilling and anchoring machine.

[0177] like Figure 7 As shown, this embodiment also provides an intelligent anchor control device 900, including: a coordinate system determination module 902, used to establish a first coordinate system with the optical center of the depth camera as the first origin; to establish a second coordinate system with any point on the telescopic frame support shaft of the anchor drilling machine as the second origin; a data acquisition module 904, used to obtain the cylinder parameters and telescopic frame parameters of the anchor drilling machine; a coordinate determination module 906, used to determine the reference coordinates of the constructed anchor in the first coordinate system according to the depth camera; determine the first coordinates of at least one target anchor hole in the first coordinate system according to the reference coordinates; determine the second coordinates of the anchor drilling machine in the second coordinate system according to the cylinder parameters and the telescopic frame parameters; a conversion module 908, used to convert the second coordinate into a third coordinate in the first coordinate system; a path movement module 910, used to generate a movement path according to the first coordinate and the third coordinate, and control the anchor drilling machine to move from the position of the third coordinate to the position of the first coordinate.

[0178] The present application realizes an intelligent anchor protection control method through an intelligent anchor protection control device, which is used for an integrated digging and anchoring machine. The constructed anchor rods are identified by a depth camera using a visual recognition hole finding and positioning method, and the position coordinates of the target anchor hole are determined. The coordinate position of the anchor drilling rig is obtained through coordinate conversion based on the cylinder sensor. The integrated digging and anchoring machine controls the anchor drilling rig to move to the target anchor hole position and completes the anchor hole drilling operation, thereby realizing the automated operation of the anchor protection part of the integrated digging and anchoring machine. The coordinate origin corresponding to the second coordinate system that determines the position coordinates of the anchor drill rig is converted with the coordinate origin corresponding to the first coordinate system that determines the target anchor hole, so that the position coordinates of the anchor drill rig are transferred to the coordinate system of the corresponding body of the digging and anchoring machine. That is, the relative distance between the first origin and the second origin is determined according to the mechanical size of the digging and anchoring machine itself, and the distance between the first origin and the second origin is proportional to the mechanical size of the digging and anchoring machine itself. By converting the coordinate origin of the anchor protection part with the coordinate origin corresponding to the body of the digging and anchoring machine, the path that the anchor drill rig needs to move is transferred to the coordinate system corresponding to the body of the digging and anchoring machine, thereby improving the movement accuracy and control accuracy of the digging and anchoring machine in the process of automatic hole finding, thereby improving the accuracy of automated anchor drilling operations.

[0179] Specifically, the first coordinate system corresponding to the visual positioning and the second coordinate system corresponding to the mechanical control are determined respectively by the coordinate system determination module 902, so as to avoid the error transmission caused by the coupling between the two, reduce the influence of the error caused by the mechanical control on the visual positioning, and thus improve the accuracy of the determination of the target anchor hole and the anchor drill position coordinates in the automatic anchor protection process; the multiple parameters of the anchor drilling machine are uniformly collected by the data acquisition module 904, so as to improve the data acquisition efficiency; the reference coordinates are determined by the coordinate determination module 906, and the target anchor hole coordinates and the anchor drill coordinates are generated, so as to realize the dual data source input of the visual positioning and the mechanical positioning, and improve the positioning reliability; the conversion module 906 is used to obtain the coordinates of the target anchor hole and the anchor drill coordinates, so as ... 08 The anchor drill position coordinates in the second coordinate system are mapped to the first coordinate system through geometric transformation, the third coordinate is determined, and the posture of the anchor drilling machine is corrected to reduce the coordinate deviation caused by the tilt of the fuselage, ensure the unity of the visual positioning and mechanical positioning targets, and dynamically compensate for the change in the fuselage posture to reduce the offset error; the path is planned through the path movement module 910, and a straight or curved moving path is generated according to the first coordinate of the target anchor hole and the third coordinate of the anchor drill. The PLC drives the cylinder to extend and retract and the drill arm to rotate, so that the anchor hole drill moves to the target position along the planned path, realizing closed-loop control from coordinate calculation to mechanical execution, and improving the level of construction automation.

[0180] like Fig.13 As shown, the embodiment of the present application further provides an all-in-one drilling and anchoring machine 2000, which includes: a depth camera 3000 and an anchor drill 4000, the constructed anchors are positioned by the depth camera 3000, the anchor drill 4000 is connected to the body 2004 of the all-in-one drilling and anchoring machine 2000 via a telescopic frame 2002; the all-in-one drilling and anchoring machine 2000 also includes the intelligent anchor protection control device provided in the embodiment of the present application.

