Intelligent anchor support control method, device, roadheader-anchor jumbo, electronic device and chip

Abstract

Embodiments of the present invention provide an intelligent anchor support control method, device, roadheader-anchor rig, electronic device, and chip, relating to the field of intelligent tunneling technology. Among them, the intelligent anchor support control method includes: establishing a first coordinate system with the own optical center of the depth camera as the first origin; determining the reference coordinates of the constructed anchor bolts 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 support shaft of the telescopic boom of the roadheader-anchor rig as the second origin; determining the second coordinates of the anchor bolt drill in the second coordinate system according to the cylinder parameters and the telescopic boom parameters; converting the second coordinates into the third coordinates in the first coordinate system; generating a movement path according to the first coordinates and the third coordinates, and controlling the anchor bolt drill to move from the position of the third coordinates to the position of the first coordinates. Through the solution of the present invention, the anchor bolt drill is controlled to complete the automatic anchor hole drilling operation.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent tunneling, and more specifically, to an intelligent anchor support control method, device, roadheader-anchoring machine, electronic device and chip. Background Art

[0002] At present, the actual underground anchor support working conditions usually involve manual anchor support operations. For the anchor support operation part after roadway tunneling, the roadheader-anchoring robot is mainly manually adjusted depending on the construction experience of workers to complete a series of tunneling and drilling and anchoring operations. The positioning accuracy and efficiency in the manual operation process are difficult to guarantee, and problems such as overexcavation, under-excavation, displacement of anchor bolts or inaccurate coordinate calculation are likely to occur, resulting in the inability of the anchor support device of the roadheader-anchoring machine to achieve automatic hole searching and positioning and perform anchor support operations, thus unable to meet the operation requirements of automatic anchor support, and there are deficiencies in the automation and safety of the roadheader-anchoring machine. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide an intelligent anchor support control method, device, roadheader-anchoring machine, electronic device and chip, which can solve the problems that the anchor support device of the roadheader-anchoring machine cannot achieve automatic hole searching and positioning and control for anchor support operations, the anchor hole positioning is difficult, and the operation requirements of automatic anchor support cannot be met.

[0004] In view of this, the embodiments of the first aspect of the present invention provide an intelligent anchor support control method.

[0005] The embodiments of the second aspect of the present invention provide an intelligent anchor support control device.

[0006] The embodiments of the third aspect of the present invention provide a roadheader-anchoring machine.

[0007] The embodiments of the fourth aspect of the present invention provide an electronic device.

[0008] The embodiments of the fifth aspect of the present invention provide a chip.

[0009] To achieve the above object, an embodiment of the first aspect of the present invention provides an intelligent anchor support control method for a roadheader-anchoring machine. The roadheader-anchoring machine includes a depth camera and a roof bolter. The depth camera is used to position the installed bolts, and the roof bolter is connected to the body of the roadheader-anchoring machine through a telescopic frame. The intelligent anchor support control method includes: establishing a first coordinate system with the optical center of the depth camera itself as the first origin; determining the reference coordinates of the installed bolts 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 support shaft of the telescopic frame of the roadheader-anchoring machine as the second origin; obtaining the cylinder parameters and telescopic frame parameters of the roadheader-anchoring machine; determining the second coordinates of the roof bolter in the second coordinate system according to the cylinder parameters and telescopic frame parameters; converting the second coordinates into the third coordinates in the first coordinate system; generating a movement path according to the first coordinates and the third coordinates, and controlling the roof bolter to move from the position of the third coordinates to the position of the first coordinates.

[0010] The intelligent anchor support control method proposed according to the present invention is used for a roadheader-anchoring machine. By using a depth camera to locate holes through visual recognition, the already constructed anchor bolts are identified, and the position coordinates of the target anchor hole are determined. According to the oil cylinder sensor, the coordinate position of the anchor drill is obtained through coordinate transformation. The roadheader-anchoring machine controls the anchor drill to move to the target anchor hole position and complete the operation of drilling the anchor hole, realizing the automatic operation of the anchor support part of the roadheader-anchoring machine. Specifically, in order to enable the depth camera to accurately locate multiple already constructed anchor bolts through 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 already drilled anchor bolt is positioned through the first coordinate system, and the position coordinates of the already constructed anchor bolt in the first coordinate system are determined. The position coordinates of the already constructed anchor bolt in the first coordinate system are used as reference coordinates, aiming to determine the position coordinates of the anchor bolt to be drilled through the reference coordinates, that is, the first coordinates of the target anchor hole in the first coordinate system. After determining the first coordinates of at least one target anchor hole through the depth camera, a coordinate system is established with any point on the support shaft of the telescopic frame of the roadheader-anchoring machine as the coordinate origin, aiming to determine the coordinate position of the anchor drill. Among them, any point on the support shaft of the telescopic frame is the projection of the center of gravity at the connection of the telescopic frame and the anchor drill of the roadheader-anchoring machine on the support shaft of the telescopic frame. Through this point, the specific position of the anchor drill on the telescopic frame can be determined currently. After determining the first coordinates of the target anchor hole in the first coordinate system and the position coordinates of the anchor drill in the second coordinate system, multiple parameters of the roadheader-anchoring machine are determined through the oil cylinder sensor and inertial navigation system in the roadheader-anchoring 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 oil cylinder of the telescopic frame, and the heading angle, pitch angle, and roll angle of the fuselage of the roadheader-anchoring machine. According to the oil cylinder parameters and telescopic frame parameters, the influence of the heading angle, pitch angle, and roll angle of the fuselage of the roadheader-anchoring machine on the coordinate change corresponding to the extension length of the inner cylinder of the telescopic frame is determined, so as to transform the position coordinates of the anchor drill in the second coordinate system, eliminate the influence of the extension of the inner cylinder of the telescopic frame on the coordinate change of the anchor drill in the second coordinate system, and determine the transformed position coordinates as the second coordinates, thereby improving the accuracy of positioning the anchor drill.

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

[0012] In this solution, the three-dimensional space positioning problem is converted into two-dimensional projection calculation through the first coordinate system. The roadway roof plane including multiple constructed rock bolts is determined from the images of the roadway roof captured by the depth camera, and the rock bolt construction plane is perpendicular to the optical axis of the depth camera. The coordinates of the constructed rock bolts in the first coordinate system are determined through the projection center points of the constructed rock bolts on this plane, and used as the reference coordinates for determining the position coordinates of the target anchor holes. By converting the three-dimensional space positioning problem into two-dimensional plane projection calculation, the data processing dimension is reduced, the data processing volume is decreased, and the information processing efficiency of the roadheader-bolter during the automatic bolting 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 according to the reference coordinates includes: determining the adjacent rock bolt spacing parameter and the in-row rock bolt spacing parameter; determining a reference rock bolt among the multiple constructed rock bolts; determining the reference coordinates corresponding to the reference rock bolt; and determining the first coordinates of at least one target anchor hole in the first coordinate system according to the reference coordinates corresponding to the reference rock bolt, the adjacent rock bolt spacing parameter, and the in-row rock bolt spacing parameter.

