Anchor net avoiding method and system of jumbolter, digging and anchoring equipment, equipment and medium

Abstract

The invention discloses an anchor net avoiding method and system of a jumbolter, digging and anchoring equipment, equipment and a medium, and the method comprises the steps: collecting an image of a back shore plate, recognizing a contour line of the back shore plate through a template matching algorithm, determining a mapping point of a drilling center on the contour line of the back shore plate, and recognizing an anchor net contour line closest to the mapping point; and finally, reconstructing the outline of the anchor net and the outline of the back shore plate in combination with the actual physical size, and determining the coordinate of the center of the drill hole based on the reconstructed image, thereby judging whether the drill rod touches the anchor net or not. According to the method, the anchor rod can be effectively prevented from hitting the anchor net, only one camera needs to be additionally arranged near the anchor rod drilling machine to collect images, the hardware cost is low, the algorithm is simple, the requirement for the data processing capacity of hardware is low, the hardware cost can be remarkably reduced, and the method is suitable for popularization and application. And after it is judged that the anchor rod touches the anchor net, the anchor rod drilling machine is directly controlled to conduct position adjustment, and the anchor net avoiding success rate can be increased.

Description

Technical Field

[0001] The present invention relates to the technical field of anchor drilling, and in particular to an anchor net avoidance method and system of an anchor drilling machine, anchor digging equipment, electronic equipment, and a computer-readable storage medium. Background Art

[0002] During the excavation of coal mine tunnels, as the rock wall is exposed, geological pressure and external disturbances may cause deformation or even collapse of the rock wall, threatening the lives of workers in the tunnel. Therefore, supporting the rock wall is a key process after tunnel excavation, and anchor mesh support technology is one of the most commonly used rock wall support methods, which is widely used in the safety protection of coal mine tunnels. The principle of anchor mesh support is to fix the metal mesh on the surface of the rock wall through anchor rods to form a reinforcement effect on the rock wall and prevent the falling and collapse of rock wall fragments. Specifically, the automated equipment needs to pass the anchor rod through the anchor mesh hole and drive it into the rock wall to achieve effective fixation of the anchor mesh. However, in actual operation, especially when the automatic anchor protection robot performs operations, due to positioning errors, irregular rock walls and other factors, the anchor rod may not pass through the anchor mesh hole accurately, but directly hit the anchor mesh, causing the anchor mesh to be damaged or unable to fit tightly to the rock wall, thereby affecting the overall support effect. This problem not only affects operating efficiency, but also increases operating costs and safety risks. Therefore, solving the technical difficulties of anchor positioning and precise drilling is a major challenge for current coal mine automated support technology.

[0003] In order to prevent the anchor drill from drilling holes on the anchor net, existing research mainly focuses on using vision and laser technology to improve positioning accuracy, ensuring that the anchor can accurately pass through the anchor net hole and enter the rock wall to avoid damage to the anchor net. Among them, the positioning method based on depth images is a relatively mature solution. Under complex lighting conditions, depth images can provide three-dimensional information of the mine environment. For example, patent application CN116385541A discloses a method for locating the center point of the anchor net support hole based on depth images. It obtains the target minimum circumscribed rectangle by performing operations such as preprocessing, local area division, adaptive threshold segmentation and re-merging on the collected depth images, thereby determining the position of the center point of the anchor net support hole.

[0004] In addition, the drilling and anchoring robot based on visual calibration calibrates the robot posture and the position of the end of the drill rig by carrying a radar ranging sensor, a photoelectric encoder and a visual module. This solution uses laser ranging and image processing to ensure that the end of the drill rig can accurately align with the center of the anchor mesh to achieve precise drilling. This method not only improves the positioning accuracy, but also reduces the burden of manual operation, ensuring the efficiency and safety of drilling and anchoring operations. For example, patent application CN112068543A discloses a method for precise positioning of drilling holes for a coal mine drilling and anchoring robot based on visual calibration. It uses an airborne laser device to emit lasers and the light spot is accurately aligned with the center of the anchor mesh. Then, the camera is used to extract the anchor mesh image containing the light spot in the current posture, and then the center coordinates of the light spot are further obtained. After kinematics is solved, the movement of the drill rig is guided.