[0181] In this solution, the drilling and anchoring machine uses a depth camera to perform visual recognition to locate the positions of multiple constructed anchors and target anchor holes, and determines the position coordinates of the anchor drill rig through coordinate conversion based on the cylinder sensor. When the automatic anchoring operation is started, the drilling and anchoring machine controls the anchor drill rig to move to the target anchor hole position and starts automatic anchor drilling until all anchor drilling operations are completed, thereby realizing the automation of the anchoring part of the drilling and anchoring machine.

[0182] like Fig.12 As shown, an embodiment of the present application also provides an electronic device 1000, including a processor 1110, a memory 1109, and a program or instruction stored in the memory 1109 and executable on the processor 1110. When the program or instruction is executed by the processor 1110, the various processes of the embodiment of the above-mentioned intelligent anchor protection control method are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0183] Optionally, the processor 1110 is configured to establish a first coordinate system with the optical center of the depth camera as the first origin; and establish a second coordinate system with any point on the support shaft of the telescopic frame of the anchoring and digging machine as the second origin;

[0184] Optionally, the processor 1110 is further configured to obtain the cylinder parameters and telescopic frame parameters of the anchoring and digging machine;

[0185] Optionally, the processor 1110 is further configured to determine the reference coordinates of the constructed anchor in the first coordinate system according to the depth camera; determine the first coordinates of at least one target anchor hole in the first coordinate system according to the reference coordinates; determine the second coordinates of the anchor drilling machine in the second coordinate system according to the cylinder parameters and the telescopic frame parameters;

[0186] Optionally, the processor 1110 is further configured to convert the second coordinate into a third coordinate in the first coordinate system;

[0187] Optionally, the processor 1110 is further configured to generate a moving path according to the first coordinate and the third coordinate, and control the anchor drilling machine to move from the position of the third coordinate to the position of the first coordinate.

[0188] The memory 1109 can be used to store software programs and various data. The memory 1109 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 1109 may include a volatile memory or a non-volatile memory, or the memory 1109 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 1109 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0189] Optionally, the embodiment of the present application further includes a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by the processor, each process of the above-mentioned intelligent anchor guarding control method embodiment is implemented, and the same technical effect can be achieved. In order to avoid repetition, it is not repeated here. In addition, the data storage capacity and data processing speed corresponding to the intelligent anchor guarding control method in the present application are improved by the readable storage medium.

[0190] A readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. A computer-readable storage medium may be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above devices, but is not limited thereto. A non-exhaustive list of more specific examples of computer-readable storage media includes: portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory card, floppy disk, encoding mechanical device (such as a punched card or a groove with a raised structure with instructions recorded) and any suitable combination of the above devices. The computer-readable storage medium used herein should not be understood as a transmission signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium, or an electrical signal transmitted through a wire, etc.

[0191] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0192] The embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, the processor is used to run a program or instruction, implement the various processes of the above-mentioned intelligent anchor guarding control method embodiment, and can achieve the same technical effect, to avoid repetition, it is not repeated here. In addition, the chip is used to improve the data processing speed corresponding to the intelligent anchor guarding control method in the present application.

[0193] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0194] The intelligent anchoring control method, device, anchoring and digging machine, electronic device and chip provided in the present invention can solve the problem that the anchoring device of the anchoring and digging machine cannot realize automatic hole finding and positioning and control the anchoring and digging operation, the anchor hole positioning is difficult, and the operation requirements of automatic anchoring and digging cannot be met. Visual recognition is performed by a depth camera to locate the positions of multiple constructed anchors and target anchor holes, and the position coordinates of the anchor drilling rig are determined by coordinate conversion based on the cylinder sensor. When the automatic anchoring and digging operation is started, the anchoring and digging machine controls the anchor drilling rig to move to the target anchor hole position and starts automatic anchor drilling operation until all anchor drilling operations are completed, thereby realizing the automation of the anchoring and digging part of the anchoring and digging machine and improving the accuracy of the anchoring process of the anchoring and digging machine.

[0195] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0196] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0197] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means 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 representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0198] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent anchor protection control method, characterized in that: For a drilling and anchoring machine, the drilling and anchoring machine includes a depth camera and an anchor drill, the constructed anchor is positioned by the depth camera, the anchor drill is connected to the body of the drilling and anchoring machine through a telescopic frame, and the intelligent anchor protection control method includes: Establishing a first coordinate system with the optical center of the depth camera as the first origin; Determine the reference coordinates of the constructed anchor rod in the first coordinate system according to the depth camera; Determine a first coordinate of at least one target anchor hole in the first coordinate system according to the reference coordinate; A second coordinate system is established with any point on the telescopic frame support shaft of the integrated miner and anchor machine as a second origin; Obtaining the oil cylinder parameters and telescopic frame parameters of the anchoring and digging machine; Determine the second coordinate of the anchor drilling rig in the second coordinate system according to the cylinder parameters and the telescopic frame parameters; converting the second coordinate into a third coordinate in the first coordinate system; A moving path is generated according to the first coordinate and the third coordinate, and the anchor drilling machine is controlled to move from the position of the third coordinate to the position of the first coordinate.