[0014] In this solution, the adjacent rock bolt spacing parameter and the in-row rock bolt spacing parameter are determined among the multiple constructed rock bolts to determine the distance between each row of rock bolts and the distance between adjacent rock bolts in the same row. A reference rock bolt is determined among the multiple constructed rock bolts, and based on the reference coordinates of the corresponding anchor hole of this rock bolt in the first coordinate system, the position coordinates of at least one target anchor hole in the first coordinate system are determined, and the above position coordinates are used as the first coordinates. By determining the first coordinates of at least one target anchor hole by determining the reference rock bolt based on the constructed rock bolts, only high-precision visual positioning of the reference rock bolt is required, and the position of the target anchor hole corresponding to the subsequent rock bolt to be drilled is determined through calculation, reducing the cumulative error caused by sensor noise or roadway environment interference, thereby improving the accuracy of target anchor hole positioning. And by determining multiple target anchor holes through one reference rock bolt, a unified coordinate reference is provided for multiple anchor holes, improving the working efficiency of the automatic bolting of the roadheader-bolter.

[0015] In any of the above technical solutions, optionally, determining the second coordinates of the rock bolt drill in the second coordinate system according to the cylinder parameters and the telescopic boom parameters includes: determining the initial coordinates of the rock bolt drill in the second coordinate; determining the extended length of the telescopic boom of the roadheader-bolter according to the cylinder parameters; determining the slewing angle and the lifting angle of the telescopic boom according to the telescopic boom parameters; determining the coordinate change value corresponding to the extended length with respect to the initial coordinates according to the slewing angle and the lifting angle; determining the telescopic boom coordinates according to the coordinate change value and the initial coordinates; and determining the second coordinates of the rock bolt drill in the second coordinate system according to the telescopic boom coordinates.

[0016] In this solution, the telescopic frame of the roadheader-anchoring machine includes multiple telescopic inner cylinders. The telescopic frame is driven to extend or retract by an oil cylinder, and an oil cylinder sensor is correspondingly arranged for the oil cylinder. The bolter is fixed at the end of the telescopic frame. The position of the bolter is completely determined by the state of the extended part of the telescopic frame, that is, the second coordinate of the bolter 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 bolter in the second coordinate system according to the coordinates of the telescopic frame includes: determining at least one body inertia parameter of the roadheader-anchoring machine; determining the second coordinate corresponding to the coordinates of the telescopic frame according to the body inertia parameter, the slewing angle, and the lifting angle.

[0018] In this solution, the body inertia parameters include the heading angle, pitch angle, and roll angle of the roadheader-anchoring machine body. During the roadway operation process, the body inertia parameters directly reflect the attitude changes of the roadheader-anchoring machine in the roadway space. The attitude changes of the roadheader-anchoring machine will directly affect the position coordinates of the end of the telescopic frame, and the actual construction position coordinates of the bolter will deviate due to the attitude changes of the roadheader-anchoring machine body. Therefore, the coordinates of the telescopic frame are corrected by the body inertia parameters to compensate for the influence of the inclination of the body attitude caused by uneven ground or load changes on the position of the drill.

[0019] In any of the above technical solutions, optionally, converting the second coordinate to the third coordinate in the first coordinate system includes: determining the distance parameter between the first origin and the second origin; determining the dimension parameter corresponding to the roadheader-anchoring machine; determining the conversion parameter corresponding to the second coordinate system according to the distance parameter and the dimension parameter; converting at least one second coordinate to the third coordinate in the first coordinate system according to the conversion parameter.

[0020] In this solution, the position coordinates of the bolter in the second coordinate system (local coordinate system of the telescopic frame) are mapped to the first coordinate system (global vision positioning coordinate system). By determining the mechanical dimension distance between the origins of the two coordinate systems and decomposing the mechanical dimension distance into three axes in the first coordinate system, and by respectively determining the projections in three directions to compensate for the offset of the origin of the anchor support part (second coordinate system) caused by the body attitude, 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 roadheader-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 body size of the roadheader-anchoring machine of different models or sizes, the position coordinates of the bolter in the mechanical part are converted to the global coordinate system centered on the depth camera. That is, by pre-storing the size parameters of roadheader-anchoring machines of different models, the system can quickly adapt to multiple roadheader-anchoring machine models, without the need to re-design the algorithm for different models of roadheader-anchoring machines, improving the adaptability of the intelligent anchor support control method.

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

[0023] The present application realizes the intelligent anchor support control method through the intelligent anchor support control device, which is used for the roadheader-anchoring machine. By using the depth camera to identify the constructed bolts in a visual recognition and hole positioning manner, and determine the position coordinates of the target anchor hole. According to the cylinder sensor, the coordinate position of the bolter is obtained through coordinate conversion. The roadheader-anchoring machine controls the bolter to move to the position of the target anchor hole and complete the operation of drilling the anchor hole, realizing the automatic operation of the anchor support part of the roadheader-anchoring machine. The coordinate origin corresponding to the second coordinate system for determining the position coordinates of the bolter is converted with the coordinate origin corresponding to the first coordinate system for determining the target anchor hole, so that the position coordinates of the bolter are transferred to the coordinate system corresponding to the body part of the roadheader-anchoring machine. That is, according to the mechanical size of the roadheader-anchoring machine itself, the relative distance between the first origin and the second origin is determined. The distance between the first origin and the second origin is proportional to the mechanical size of the roadheader-anchoring machine itself. By converting the coordinate origin of the anchor support part with the coordinate origin corresponding to the body of the roadheader-anchoring machine, the path that the bolter needs to move is transferred to the coordinate system corresponding to the body of the roadheader-anchoring machine, thereby improving the movement accuracy and control accuracy of the roadheader-anchoring machine during the automatic hole searching process, and thus improving the accuracy of the automatic anchor hole drilling operation.

[0024] An embodiment of the third aspect of the present application provides a combined bolter and miner, which includes: a depth camera and a roof bolter. The depth camera is used to position the already installed bolts, and the roof bolter is connected to the body of the combined bolter and miner through a telescopic frame; the combined bolter and miner further includes the intelligent roof bolting control device provided in the second aspect.

[0025] In this solution, the combined bolter and miner performs visual recognition through the depth camera to position the positions of multiple already installed bolts and the target bolt holes, and determines the position coordinates of the roof bolter through coordinate conversion based on the cylinder sensor. When the automatic roof bolting operation is started, the combined bolter and miner controls the roof bolter to move to the position of the target bolt hole and starts the automatic bolt hole drilling operation until all the bolt hole drilling operations are completed, realizing the automatic operation of the roof bolting part of the combined bolter and miner.