[0005] In addition, under low-light conditions in mines, laser scanning technology is also used for the center detection of support holes. This method acquires multiple laser images in time series, uses the HSV color model to mark the laser blocks in the image, and then extracts the three-dimensional coordinates of the anchor mesh. This method is particularly suitable for positioning in low-light environments, further improving the accuracy of anchor drilling. For example, patent application CN114427835A discloses a support hole center positioning method based on a laser device, which uses a line laser scanning device to scan the support system and uses an imaging device to take photos according to the time series, and then processes the taken photos and integrates them into an image, which consists of background pixel 0, anchor mesh pixel 1, and anchor mesh belt pixel 2, and then calculates the coordinates of the anchor mesh and anchor mesh belt hole centers in the world coordinate system based on the integrated image.

[0006] However, the positioning methods based on depth images, visual calibration and laser scanning in the prior art rely on a large number of sensors and high-precision camera equipment, which greatly increases the equipment cost. In addition, these methods usually involve complex image processing algorithms and sensor data fusion technologies, which place extremely high demands on the computing power of the system. In order to ensure real-time and accuracy, the required hardware must have powerful processing capabilities and efficient data transmission capabilities, which will significantly increase the hardware cost. Its high cost and complex system architecture limit the large-scale promotion and application in actual mines. In addition, the solutions based on depth images and lasers are all for locating the center of the anchor mesh, and then adjusting the position of the anchor drill rig through the coordinates of the center of the anchor mesh. These solutions not only need to consider the image recognition effect, but also need to put forward high requirements on the motion accuracy of the anchor robot arm. If any of the links is not ideal, the success rate of anchor net avoidance will be reduced. In summary, in view of the above problems, it is particularly important to study a simpler, more efficient and lower-cost anchor net avoidance technology for anchor drill rigs. Summary of the invention

[0007] The present invention provides an anchor net avoidance method and system for an anchor drilling rig, anchor digging equipment, electronic equipment, and a computer-readable storage medium, which can effectively prevent the anchor from hitting the anchor net and has the advantages of low hardware cost, simple algorithm, and high anchor net avoidance success rate.

[0008] According to one aspect of the present invention, there is provided an anchor net avoidance method for an anchor drilling rig, comprising the following contents:

[0009] After the top support plate of the anchor drilling rig is extended and the anchor net is pressed against the tunnel wall, the top support plate image is collected;

[0010] Based on the template matching algorithm, the top support plate contour line is identified from the top support plate image, and the mapping point of the drilling center on the top support plate contour line is determined according to the actual physical size of the top support plate and the drilling center position;

[0011] The edge detection algorithm is used to process the regional image around the mapping point to identify the anchor network contour line closest to the mapping point;

[0012] The image is reconstructed according to the outline of the anchor net, the outline of the top support plate and the actual physical size, and the coordinates of the center of the drilling hole are calculated. According to the coordinates of the center of the drilling hole and the actual physical size, it is judged whether the anchor net will be touched. If the anchor net will not be touched, the anchor bolting operation is carried out directly. Otherwise, the movement parameters of the anchor bolt are calculated according to the coordinates of the center of the drilling hole, and the anchor drilling rig is controlled to adjust its position according to the movement parameters.

[0013] Furthermore, the process of calculating the coordinates of the drilling center includes the following:

[0014] The two vertical sides where the anchor net outline intersects are used as the X-axis and Y-axis to establish a rectangular coordinate system, and the coordinates of the drilling center are calculated based on the following formula:

[0015]

[0016] Among them, (x 0 ,y 0 ) represents the coordinates of the drilling center, (x f ,y f ) represents the coordinates of the mapping point, D represents the actual distance from the center of the drilling hole to the edge of the top support plate, and k represents the slope of the line between the mapping point and the center of the drilling hole.

[0017] Furthermore, if the edge of the hole [x 0 -r,x 0 +r]、[y 0 -r,y 0 +r] are not divisible by 100, then the anchor rod will not touch the anchor net. If there is a number X or Y that is divisible by 100, then the anchor rod will touch the anchor net, where X∈[x0 -r,x 0 +r],Y∈[y 0 -r,y 0 +r], 100 is the actual physical size of the rectangular hole of the anchor net, and r is the drilling radius.