2. The intelligent anchor protection control method according to claim 1, characterized in that: The step of determining the reference coordinates of the constructed anchor rod in the first coordinate system according to the depth camera comprises: Determine an anchor construction plane according to the first coordinate system, wherein the anchor construction plane includes a plurality of the constructed anchors; Determine the projection of the constructed anchor rod on the anchor rod construction plane; The reference coordinates of the constructed anchor rod in the first coordinate system are determined according to the center point of the projection.

3. The intelligent anchor protection control method according to claim 2, characterized in that: The determining, according to the reference coordinates, a first coordinate of at least one target anchor hole in the first coordinate system comprises: Determine the spacing parameters between adjacent anchors and the spacing parameters between anchors in the same row; Determining a reference anchor among the plurality of constructed anchors; determining the reference coordinates corresponding to the reference anchor; The first coordinate of at least one target anchor hole in the first coordinate system is determined according to the reference coordinate corresponding to the reference anchor, the anchor adjacent spacing parameter and the anchor same row spacing parameter.

4. The intelligent anchor protection control method according to claim 1, characterized in that: The determining the second coordinate of the anchor drilling rig in the second coordinate system according to the cylinder parameters and the telescopic frame parameters includes: Determining the initial coordinates of the anchor drilling rig in the second coordinates; Determining the extension length of the telescopic frame of the anchor and digging machine according to the cylinder parameters; Determining the rotation angle and lifting angle of the telescopic frame according to the parameters of the telescopic frame; Determine the coordinate change value of the extension length corresponding to the initial coordinate according to the rotation angle and the lifting angle; Determine the coordinates of the telescopic frame according to the coordinate change value and the initial coordinates; The second coordinates of the anchor drilling rig in the second coordinate system are determined according to the coordinates of the telescopic frame.

5. The intelligent anchor protection control method according to claim 4, characterized in that: The determining the second coordinate of the anchor drilling rig in the second coordinate system according to the coordinate of the telescopic frame includes: Determining at least one body inertia parameter of the anchor and digging machine; A second coordinate corresponding to the telescopic frame coordinate is determined according to the fuselage inertia parameter, the rotation angle and the lifting angle.

6. The intelligent anchor protection control method according to claim 5, characterized in that: The converting the second coordinate into a third coordinate in the first coordinate system comprises: determining a distance parameter between the first origin and the second origin; Determine the size parameters corresponding to the anchoring and digging machine; Determining a conversion parameter corresponding to the second coordinate system according to the distance parameter and the size parameter; At least one of the second coordinates is converted into a third coordinate in the first coordinate system according to the conversion parameter.

7. An intelligent anchor protection control device, characterized in that: include: A coordinate system determination module, used to establish a first coordinate system with the optical center of the depth camera as a first origin; A second coordinate system is established with any point on the telescopic frame support shaft of the anchor and digging machine as the second origin; A data acquisition module, used to obtain the cylinder parameters and telescopic frame parameters of the anchoring and digging machine; A coordinate determination module, used to determine the reference coordinates of the constructed anchor in the first coordinate system according to the depth camera; determine the first coordinates of at least one target anchor hole in the first coordinate system according to the reference coordinates; determine the second coordinates of the anchor drilling rig in the second coordinate system according to the cylinder parameters and the telescopic frame parameters; A conversion module, used for converting the second coordinate into a third coordinate in the first coordinate system; A path movement module is used to generate a movement path according to the first coordinate and the third coordinate, and control the anchor drilling machine to move from the position of the third coordinate to the position of the first coordinate.

8. A drilling and anchoring machine, characterized in that: The integrated digging and anchoring machine comprises: a depth camera and an anchor drill, the constructed anchor is located by the depth camera, and the anchor drill is connected to the body of the integrated digging and anchoring machine through a telescopic frame; The integrated anchoring and digging machine also includes the intelligent anchor protection control device as described in claim 7.

9. An electronic device, characterized in that: The method comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the intelligent anchor protection control method as claimed in any one of claims 1 to 6.

10. A chip, characterized in that: The chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the steps of the intelligent anchor protection control method according to any one of claims 1 to 6.

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