[0026] Among them, since the combined bolter and miner includes the solution of any of the above intelligent roof bolting control devices, it has the beneficial effects of any of the above intelligent roof bolting control devices, which will not be elaborated 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, it implements the steps of the intelligent roof bolting control method in the first aspect.

[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 is coupled to the processor, and the processor is used to run a program or instruction to implement the steps of the intelligent roof bolting control method in the first aspect.

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

[0030] Figure 1 It shows a schematic flowchart of an intelligent roof bolting control method according to an embodiment of the present application;

[0031] Figure 2 It shows a partial flowchart of an intelligent roof bolting control method according to an embodiment of the present application;

[0032] Figure 3 It shows a partial flowchart of an intelligent roof bolting control method according to an embodiment of the present application;

[0033] Figure 4 It shows a partial flowchart of an intelligent roof bolting control method according to an embodiment of the present application;

[0034] Figure 5Shows a partial flow schematic diagram of an intelligent anchor support control method according to an embodiment of the present application;

[0035] Figure 6 Shows a partial flow schematic diagram of an intelligent anchor support control method according to an embodiment of the present application;

[0036] Figure 7 Shows a structural schematic block diagram of an intelligent anchor support control device according to an embodiment of the present application;

[0037] Figure 8 Shows a schematic diagram of visual positioning of an anchor hole according to an embodiment of the present application;

[0038] Figure 9 Shows a schematic diagram of a telescopic frame coordinate system according to an embodiment of the present application;

[0039] Figure 10 Shows a schematic diagram of a telescopic frame oil cylinder according to an embodiment of the present application;

[0040] Figure 11 Shows a schematic diagram of the conversion between the anchor support coordinate and the fuselage coordinate according to an embodiment of the present application;

[0041] Figure 12 Shows a structural schematic block diagram of an electronic device according to an embodiment of the present application;

[0042] Figure 13 Shows a structural schematic diagram of a roadheader-anchor rig according to an embodiment of the present application.

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

[0044] 900: Intelligent anchor support control device; 902: Coordinate determination module; 904: Data acquisition module; 906: Coordinate determination module; 908: Conversion module; 910: Path movement module; 3000: Depth camera; 3003: Installed bolt one; 3004: Installed bolt two; 3007: To-be-installed bolt one; 3005: To-be-installed bolt two; 1000: Electronic device; 1109: Memory; 1110: Processor; 2000: Roadheader-anchor rig; 2004: Fuselage; 2002: Telescopic frame; 4000: Bolt drilling rig; 400: Left oil cylinder; 402: Right oil cylinder. Detailed implementation manners

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

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

[0047] The following combines the attached Figures 1 to 13 , and through specific embodiments and their application scenarios, the intelligent anchor support control method, device, roadheader-anchoring machine, electronic device, and chip provided by the embodiments of the present application are described in detail.

[0048] This embodiment provides an intelligent anchor support control method for a roadheader-anchoring machine. The roadheader-anchoring machine includes a depth camera and a roof bolter. The depth camera is used to locate the installed roof bolts. The roof bolter is connected to the body of the roadheader-anchoring machine through a telescopic frame, as Figure 1 shown. The intelligent anchor support control method includes:

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

[0050] Step S102: Determine the reference coordinates of the installed roof bolts in the first coordinate system according to the depth camera;

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

[0052] Step S106: Establish a second coordinate system with any point on the support shaft of the telescopic frame of the roadheader-anchoring machine as the second origin;

[0053] Step S108: Obtain the cylinder parameters and telescopic frame parameters of the roadheader-anchoring machine;

[0054] Step S110: Determine the second coordinates of the roof bolter in the second coordinate system according to the cylinder parameters and telescopic frame parameters;

[0055] Step S112: Convert the second coordinates to the third coordinates in the first coordinate system;

[0056] Step S114: Generate a movement path according to the first coordinates and the third coordinates, and control the roof bolter to move from the position of the third coordinates to the position of the first coordinates.

[0057] The intelligent anchor support control method proposed according to the present invention is used for a roadheader-anchoring machine. By means of a depth camera using visual recognition for hole location, the constructed bolts are identified, and the position coordinates of the target anchor hole are determined. According to the oil cylinder sensor, the coordinate position of the bolt drill is obtained through coordinate transformation. The roadheader-anchoring machine controls the bolt drill to move to the target anchor hole position and complete the operation of drilling the anchor hole, realizing the automatic operation of the anchor support part of the roadheader-anchoring machine. Specifically, in order to enable the depth camera to accurately locate multiple constructed bolts through 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 drilled bolt is positioned through the first coordinate system, and the position coordinates of the constructed bolt in the first coordinate system are determined. The position coordinates of the constructed bolt in the first coordinate system are used as reference coordinates, aiming to determine the position coordinates of the bolt to be drilled, that is, the first coordinates of the target anchor hole in the first coordinate system. After determining the first coordinates of at least one target anchor hole through the depth camera, a coordinate system is established with any point on the support shaft of the extensible boom of the roadheader-anchoring machine as the coordinate origin, aiming to determine the coordinate position of the bolt drill. Among them, any point on the support shaft of the extensible boom is the projection of the center of gravity at the connection between the extensible boom of the roadheader-anchoring machine and the bolt drill on the support shaft of the extensible boom. Through this point, the specific position of the bolt drill on the extensible boom can be determined. After determining the first coordinates of the target anchor hole in the first coordinate system and the position coordinates of the bolt drill in the second coordinate system, multiple parameters of the roadheader-anchoring machine are determined through the oil cylinder sensor and inertial navigation system in the roadheader-anchoring machine, including: the extended length of the inner cylinder of the extensible boom, the rotation angle of the extensible boom, the lifting angle of the extensible boom, the length of the oil cylinder of the extensible boom, and the heading angle, pitch angle, and roll angle of the body of the roadheader-anchoring machine. According to the oil cylinder parameters and the extensible boom parameters, the influence of the heading angle, pitch angle, and roll angle of the body of the roadheader-anchoring machine on the coordinate change corresponding to the extended length of the inner cylinder of the extensible boom is determined, so as to transform the position coordinates of the bolt drill in the second coordinate system to eliminate the influence of the extension of the inner cylinder of the extensible boom on the coordinate change of the bolt drill in the second coordinate system, and determine the converted position coordinates as the second coordinates, thereby improving the accuracy of positioning the bolt drill.

[0058] Further, determining the path that the bolter needs to move according to the first coordinates of the target anchor hole in the first coordinate system and the converted second coordinates of the bolter in the second coordinate system further includes: converting the coordinate origin corresponding to the second coordinate system for determining the position coordinates of the bolter and the coordinate origin corresponding to the first coordinate system for determining the target anchor hole, so as to transfer the position coordinates of the bolter to the coordinate system corresponding to the body part of the continuous miner, that is, determining the relative distance between the first origin and the second origin according to the mechanical size of the continuous miner itself. The distance between the first origin and the second origin is proportional to the mechanical size of the continuous miner itself. By converting the coordinate origin of the bolting part and the coordinate origin corresponding to the body of the continuous miner, the path that the bolter needs to move is transferred to the coordinate system corresponding to the body of the continuous miner, thereby improving the movement accuracy and control accuracy of the continuous miner during the automatic hole searching process, and thus improving the accuracy of the automated bolting operation.