[0018] Furthermore, the movement parameters of the anchor rod are calculated based on the following formula:

[0019]

[0020] Among them, (x 0 ,y 0 ) represents the coordinates of the drilling center, and (x, y) represents the movement parameters.

[0021] Furthermore, the process of processing the regional image around the mapping point using the edge detection algorithm to identify the anchor network contour line closest to the mapping point includes the following:

[0022] The regional image around the mapping point is processed by two-dimensional wavelet transform to obtain a low-frequency sub-image and a high-frequency sub-image;

[0023] The edge of the low-frequency sub-image is detected by using mathematical morphology detection operators to obtain the edge contour of the low-frequency sub-image;

[0024] The edge of the high-frequency sub-image is detected by using the wavelet modulus maximum detection algorithm to obtain the edge contour of the high-frequency sub-image;

[0025] The edge contours of the low-frequency sub-image and the high-frequency sub-image are fused using the difference method to obtain the anchor network contour line closest to the mapping point.

[0026] Furthermore, the process of identifying the top support plate contour line from the top support plate image based on the template matching algorithm includes the following contents:

[0027] Create a template image of the top support plate, perform edge extraction on the template image to obtain the boundary points of the template image, then perform edge extraction on the collected top support plate image to obtain the boundary points of the top support plate image, and then use the sliding window matching search algorithm to perform image matching based on the boundary points to obtain the top support plate contour line.

[0028] In addition, the present invention also provides an anchor net avoidance system for an anchor drilling rig, comprising:

[0029] An image acquisition module, used for acquiring an image of the top support plate after the top support plate of the anchor drilling rig is extended and the anchor net is pressed against the tunnel wall;

[0030] A mapping point determination module is used to identify the top support plate contour line from the top support plate image based on a template matching algorithm, and determine the mapping point of the drilling center on the top support plate contour line according to the actual physical size of the top support plate and the drilling center position;

[0031] An anchor net contour line recognition module is used to process the regional image around the mapping point using an edge detection algorithm to identify the anchor net contour line closest to the mapping point;

[0032] The anchor net avoidance control module is used to reconstruct images based on the anchor net contour line, the top support plate contour line and the actual physical size, and calculate the coordinates of the drilling center. It is judged whether the anchor net will be touched based on the drilling center coordinates and the actual physical size. If the anchor net will not be touched, the anchor bolting operation is performed directly. Otherwise, the movement parameters of the anchor bolt are calculated based on the drilling center coordinates, and the anchor drilling rig is controlled to adjust its position based on the movement parameters.

[0033] In addition, the present invention also provides an anchor drilling device, which adopts the anchor net avoidance system of the anchor drilling rig as described above.

[0034] In addition, the present invention also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the above method by calling the computer program stored in the memory.

[0035] In addition, the present invention also provides a computer-readable storage medium for storing a computer program for an anchor drill to avoid an anchor net, wherein the computer program executes the steps of the method described above when running on a computer.

[0036] The present invention has the following beneficial effects:

[0037] The anchor net avoidance method of the anchor drilling rig of the present invention collects the top support plate image after the top support plate supports the anchor net, then identifies the top support plate contour line through the template matching algorithm, and then determines the mapping point of the drilling center on the top support plate contour line to determine the key focus area, then, for the key focus area, identifies the anchor net contour line closest to the mapping point, and finally reconstructs the anchor net contour and the top support plate contour in combination with the actual physical size, and determines the coordinates of the drilling center based on the reconstructed image, so as to judge whether the drill rod will touch the anchor net, if it will not touch the anchor net, directly perform the anchor rod driving operation, otherwise, calculate the movement parameters of the anchor rod according to the coordinates of the drilling center, and control the anchor drilling rig to adjust the position according to the movement parameters. The anchor net avoidance method of the anchor drilling rig of the present invention can effectively prevent the anchor rod from hitting the anchor net, and only needs to add a camera near the anchor drilling rig to collect images. The hardware cost is low, and the algorithm is simple. The data processing capability requirement for the hardware is low, which can significantly reduce the hardware cost. After determining that the anchor rod will touch the anchor net, the anchor drilling rig is directly controlled to adjust its position, which is beneficial to improving the success rate of anchor net avoidance.