[0059] Optionally, the depth camera is detachably connected to the body of the continuous miner. The camera lens direction of the depth camera is vertically upward, and the optical axis of the depth camera is perpendicular to the roadway roof and the ground, so that the depth camera can obtain the picture of the roadway roof, that is, taking the first coordinate system established with the own optical center of the depth camera as the first origin as the coordinate system corresponding to the body of the continuous miner.

[0060] In some embodiments, optionally, as Figure 2 shown, determining the reference coordinates of the constructed bolts in the first coordinate system according to the depth camera includes:

[0061] Step S1020: Determine the bolt construction plane according to the first coordinate system. The bolt construction plane includes multiple constructed bolts;

[0062] Step S1022: Determine the projection of the constructed bolts on the bolt construction plane;

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

[0064] In this embodiment, the three-dimensional space positioning problem is converted into a two-dimensional projection calculation through the first coordinate system. The bolt construction plane including multiple constructed bolts is determined through the picture of the roadway roof captured by the depth camera, and the bolt construction plane is perpendicular to the optical axis of the depth camera. The coordinates of the constructed bolts in the first coordinate system are determined through the center point of the projection of the constructed bolts on this plane, and used as the reference coordinates for determining the position coordinates of the target anchor hole. By converting the three-dimensional space 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 continuous miner during the automated bolting process is improved.

[0065] It can be understood that by determining the construction plane of the bolt, the actual working area of the bolt is transformed from a three-dimensional space into a two-dimensional plane, reducing the measurement error caused by the unevenness or concavity and convexity of the construction plane, and eliminating the influence in the case of uneven roadway roof or local deformation.

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

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

[0068] Step S1040: Determine the adjacent bolt spacing parameter and the in-row bolt spacing parameter;

[0069] Step S1042: Determine a reference bolt among multiple constructed bolts;

[0070] Step S1044: Determine the reference coordinates corresponding to the reference bolt;

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

[0072] In this embodiment, the adjacent bolt spacing parameter and the in-row bolt spacing parameter are determined among multiple constructed bolts to determine the distance between each row of bolts and the distance between adjacent bolts in the same row, and a reference bolt is determined among multiple constructed bolts. Based on the reference coordinates of the corresponding anchor hole of this bolt in the first coordinate system, the position coordinates of at least one target anchor hole in the first coordinate system are determined, and the above position coordinates are used as the first coordinates. By determining the first coordinates of at least one target anchor hole in the way of determining the reference bolt based on the constructed bolts, only high-precision visual positioning of the reference bolt is required, and the position of the target anchor hole corresponding to the bolt to be drilled later is determined through calculation, reducing the cumulative error caused by sensor noise or roadway environment interference, thereby improving the accuracy of target anchor hole positioning. And by determining multiple target anchor holes through one reference bolt, a unified coordinate reference is provided for multiple anchor holes, improving the working efficiency of the automatic anchor support of the roadheader-anchoring machine.

[0073] Optionally, the distance U between each row of bolts and the distance V between adjacent bolts in the same row are set by the host computer as the preset adjacent bolt spacing parameter and the preset in-row bolt spacing parameter, and the preset adjacent bolt spacing parameter and the preset in-row bolt spacing parameter are sent to the Programmable Logic Controller (PLC). By presetting the bolt arrangement through the host computer and adjusting the bolt density in real time, different geological conditions of the roadway roof can be adapted, and the adaptability of the roadheader-anchoring machine operation can be improved.

[0074] Optionally, the reference bolt is the first bolt that has been constructed.

[0075] Optionally, the reference bolt is a bolt that has been constructed and automatically selected by the host computer, and the value of the position coordinate corresponding to this constructed bolt is the extreme value among the position coordinates of multiple constructed bolts.

[0076] In some embodiments, optionally, as Figure 4 shown, determining the second coordinate of the bolt drill in the second coordinate system according to the cylinder parameters and the telescopic boom parameters includes:

[0077] Step S1060: Determine the initial coordinate of the bolt drill in the second coordinate.

[0078] Step S1062: Determine the extended length of the telescopic boom of the roadheader-anchoring machine according to the cylinder parameters.

[0079] Step S1064: Determine the slewing angle and the lifting angle of the telescopic boom according to the telescopic boom parameters.

[0080] Step S1066: Determine the coordinate change value corresponding to the extended length with respect to the initial coordinate according to the slewing angle and the lifting angle.

[0081] Step S1068: Determine the telescopic boom coordinate according to the coordinate change value and the initial coordinate.

[0082] Step S1070: Determine the second coordinate of the bolt drill in the second coordinate system according to the telescopic boom coordinate.

[0083] In this embodiment, the telescopic boom of the roadheader-anchoring machine includes multiple telescopic inner cylinders. The telescopic boom is driven to extend or retract by the cylinder. A cylinder sensor is correspondingly arranged for the cylinder. The bolt drill is fixed at the end of the telescopic boom. The position of the bolt drill is completely determined by the state of the extended part of the telescopic boom. That is, the second coordinate of the bolt drill in the second coordinate system can be determined by determining the position coordinate of the telescopic boom in the second coordinate system in the initial state and the position coordinate of the extended part in the second coordinate system.

[0084] It can be understood that by establishing a second coordinate system with any point on the support shaft of the telescopic frame of the roadheader-anchor rig as the coordinate origin, the first coordinate system and the second coordinate system are set independently. The first coordinate system aims to use the depth camera as the coordinate origin for visual recognition and position calculation of the anchor holes to ensure that the arrangement of the anchor bolts conforms to the preset parameters. Since the visual recognition method using the depth camera is adopted, the determination of the first coordinate system is not interfered by the mechanical movement of the roadheader-anchor rig, reducing the visual positioning error caused by the vibration or attitude change of the fuselage. The second coordinate system takes the support shaft of the telescopic frame as the origin, and directly calculates the position coordinates of the anchor drill rig through the movement control of the anchor drill rig, the length and angle of the oil cylinders, etc. Since the position of the anchor drill rig is affected by mechanical parameters, the corresponding second coordinate system is independent of the first coordinate system for visual positioning, improving the real-time performance and stability of the determination of the position coordinates of the anchor drill rig.

[0085] Furthermore, there will be environmental interference in visual positioning. For example, coordinate deviations caused by environmental factors such as dust and light changes, if directly bound to the control of the anchor drill rig to determine the same coordinate system, the error will be transmitted to the mechanical movement of the anchor drill rig.

[0086] Furthermore, the oil cylinder includes a left oil cylinder and a right oil cylinder. The rotation angle 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 sensors. According to the lengths of the left oil cylinder and the right oil cylinder, the rotation angle and the lifting angle of the telescopic frame can be determined. Among them, 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 support 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, and the rotation angle of the telescopic frame is determined by the distance between the left support and the right support of the telescopic frame, the length of the left oil cylinder and the length of the right oil cylinder, and the lifting angle of the telescopic frame is determined by the mechanical structure parameters of the right support of the telescopic frame and the length of the right oil cylinder; when the length of the left oil cylinder is less than the length of the right oil cylinder, the telescopic frame rotates to the left, and the rotation angle of the telescopic frame is determined by the distance between the left support and the right support of the telescopic frame, the length of the left oil cylinder and the length of the right oil cylinder, and the lifting angle of the telescopic frame is determined by the mechanical structure parameters of the left support of the telescopic frame and the length of the left oil cylinder. According to the rotation angle of the telescopic frame and the lifting angle of the telescopic frame, combined with the mechanical structure parameters of the left support and the right support of the telescopic frame, the coordinate change value corresponding to the extended part of the telescopic frame is determined, so as to determine the second coordinate of the anchor drill rig in the second coordinate system.

[0087] It is understandable that the telescopic length and angle parameters are obtained through the cylinder sensor, and combined with the mechanical structure parameters, the three-dimensional coordinates of the bolt drill in the second coordinate system are accurately calculated. In the complex operation environment of the roadway, angle compensation is used to ensure the accuracy of coordinate calculation, respond to attitude changes such as fuselage tilt or vibration, and reduce the errors caused by the fuselage tilt due to uneven ground. In addition, the complex mechanical movement is converted into coordinate offsets for calculation, which is convenient for the PLC or the host controller to generate linear or curved movement paths, improving the automatic construction ability and reliability of the roadheader-anchor rig in the complex roadway environment.

[0088] In some embodiments, optionally, as Figure 5 shown, determining the second coordinate of the bolt drill in the second coordinate system according to the telescopic frame coordinates includes:

[0089] Step S10702: Determine at least one body inertia parameter of the roadheader-anchor rig;

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

[0091] In this embodiment, the body inertia parameters include the heading angle, pitch angle and roll angle of the roadheader-anchor rig body. During the roadway operation process, the body inertia parameters directly reflect the attitude changes of the roadheader-anchor rig in the roadway space. The attitude changes of the roadheader-anchor rig will directly affect the position coordinates of the end of the telescopic frame, and the actual construction position coordinates of the bolt drill will deviate due to the attitude changes of the roadheader-anchor rig body. Therefore, the telescopic frame coordinates are corrected by the body inertia parameters to compensate for the influence of the body attitude tilt caused by uneven ground or load change on the drill position.

[0092] It is understandable that during the long-distance tunneling process, it is necessary to manually calibrate the mechanical origin regularly to eliminate the attitude cumulative error. In this solution, the heading angle, pitch angle and roll angle of the roadheader-anchor rig body are corrected in real time, reducing the calibration frequency, thereby avoiding frequent shutdowns for calibration during the long-distance tunneling process and improving the automation working efficiency of the roadheader-anchor rig.

[0093] Furthermore, the body inertia parameter is the attitude angle of the roadheader-anchor rig in the three-dimensional space, which is determined by the inertial navigation system in the roadheader-anchor rig. Among them, the heading angle is the rotation angle of the roadheader-anchor rig body around the vertical axis, indicating the left-right deflection direction of the roadheader-anchor rig body; the pitch angle is the rotation angle of the roadheader-anchor rig body around the transverse axis, indicating the forward or backward tilt of the roadheader-anchor rig body; the roll angle is the rotation angle of the roadheader-anchor rig body around the longitudinal axis, indicating the left-right tilt of the roadheader-anchor rig body. The coordinate transformation in the second coordinate system is completed by means of the rotation matrix to correct the heading angle, pitch angle and roll angle, thereby reducing the attitude deviation of the roadheader body and improving the automation anchor support construction accuracy.

[0094] In some embodiments, optionally, as Figure 6 shown, converting the second coordinate into a third coordinate in the first coordinate system includes:

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

[0096] Step S1122: Determine the size parameter corresponding to the roadheader-anchor rig;

[0097] Step S1124: Determine the 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 roof bolter in the second coordinate system (local coordinate system of the telescopic frame) are mapped to the first coordinate system (global vision positioning coordinate system). By determining the mechanical dimension distance between the origins of the two coordinate systems and decomposing the mechanical dimension distance into three axes in the first coordinate system, and by respectively determining the projections in three directions to compensate for the origin offset of the anchoring part (second coordinate system) caused by the fuselage attitude, 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 parameter of the roadheader-anchor rig, the second coordinate in the second coordinate system is converted into the third coordinate in the first coordinate system, that is, according to the body size of different models or sizes of the roadheader-anchor rig, the position coordinates of the roof bolter in the mechanical part are converted to the global coordinate system centered on the depth camera. That is, by pre-storing the size parameters of different models of roadheader-anchor rigs, the system can quickly adapt to a variety of roadheader-anchor rig models, and there is no need to re-design the algorithm for different models of roadheader-anchor rigs, improving the adaptability of the intelligent anchoring control method.

[0101] Furthermore, the coordinates determined by the mechanical part of the roof bolter are mapped to the first coordinate system based on the vision positioning of the depth camera, and the vision positioning error is limited within the first coordinate system. By means of attitude correction and size parameters, it is avoided from being transmitted to the mechanical control. The mechanical control error is locally digested within the second coordinate system by means of the telescopic correction of the oil cylinder. By means of the dual coordinate system error filtering method, the accuracy and construction reliability of the automatic anchoring of the roadheader-anchor rig are improved.

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

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

[0104] Step 2: The PLC calculates the position coordinates of the bolter according to the set parameters, the mechanical parameters of the roadheader-anchoring machine, and the data parameters of the oil cylinder sensor;

[0105] Step 3: Start the automatic anchor support operation. The roadheader-anchoring machine controls the bolter to move to the specified position coordinates and starts the automatic anchor hole drilling operation. The automatic anchor support operation process is as follows:

[0106] To enable the roadheader-anchoring machine to identify and locate the position of the anchor hole, the position of the anchor hole is located by means of visual positioning through a depth camera. A coordinate system is established with the depth camera as the origin, as Figure 8 shown. The height of the depth camera from the roof is H. The distance U between each row of anchor bolts and the distance V between adjacent anchor bolts in the same row can both be set. The distances L1 and L2 between the depth camera and two already drilled anchor bolts can be measured through the depth camera. The distance between two anchor bolts in the same row is:

[0107] ;

[0108] Among them, is the distance between two anchor bolts in the same row, and V is the distance between adjacent anchor bolts in the same row.