[0038] In addition, the anchor net avoidance system and anchor digging equipment of the anchor drilling rig of the present invention also have the above advantages.

[0039] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0041] Figure 1 It is a flow chart of the anchor net avoidance method of the anchor drilling rig according to the preferred embodiment of the present application;

[0042] Figure 2 It is a schematic diagram of installing a camera on the anchoring equipment to collect the top support plate image in the preferred embodiment of the present application;

[0043] Figure 3 yes Figure 1 Schematic diagram of the sub-process of step S3;

[0044] Figure 4 is a schematic diagram of the anchor net outline identified in the preferred embodiment of the present application;

[0045] Figure 5 is a schematic diagram of the anchor net outline reconstructed in the preferred embodiment of the present application;

[0046] Figure 6It is a schematic diagram of the module structure of the anchor net avoidance system of the anchor drilling rig according to the preferred embodiment of the present application. DETAILED DESCRIPTION

[0047] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] Reference Figure 1 The preferred embodiment of the present application provides an anchor net avoidance method for an anchor drilling rig, comprising the following contents:

[0049] Step S1: After the top support plate of the anchor drilling rig is extended and the anchor net is supported on the tunnel wall, an image of the top support plate is collected;

[0050] Step S2: identifying the top support plate contour line from the top support plate image based on a template matching algorithm, and determining the mapping point of the drilling center on the top support plate contour line according to the actual physical size of the top support plate and the drilling center position;

[0051] Step S3: using an edge detection algorithm to process the area image around the mapping point and identify the anchor network contour line closest to the mapping point;

[0052] Step S4: Reconstruct the image according to the anchor net contour line, the top support plate contour line and the actual physical size, and calculate the coordinates of the drilling center. Determine whether the anchor net will be touched according to the drilling center coordinates and the actual physical size. If the anchor net will not be touched, directly perform the anchor driving operation. Otherwise, calculate the movement parameters of the anchor according to the drilling center coordinates, and control the anchor drilling rig to adjust the position according to the movement parameters.

[0053] It can be understood that the anchor net avoidance method of the anchor drilling rig in the present embodiment collects the image of the top support plate after the top support plate supports the anchor net, and then identifies the top support plate contour line through the template matching algorithm, and then determines the mapping point of the drilling center on the top support plate contour line to determine the key focus area, and then, for the key focus area, identifies the anchor net contour line closest to the mapping point, and finally reconstructs the anchor net contour and the top support plate contour based on the actual physical size, and determines the coordinates of the drilling center based on the reconstructed image, so as to judge whether the drill rod will touch the anchor net, and if it will not touch the anchor net, the anchor rod operation is directly performed, otherwise the movement parameters of the anchor rod are calculated according to the coordinates of the drilling center, and the anchor drilling rig is controlled to adjust the position according to the movement parameters. The anchor net avoidance method of the anchor drilling rig of the present invention can effectively prevent the anchor rod from hitting the anchor net, and only needs to add a camera near the anchor drilling rig to collect images. The hardware cost is low, and the algorithm is simple. The data processing capability requirement for the hardware is low, which can significantly reduce the hardware cost. After determining that the anchor rod will touch the anchor net, the anchor drilling rig is directly controlled to adjust its position, which is beneficial to improving the success rate of anchor net avoidance.

[0054] It is understandable that Figure 2 As shown, a camera is installed on the anchoring equipment near the anchor drilling rig, and the camera can clearly capture the top support plate and the anchor net. Preferably, a night vision camera is used so that clear images can be captured even under low light conditions. In step S1, after the anchoring equipment moves to the target workstation, it will first extend the top support plate of the anchor drilling rig, thereby supporting the anchor net against the tunnel wall. The top support plate is equipped with a pressure sensor. When the pressure sensor reaches the set value, it means that the top support plate can already support the anchor net steadily against the tunnel wall. At this time, the camera is controlled to capture the top support plate image. It can be understood that the top support plate image is the image of the area where the top support plate is located, and the top support plate image includes the top support plate, part of the anchor net and the tunnel wall. In addition, when multiple anchor drilling rigs are close to each other, they can also share a camera.