[0109] According to the Pythagorean theorem:

[0110] ;

[0111] Among them, is the distance between the already drilled anchor bolt 3003 and the projection of the coordinate system origin, is the distance between the depth camera and the already drilled anchor bolt 3003, is the height of the depth camera from the roof.

[0112] ;

[0113] Among them, is the distance between the already drilled anchor bolt 3004 and the projection of the coordinate system origin, is the distance between the depth camera and the already drilled anchor bolt 3004, is the height of the depth camera from the roof.

[0114] Then:

[0115] ;

[0116] Among them, is The included angle between the corresponding direction of and the corresponding direction of is the distance between the installed anchor bolt 1-3003 and the projection of the coordinate system origin. is the distance between the installed anchor bolt 2-3004 and the projection of the coordinate system origin. is the distance between two anchor bolts in the same row.

[0117] Taking the installed anchor bolt 1-3003 as the reference anchor bolt, the coordinate values of the reference anchor bolt are:

[0118] ;

[0119] where is the abscissa of the reference anchor bolt.

[0120] ;

[0121] where is the ordinate of the reference anchor bolt.

[0122] Based on the reference anchor bolt, the position coordinates of the anchor bolt to be installed can be further deduced. The position coordinates of the anchor bolt to be installed 1-3007 are:

[0123] ;

[0124] where is the abscissa of the anchor bolt to be installed 1-3007.

[0125] ;

[0126] where is the ordinate of the anchor bolt to be installed 1-3007, and U is the distance between each row of anchor bolts.

[0127] The position coordinates of the anchor bolt to be installed 2-3005 are:

[0128] ;

[0129] where is the abscissa of the anchor bolt to be installed 2-3005, is the distance between adjacent anchor bolts in the same row.

[0130] ;

[0131] where is the ordinate of the anchor bolt to be installed 2-3005, and U is the distance between each row of anchor bolts.

[0132] After determining the position coordinates of the anchor bolt to be drilled through visual positioning, it is also necessary to determine the position coordinates of the anchor bolt drilling rig to achieve the automatic operation of the anchor bolt drilling rig. A coordinate system is established with the support shaft of the telescopic frame of the roadheader-anchor rig as the coordinate origin. As Figure 9 shown, the extended length h of the inner cylinder of the telescopic frame is known and can be obtained through the oil cylinder sensor.

[0133] Let the rotation angle of the telescopic frame be α and the lifting angle be β. Then the coordinate change values corresponding to the extended length h are:

[0134] ;

[0135] ;

[0136] ;

[0137] where h is the extended length of the inner cylinder of the telescopic frame, α is the rotation angle, β is the lifting angle, is the abscissa change value, is the ordinate change value, is the vertical coordinate change value.

[0138] Let the original position coordinates of the anchor bolt drilling rig be (x, y, z), and the position coordinates of the anchor bolt drilling rig after the telescopic frame extends be (X, Y, Z). Then the (X, Y, Z) coordinates are:

[0139] ;

[0140] ;

[0141] ;

[0142] where X is the abscissa of the anchor bolt drilling rig after the telescopic frame extends, Y is the ordinate of the anchor bolt drilling rig after the telescopic frame extends, Z is the vertical coordinate of the anchor bolt drilling rig after the telescopic frame extends, and z is the vertical coordinate of the original anchor bolt drilling rig.

[0143] The rotation angle α and the lifting angle β of the telescopic frame are jointly controlled by the left and right oil cylinders of the telescopic frame. The lengths of the left and right oil cylinders can be obtained according to the oil cylinder sensors. As Figure 10 shown, where , , , are the mechanical structure parameters of the left support 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 cylinder length measured by the left cylinder 400 sensor is S1, and the cylinder length measured by the right cylinder 402 sensor is S2.

[0144] 1) When S1 = S2:

[0145] The slewing angle α:

[0146] ;

[0147] The 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, the slewing is to the right:

[0151] The slewing angle α:

[0152] ;

[0153] The 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 cylinder length measured by the right cylinder sensor, and S1 is the cylinder length measured by the left cylinder sensor.

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

[0157] The slewing angle α:

[0158] ;

[0159] The lifting angle β:

[0160] ;

[0161] Considering the influence of the heading angle, pitch angle, and roll angle of the roadheader body on the coordinate changes corresponding to the extended length h of the inner cylinder of the telescopic support, it can be known from the inertial navigation system of the roadheader-anchoring machine that the heading angle of the body is μ, the pitch angle is σ, and the roll angle is φ. Then the coordinate values (X’, Y’, Z’) after coordinate transformation are:

[0162] ;

[0163] ;

[0164] ;

[0165] Among them, X’ is the abscissa after coordinate transformation, Y’ is the ordinate after coordinate transformation, and Z’ is the vertical coordinate after coordinate transformation.

[0166] Considering the influence of the heading angle, pitch angle, and roll angle of the roadheader body on the coordinate changes corresponding to the extended length h of the inner cylinder of the telescopic support, it is necessary to convert the coordinate origin of the anchoring part and the coordinate origin of the roadheader body according to the mechanical dimensions of different models. The distance L between the origins is related to the mechanical dimensions. Suppose that after coordinate transformation, the coordinate values of the bolter are (X1, Y1, Z1), as Figure 11 shown, then the coordinate values (X1, Y1, Z1) of the bolter are:

[0167] = ;

[0168] = ;

[0169] = ;

[0170] Among them, X1 is the abscissa of the bolter, Y1 is the ordinate of the bolter, and Z1 is the vertical coordinate of the bolter.

[0171] The automatic anchoring operation process is as follows:

[0172] Step 1: The depth camera locates the position of the bolt to be drilled according to the position of the already drilled bolts through visual recognition and sends the coordinates of the position of the bolt to be drilled to the control unit.

[0173] Step 2: The control unit controls the bolter to reach the specified position according to the coordinates of the position of the bolt to be drilled.

[0174] Step 3: After the bolter reaches the specified position, it starts to perform the operation of drilling bolt holes.

[0175] Step 4: After completing the operation of drilling anchor holes, the control unit controls the anchor rod drilling rig to reach the specified position according to the coordinates of the next anchor rod to be drilled, and cycles through the processes of Step 2 and Step 3 until all the operations of drilling anchor holes are completed.

[0176] By identifying the positions of the already drilled anchor rods, calculating the position coordinates of the target anchor holes, and obtaining the coordinate position of the anchor rod drilling rig through coordinate conversion based on the cylinder sensors, the roadheader-anchor rig control unit controls the anchor rod drilling rig to move to the target anchor hole position and complete the operation of drilling anchor holes, thus realizing the automatic operation of the anchor support part of the roadheader-anchor rig.

[0177] As Figure 7 shown, this embodiment also provides an intelligent anchor support control device 900, including: a coordinate system determination module 902, configured to establish a first coordinate system with the own 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 roadheader-anchor rig as the second origin; a data acquisition module 904, configured to acquire the cylinder parameters and telescopic frame parameters of the roadheader-anchor rig; a coordinate determination module 906, configured to determine the reference coordinates of the already constructed anchor rods 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 rod drilling rig in the second coordinate system according to the cylinder parameters and telescopic frame parameters; a conversion module 908, configured to convert the second coordinates into the third coordinates in the first coordinate system; a path movement module 910, configured to generate a movement path according to the first coordinates and the third coordinates, and control the anchor rod drilling rig to move from the position of the third coordinates to the position of the first coordinates.

[0178] This application realizes the intelligent anchor support control method through the intelligent anchor support control device for the roadheader-anchor rig. By using the depth camera to adopt the visual recognition and hole location method, it identifies the already constructed anchor rods and determines the position coordinates of the target anchor holes. Through coordinate conversion based on the cylinder sensors, it obtains the coordinate position of the anchor rod drilling rig. The roadheader-anchor rig control unit controls the anchor rod drilling rig to move to the target anchor hole position and complete the operation of drilling anchor holes, thus realizing the automatic operation of the anchor support part of the roadheader-anchor rig. The coordinates of the coordinate origin corresponding to the second coordinate system for determining the position coordinates of the anchor rod drilling rig are converted with the coordinate origin corresponding to the first coordinate system for determining the target anchor holes, so that the position coordinates of the anchor rod drilling rig are transferred to the coordinate system corresponding to the fuselage part of the roadheader-anchor rig, that is, the relative distance between the first origin and the second origin is determined according to the mechanical size of the roadheader-anchor rig itself. The distance between the first origin and the second origin is proportional to the mechanical size of the roadheader-anchor rig itself. By converting the coordinate origin of the anchor support part with the coordinate origin corresponding to the fuselage of the roadheader-anchor rig, the path that the anchor rod drilling rig needs to move is transferred to the coordinate system corresponding to the fuselage of the roadheader-anchor rig, thereby improving the movement accuracy and control accuracy of the roadheader-anchor rig during the automatic hole search process, and thus improving the accuracy of the automatic operation of drilling anchor holes.

[0179] Specifically, the coordinate system determination module 902 determines the first coordinate system corresponding to visual positioning and the second coordinate system corresponding to mechanical control respectively, avoiding error transmission caused by their coupling, reducing the influence of errors generated by mechanical control on visual positioning, and thus improving the accuracy of determining the position coordinates of the target anchor hole and the bolt drill during the automatic anchor support process; the data acquisition module 904 uniformly acquires multiple parameters of the roadheader-anchor rig, improving the data acquisition efficiency; the coordinate determination module 906 determines the reference coordinate, generates the target anchor hole coordinate and the bolt drill coordinate, realizing the dual data source input of visual positioning and mechanical positioning, and improving the positioning reliability; the conversion module 908 maps the position coordinate of the bolt drill in the second coordinate system to the first coordinate system through geometric transformation to determine the third coordinate, and corrects the attitude of the roadheader-anchor rig, reducing the coordinate deviation caused by the body tilt, ensuring the target unity of visual positioning and mechanical positioning, and dynamically compensating for the body attitude change to reduce the offset error; the path movement module 910 performs path planning, generates a straight or curved movement path according to the first coordinate of the target anchor hole and the third coordinate of the bolt drill, and drives the oil cylinder to extend and retract and the drill arm to rotate through the PLC, so that the anchor hole drill moves along the planned path to the target position, realizing the closed-loop control from coordinate calculation to mechanical execution and improving the construction automation level.

[0180] As Figure 13 shown, the embodiment of the present application further provides a roadheader-anchor rig 2000, which includes: a depth camera 3000 and a bolt drill 4000. The depth camera 3000 is used to position the constructed bolts, and the bolt drill 4000 is connected to the body 2004 of the roadheader-anchor rig 2000 through the telescopic frame 2002; the roadheader-anchor rig 2000 further includes the intelligent anchor support control device provided by the embodiment of the present application.

[0181] In this solution, the roadheader-anchor rig performs visual recognition through the depth camera, positions the positions of multiple constructed bolts and the target anchor hole, and determines the position coordinate of the bolt drill through coordinate conversion according to the oil cylinder sensor. After starting the automatic anchor support operation, the roadheader-anchor rig controls the bolt drill to move to the target anchor hole position and starts the automatic anchor hole drilling operation until all the anchor hole drilling operations are completed, realizing the automatic operation of the anchor support part of the roadheader-anchor rig.

[0182] As Figure 12 shown, the embodiment of the present application further provides an electronic device 1000, including a processor 1110, a memory 1109, a program or instruction stored on the memory 1109 and executable on the processor 1110. When the program or instruction is executed by the processor 1110, it realizes each process of the embodiment of the above intelligent anchor support control method and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

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

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

[0185] Optionally, the processor 1110 is further configured to determine the reference coordinates of the constructed anchor bolt 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 bolt drilling rig 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 coordinates into third coordinates in the first coordinate system;

[0187] Optionally, the processor 1110 is further configured to generate a movement path according to the first coordinates and the third coordinates, and control the anchor bolt drilling rig to move from the position of the third coordinates to the position of the first coordinates.

[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. Among them, the first storage area may store an operating system, application programs or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 1109 may include a volatile memory or a non-volatile memory, or the memory 1109 may include both a volatile memory and a non-volatile memory. 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 (DDR SDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synch link dynamic random access memory (SLDRAM), and a direct rambus random access memory (DRRAM). The memory 1109 in the embodiments of the present application includes but is not limited to these and any other suitable types of memories.

[0189] Optionally, the embodiments of the present application further include a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, it implements each process of the above-mentioned embodiments of the intelligent anchor protection control method and can achieve the same technical effects. To avoid repetition, it will not be elaborated here. In addition, the readable storage medium improves the data storage capacity and data processing speed of the intelligent anchor protection control method in the present application.

[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 foregoing 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 disc read-only memory (CD-ROM), digital versatile disks (DVDs), memory cards, floppy disks, encoding mechanical devices (such as punched cards or grooves with raised structures having instructions recorded thereon), and any suitable combination of the foregoing devices. A computer-readable storage medium as used herein should not be construed as a propagated signal per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagated through a waveguide or other transmission medium, or electrical signals transmitted through wires, etc.

[0191] Wherein, the processor is the processor in the electronic device in the foregoing embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory (Read-Only Memory, ROM), random access memory (RandomAccess Memory, RAM), magnetic disks, or optical discs, etc.

[0192] Another embodiment of the present application further provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is configured to run programs or instructions to implement each process of the foregoing embodiment of the intelligent anchor support control method and can achieve the same technical effects. To avoid repetition, it will not be elaborated here. In addition, the data processing speed of the intelligent anchor support control method in the present application is improved through the chip.