[0055] It can be understood that after the top support plate image is collected in step S1, in step S2, a contour line of the top support plate (such as the top contour line, bottom contour line or left and right contour line of the top support plate) is identified from the top support plate image by a template matching algorithm, preferably the contour line close to the center of the anchor rod is identified, and then the mapping point of the drilling center on this top support plate contour line can be determined based on the actual physical size of the top support plate and the relative position between the drilling center (i.e., the anchor rod center) on the anchor drilling rig and the corresponding edge contour of the top support plate. For example, assuming that the top contour line of the top support plate is identified, since the relative position between the anchor rod center (i.e., the drilling center) on the anchor drilling rig and the top contour line of the top support plate is known, a vertical line is drawn from the drilling center to the top contour line, and the vertical projection point is the mapping point of the anchor rod center on the top contour line of the top support plate. In addition, at this time, the slope of the line between the drilling center and the mapping point can also be determined. In addition, in an actual anchor drilling rig, the vertical projection point of the anchor center on the top support plate contour line is generally the midpoint of the contour line, which is related to the size and structural design of the anchor drilling rig.

[0056] The process of identifying the top support plate contour line from the top support plate image based on the template matching algorithm includes the following contents:

[0057] Create a template image of the top support plate, perform canny edge extraction on the template image, obtain the boundary points of the template image, then perform canny edge extraction on the collected top support plate image, obtain the boundary points of the top support plate image, and then use a sliding window matching search algorithm to perform image matching based on the boundary points to obtain a contour line of the top support plate. Among them, the specific sliding window matching search algorithm belongs to the prior art and will not be repeated here.

[0058] It can be understood that in step S3, after the mapping point of the drilling center on a top support plate contour line is determined, the edge detection algorithm is used to extract the contour of the pixels around the mapping point to identify the anchor net contour line closest to the mapping point. Figure 3 As shown, the process of processing the regional image around the mapping point using the edge detection algorithm to identify the anchor network contour line closest to the mapping point includes the following:

[0059] Step S31: using two-dimensional wavelet transform to process the regional image around the mapping point to obtain a low-frequency sub-image and a high-frequency sub-image;

[0060] Step S32: using a mathematical morphology detection operator to perform edge detection on the low-frequency sub-image to obtain an edge contour of the low-frequency sub-image;

[0061] Step S33: using a wavelet modulus maximum detection algorithm to perform edge detection on the high-frequency sub-image to obtain an edge contour of the high-frequency sub-image;

[0062] Step S34: using the difference method to fuse the edge contours of the low-frequency sub-image and the high-frequency sub-image to obtain the anchor network contour line closest to the mapping point.

[0063] Specifically, the regional image around the mapping point is first processed using a two-dimensional wavelet transform to obtain sub-images in four directions, namely LL, LH, HL and HH, where LL is a low-frequency sub-image and LH, HL and HH are high-frequency sub-images. In addition, the specific two-dimensional wavelet transform process belongs to the prior art and will not be described in detail here.

[0064] Then, the edge detection of the low-frequency sub-image LL is performed using a mathematical morphology detection operator to obtain the edge contour of the low-frequency sub-image. The mathematical morphology detection operator is a method that uses erosion (θ) and dilation The difference is used to extract the edge information of the image, where the detection algorithm can be expressed as:

[0065]

[0066] Among them, G represents the processed image, f represents the original image, and b 1 、b 2 、b 3 are all 3×3 matrices,

[0067] For high-frequency sub-images LH, HL and HH, the wavelet modulus maximum detection algorithm is used for edge detection. Specifically, since the image is two-dimensional, the two-dimensional smoothing function can be set to θ(x, y) and satisfy the following conditions:

[0068]

[0069] Introducing the scale s, we have: The corresponding two-dimensional wavelet has the following definition at scale s:

[0070]

[0071] in, represents the horizontal wavelet function, represents the vertical wavelet function.