[0193] It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, system chip, chip system, or system-on-chip, etc.

[0194] According to the intelligent anchor support control method, device, roadheader-anchor rig, electronic device, and chip provided by the present invention, it is possible to solve the problem that the anchor support device of the roadheader-anchor rig cannot achieve automatic hole searching and positioning and control for anchor support operations, the difficulty in anchor hole positioning, and the inability to meet the operation requirements of automatic anchor support. Through vision recognition by a depth camera, the positions of multiple constructed anchor bolts and the target anchor hole are located, and the position coordinates of the anchor bolt drill are determined through coordinate conversion based on the oil cylinder sensor. When the automatic anchor support operation is started, the roadheader-anchor rig controls the anchor bolt drill to move to the target anchor hole position and starts the automatic anchor hole drilling operation until all the anchor hole drilling operations are completed, realizing the automatic operation of the anchor support part of the roadheader-anchor rig and improving the accuracy of the anchor support process of the roadheader-anchor rig.

[0195] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "a plurality" means two or more, unless otherwise clearly defined. Terms such as "installed", "connected", "joined", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "joined" 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 should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is 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. Therefore, it should not be construed as a limitation to the present invention.

[0197] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. 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 the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent anchor support control method, characterized in that, For a roadheader-anchoring machine, the roadheader-anchoring machine includes a depth camera and a bolter. The depth camera is used to position the installed bolts, and the bolter is connected to the body of the roadheader-anchoring machine through a telescopic support. The intelligent bolt support control method includes: Establish a first coordinate system with the optical center of the depth camera itself as the first origin; Determine the reference coordinates of the installed bolts in the first coordinate system according to the depth camera; Determine the first coordinates of at least one target bolt hole in the first coordinate system according to the reference coordinates; Establish a second coordinate system with any point on the support shaft of the telescopic support of the roadheader-anchoring machine as the second origin; Obtain the cylinder parameters and telescopic support parameters of the roadheader-anchoring machine; Determine the second coordinates of the bolter in the second coordinate system according to the cylinder parameters and telescopic support parameters; Convert the second coordinates into the third coordinates in the first coordinate system; Generate a movement path according to the first coordinates and the third coordinates, and control the bolter to move from the position of the third coordinates to the position of the first coordinates; The determining the second coordinates of the bolter in the second coordinate system according to the cylinder parameters and telescopic support parameters includes: Determine the initial coordinates of the bolter in the second coordinates; Determine the extension length of the telescopic support of the roadheader-anchoring machine according to the cylinder parameters; Determine the rotation angle and lifting angle of the telescopic support according to the telescopic support parameters; Determine the coordinate change value corresponding to the extension length with respect to the initial coordinates according to the rotation angle and the lifting angle; Determine the telescopic support coordinates according to the coordinate change value and the initial coordinates; Determine the second coordinates of the bolter in the second coordinate system according to the telescopic support coordinates.

2. The intelligent anchor support control method according to claim 1, characterized in that The determining the reference coordinates of the installed bolts in the first coordinate system according to the depth camera includes: Determine the bolt construction plane according to the first coordinate system, and the bolt construction plane includes multiple installed bolts; Determine the projection of the installed bolts on the bolt construction plane; Determine the reference coordinates of the installed bolts in the first coordinate system according to the center point of the projection.

3. The intelligent bolt support control method according to claim 2, wherein The determining the first coordinates of at least one target bolt hole in the first coordinate system according to the reference coordinates includes: Determine the bolt adjacent spacing parameter and bolt in-row spacing parameter; Determine a reference bolt among multiple installed bolts; Determine the reference coordinates corresponding to the reference bolt; Determine the first coordinates of at least one target bolt hole in the first coordinate system according to the reference coordinates corresponding to the reference bolt, the bolt adjacent spacing parameter and the bolt in-row spacing parameter.

4. The intelligent anchor support control method according to claim 1, wherein The determining the second coordinates of the bolter in the second coordinate system according to the telescopic support coordinates includes: Determine at least one body inertia parameter of the roadheader-anchoring machine; Determine the second coordinates corresponding to the telescopic support coordinates according to the body inertia parameter, the rotation angle and the lifting angle.

5. The intelligent bolt support control method according to claim 4, wherein, The converting the second coordinates into the third coordinates in the first coordinate system includes: Determine the distance parameter between the first origin and the second origin; Determine the size parameter corresponding to the roadheader-anchoring machine; Determine the conversion parameter corresponding to the second coordinate system according to the distance parameter and the size parameter; Convert at least one of the second coordinates into a third coordinate in the first coordinate system according to the conversion parameter.

6. An intelligent anchor support control device, characterized in that, Comprising: A coordinate system determination module, configured to establish a first coordinate system with the own optical center of the depth camera as the first origin; Establish a second coordinate system with any point on the support shaft of the telescopic frame of the roadheader-anchoring machine as the second origin; A data acquisition module, configured to acquire the cylinder parameter and the telescopic frame parameter of the roadheader-anchoring machine; A coordinate determination module, configured to determine the reference coordinate of the constructed bolt in the first coordinate system according to the depth camera; determine the first coordinate of at least one target anchor hole in the first coordinate system according to the reference coordinate; determine the second coordinate of the bolter in the second coordinate system according to the cylinder parameter and the telescopic frame parameter; A conversion module, configured to convert the second coordinate into a third coordinate in the first coordinate system; A path movement module, configured to generate a movement path according to the first coordinate and the third coordinate, and control the bolter to move from the position of the third coordinate to the position of the first coordinate; The determining the second coordinate of the bolter in the second coordinate system according to the cylinder parameter and the telescopic frame parameter includes: Determine the initial coordinate of the bolter in the second coordinate; Determine the extended length of the telescopic frame of the roadheader-anchoring machine according to the cylinder parameter; Determine the rotation angle and the lifting angle of the telescopic frame according to the telescopic frame parameter; Determine the coordinate change value corresponding to the extended length with respect to the initial coordinate according to the rotation angle and the lifting angle; Determine the telescopic frame coordinate according to the coordinate change value and the initial coordinate; Determine the second coordinate of the bolter in the second coordinate system according to the telescopic frame coordinate.

7. A roadheader-anchor jumbo, characterized in that, The roadheader-anchoring machine includes: a depth camera and a bolter, the constructed bolt is positioned by the depth camera, and the bolter is connected to the body of the roadheader-anchoring machine through a telescopic frame; The roadheader-anchoring machine further includes the intelligent anchor protection control device as claimed in claim 6.

8. An electronic device, characterized in that, Comprising a processor, a memory, and a program or instruction stored on the memory and executable on the processor, 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 5.

9. 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 configured to run a program or instruction to implement the steps of the intelligent anchor protection control method as claimed in any one of claims 1 to 5.

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