[0072] Therefore, the image f(x,y) is smoothed by the function θ s The two-dimensional dyadic wavelet transform of (x,y) at scale s has the following two components:

[0073]

[0074] Among them, w s x f(x,y),w s y f(x,y) represents f*θ respectively s (x, y) is the gradient vector in the horizontal and vertical directions. The modulus and amplitude of the wavelet transform of the function f(x, y) are defined as:

[0075]

[0076] Among them, the gradient vector direction A s M on f(x,y) s The local maximum point of f(x,y) corresponds to the mutation point of the smoothed function, that is, this point is most likely to be the edge point of the image. In addition, due to the influence of uneven grayscale or noise in the image, some fine edges will also be produced, so a threshold needs to be specified. Only local maximum points greater than the threshold can be used as edge points of the image.

[0077] Finally, the difference method is used to fuse the edge contours of the low-frequency sub-image and the high-frequency sub-image to obtain the anchor network contour line closest to the mapping point. The difference method belongs to the existing algorithm, and the specific principle will not be repeated here. It can be understood that the identified anchor network contour map is as follows Figure 4 As shown, the straight line where EG is located is the top support plate contour line, point F is the mapping point of the drilling center on the top support plate contour line, and rectangle ABCD is the anchor net contour line closest to the mapping point F.

[0078] It can be understood that the present invention separates the high- and low-frequency information in the image of the area around the mapping point by using wavelet decomposition, and uses two different edge detection methods to identify the anchor network according to the characteristics of the high- and low-frequency images. The detected image details are more complete and the obtained anchor network contour is more accurate.

[0079] It can be understood that in step S4, the anchor net and the top support plate are reconstructed according to the identified top support plate contour line and anchor net contour line ABCD, combined with the actual physical dimensions of the anchor net and the top support plate, and the reconstructed image is as follows: Figure 5 As shown, the rectangle A`B`C`D` represents the reconstructed anchor mesh contour line closest to the mapping point F, the straight line E`G` represents the reconstructed top support plate contour line, and the point F` represents the reconstructed mapping point. In addition, the specific image reconstruction process is a simple projection transformation process, which belongs to the prior art and will not be described here. Then, the coordinates of the drilling center are calculated based on the reconstructed image. Among them, the process of calculating the coordinates of the drilling center includes the following contents:

[0080] The two vertical sides where the anchor net outline intersects are used as the X-axis and Y-axis to establish a rectangular coordinate system, and the coordinates of the drilling center are calculated based on the following formula:

[0081]

[0082] Among them, (x 0 ,y 0 ) represents the coordinates of the drilling center, (x f ,y f ) represents the coordinates of the mapping point, D represents the actual distance from the center of the drilling hole to the edge of the top support plate, and k represents the slope of the line between the mapping point and the center of the drilling hole.

[0083] Specifically, a rectangular coordinate system is established with C`B` as the positive direction of the x-axis and C`D` as the positive direction of the y-axis. The coordinates of point E` are (0, y e ), the coordinates of point G are (100, y g ), the coordinates of point F are (x f ,y f ), 100 represents the actual physical size of the anchor net, that is, the length of C`B`. According to the geometric relationship, the coordinates of the drilling center can be calculated as:

[0084] If the drilling edge [x 0 -r,x 0 +r]、[y 0 -r,y 0 +r] are not divisible by 100, then the anchor rod will not touch the anchor net. If there is a number X or Y that is divisible by 100, then the anchor rod will touch the anchor net, where X∈[x 0 -r,x 0 +r],Y∈[y 0 -r,y 0 +r], r is the drilling radius. The movement parameters of the anchor rod are calculated based on the following formula:

[0085]

[0086] Among them, (x 0 ,y 0 ) represents the coordinates of the drilling center, and (x, y) represents the movement parameters.

[0087] After obtaining the movement parameters, retract the top support plate until the pressure sensor shows a non-pressurized state, and then move the anchor drill rig according to the movement parameters, that is, move x in the X-axis direction and move y in the Y-axis direction. If the value of x is positive, move along the positive direction of the X-axis. If the value of x is negative, move along the negative direction of the X-axis. The same applies to the movement in the Y-axis direction.

[0088] In addition, if Figure 6 As shown, another embodiment of the present invention further provides an anchor net avoidance system for an anchor drilling rig, preferably using the anchor net avoidance method for an anchor drilling rig as described above, the system comprising:

[0089] An image acquisition module, used for acquiring an image of the top support plate after the top support plate of the anchor drilling rig is extended and the anchor net is pressed against the tunnel wall;

[0090] A mapping point determination module is used to identify the top support plate contour line from the top support plate image based on a template matching algorithm, and determine the mapping point of the drilling center on the top support plate contour line according to the actual physical size of the top support plate and the drilling center position;

[0091] An anchor net contour line recognition module is used to process the regional image around the mapping point using an edge detection algorithm to identify the anchor net contour line closest to the mapping point;

[0092] The anchor net avoidance control module is used to reconstruct images based on the anchor net contour line, the top support plate contour line and the actual physical size, and calculate the coordinates of the drilling center. It is judged whether the anchor net will be touched based on the drilling center coordinates and the actual physical size. If the anchor net will not be touched, the anchor bolting operation is performed directly. Otherwise, the movement parameters of the anchor bolt are calculated based on the drilling center coordinates, and the anchor drilling rig is controlled to adjust its position based on the movement parameters.

[0093] It can be understood that the anchor net avoidance system of the anchor drilling rig of the present embodiment collects the image of the top support plate after the top support plate supports the anchor net, and then identifies the top support plate contour line through the template matching algorithm, and then determines the mapping point of the drilling center on the top support plate contour line to determine the key focus area, and then, for the key focus area, identifies the anchor net contour line closest to the mapping point, and finally reconstructs the anchor net contour and the top support plate contour based on the actual physical dimensions, and determines the coordinates of the drilling center based on the reconstructed image, so as to determine whether the drill rod will touch the anchor net, and if it will not touch the anchor net, the anchor rod operation is directly performed, otherwise the movement parameters of the anchor rod are calculated according to the coordinates of the drilling center, and the anchor drilling rig is controlled to adjust the position according to the movement parameters. The anchor net avoidance system of the anchor drilling rig of the present invention can effectively prevent the anchor rod from hitting the anchor net, and only needs to add a new camera near the anchor drilling rig to collect images. The hardware cost is low, and the algorithm is simple, and the data processing capability requirements of the hardware are low, which can significantly reduce the hardware cost. After determining that the anchor rod will touch the anchor net, the anchor drilling rig is directly controlled to adjust its position, which is beneficial to improving the success rate of anchor net avoidance.

[0094] In addition, another embodiment of the present invention further provides an anchor drilling device, preferably using the anchor net avoidance system of the anchor drilling rig as described above.

[0095] In addition, another embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the above method by calling the computer program stored in the memory.

[0096] In addition, another embodiment of the present invention further provides a computer-readable storage medium for storing a computer program for an anchor drill to avoid an anchor net, wherein the computer program executes the steps of the method described above when running on a computer.

[0097] The general form of computer readable storage media includes: floppy disk, flexible disk, hard disk, magnetic tape, any other magnetic medium, CD-ROM, any other optical medium, punch cards, paper tape, any other physical medium with a pattern of holes, random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), flash erasable programmable read-only memory (FLASH-EPROM), any other memory chip or cartridge, or any other medium that can be read by a computer. The instructions can further be transmitted or received by a transmission medium. The term transmission medium can include any tangible or intangible medium that can be used to store, encode or carry instructions for execution by a machine, and includes digital or analog communication signals or other intangible media that facilitate the communication of the above instructions. Transmission media include coaxial cables, copper wires and optical fibers, which include the wires of a bus used to transmit a computer data signal.

[0098] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0099] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0102] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0103] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0104] The above description is only a preferred embodiment of the present invention and is 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 anchor net avoidance method for an anchor drilling rig, characterized in that: Includes the following: After the top support plate of the anchor drilling rig is extended and the anchor net is pressed against the tunnel wall, the top support plate image is collected; Based on the template matching algorithm, the top support plate contour line is identified from the top support plate image, and the mapping point of the drilling center on the top support plate contour line is determined according to the actual physical size of the top support plate and the drilling center position; The edge detection algorithm is used to process the regional image around the mapping point to identify the anchor network contour line closest to the mapping point; The image is reconstructed according to the outline of the anchor net, the outline of the top support plate and the actual physical size, and the coordinates of the center of the drilling hole are calculated. According to the coordinates of the center of the drilling hole and the actual physical size, it is judged whether the anchor net will be touched. If the anchor net will not be touched, the anchor bolting operation is carried out directly. Otherwise, the movement parameters of the anchor bolt are calculated according to the coordinates of the center of the drilling hole, and the anchor drilling rig is controlled to adjust its position according to the movement parameters.

2. The anchor net avoidance method of the anchor drilling rig according to claim 1, characterized in that: The process of calculating the coordinates of the drilling center includes the following: The two vertical sides where the anchor net outline intersects are used as the X-axis and Y-axis to establish a rectangular coordinate system, and the coordinates of the drilling center are calculated based on the following formula: Among them, (x0, y0) represents the coordinates of the drilling center, (x f ,y f ) represents the coordinates of the mapping point, D represents the actual distance from the center of the drilling hole to the edge of the top support plate, and k represents the slope of the line between the mapping point and the center of the drilling hole.

3. The anchor net avoidance method of the anchor drilling rig according to claim 2, characterized in that: If the numbers in the borehole edge [x0-r,x0+r] and [y0-r,y0+r] are not divisible by 100, it is determined that the anchor rod will not touch the anchor net. If there is a number X or Y that is divisible by 100, it is determined that the anchor rod will touch the anchor net, where X∈[x0-r,x0+r], Y∈[y0-r,y0+r], 100 is the actual physical size of the rectangular hole of the anchor net, and r is the borehole radius.

4. The anchor net avoidance method of the anchor drilling rig according to claim 3, characterized in that: The movement parameters of the anchor rod are calculated based on the following formula: Among them, (x0, y0) represents the coordinates of the drilling center, and (x, y) represents the movement parameters.

5. The anchor net avoidance method of the anchor drilling rig according to claim 1, characterized in that: The process of processing the regional image around the mapping point by using the edge detection algorithm to identify the anchor network contour line closest to the mapping point includes the following: The regional image around the mapping point is processed by two-dimensional wavelet transform to obtain a low-frequency sub-image and a high-frequency sub-image; The edge of the low-frequency sub-image is detected by using mathematical morphology detection operators to obtain the edge contour of the low-frequency sub-image; The edge of the high-frequency sub-image is detected by using the wavelet modulus maximum detection algorithm to obtain the edge contour of the high-frequency sub-image; The edge contours of the low-frequency sub-image and the high-frequency sub-image are fused using the difference method to obtain the anchor network contour line closest to the mapping point.

6. The anchor net avoidance method of the anchor drilling rig according to claim 1, characterized in that: The process of identifying the top support plate contour line from the top support plate image based on the template matching algorithm includes the following contents: Create a template image of the top support plate, perform edge extraction on the template image to obtain the boundary points of the template image, then perform edge extraction on the collected top support plate image to obtain the boundary points of the top support plate image, and then use the sliding window matching search algorithm to perform image matching based on the boundary points to obtain the top support plate contour line.

7. An anchor net avoidance system for an anchor drilling rig, characterized in that: include: An image acquisition module, used for acquiring an image of the top support plate after the top support plate of the anchor drilling rig is extended and the anchor net is pressed against the tunnel wall; A mapping point determination module is used to identify the top support plate contour line from the top support plate image based on a template matching algorithm, and determine the mapping point of the drilling center on the top support plate contour line according to the actual physical size of the top support plate and the drilling center position; An anchor net contour line recognition module is used to process the regional image around the mapping point using an edge detection algorithm to identify the anchor net contour line closest to the mapping point; The anchor net avoidance control module is used to reconstruct images based on the anchor net contour line, the top support plate contour line and the actual physical size, and calculate the coordinates of the drilling center. It is judged whether the anchor net will be touched based on the drilling center coordinates and the actual physical size. If the anchor net will not be touched, the anchor bolting operation is performed directly. Otherwise, the movement parameters of the anchor bolt are calculated based on the drilling center coordinates, and the anchor drilling rig is controlled to adjust its position based on the movement parameters.

8. An anchor digging device, characterized in that: An anchor net avoidance system for an anchor drilling rig as claimed in claim 7 is adopted.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the method according to any one of claims 1 to 6 by calling the computer program stored in the memory.

10. A computer-readable storage medium for storing a computer program for an anchor drilling rig to avoid an anchor net, characterized in that: When the computer program is run on a computer, the steps of the method according to any one of claims 1 to 6 are executed.

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