Anchor net avoidance method and system for an anchor drill rig, a digging and anchoring device, an apparatus, a medium

Abstract

The application discloses an anchor net avoiding method and system of a roof bolter, a roof bolter, equipment, and a medium. After collecting a roof support plate image, a template matching algorithm is used to identify a roof support plate contour line, a mapping point of a drilling center on the roof support plate contour line is determined, the nearest anchor net contour line from the mapping point is identified, the anchor net contour and the roof support plate contour are reconstructed in combination with actual physical dimensions, the coordinates of the drilling center are determined based on the reconstructed image, and it can be judged whether a drill rod will touch the anchor net. The method can effectively prevent the anchor rod from being hit on the anchor net, only one camera needs to be added near the roof bolter to collect the image, the hardware cost is low, the algorithm is simple, the data processing capacity requirement of the hardware is low, the hardware cost can be significantly reduced, and the roof bolter can be directly controlled to adjust the position after it is judged that the anchor rod will touch the anchor net, which is beneficial to improving the anchor net avoiding success rate.

Description

Technical Field

[0001] This invention relates to the field of anchor drilling technology, and in particular to an anchor drilling machine's anchor mesh avoidance method and system, anchor drilling equipment, electronic equipment, and computer-readable storage medium. Background Technology

[0002] During coal mine tunnel excavation, as the rock face is exposed, geological pressure and external disturbances can cause deformation or even collapse, threatening the lives of workers inside the tunnel. Therefore, rock face support is a crucial step after tunnel excavation, and anchor mesh support technology is one of the most commonly used rock face support methods, widely applied in coal mine tunnel safety protection. The principle of anchor mesh support is to fix a metal mesh to the rock face surface using anchor bolts, forming a reinforcement effect and preventing rock fragments from falling or collapsing. Specifically, automated equipment needs to pass the anchor bolts through the anchor mesh holes and drive them into the rock face to achieve effective anchor mesh fixation. However, in actual operation, especially when automated anchoring robots are performing operations, due to positioning errors, irregular rock face shapes, and other factors, the anchor bolts may not accurately pass through the anchor mesh holes, but instead strike the anchor mesh directly, causing damage to the anchor mesh or preventing it from tightly adhering to the rock face, thus affecting the overall support effect. This problem not only affects operational efficiency but also increases operational costs and safety risks. Therefore, solving the technical challenges of anchor bolt positioning and precise drilling is a major challenge for current automated support technology in coal mines.

[0003] To prevent anchor drilling rigs from drilling into the anchor mesh, existing research mainly focuses on using vision and laser technologies to improve positioning accuracy, ensuring that anchor bolts can accurately pass through the anchor mesh holes and be driven into the rock wall, avoiding damage to the anchor mesh. Among these methods, depth image-based positioning is a relatively mature approach. Under complex lighting conditions, depth images can provide three-dimensional information about the mine environment. For example, patent application CN116385541A discloses a depth image-based method for locating the center point of anchor mesh support holes. This method obtains the minimum bounding rectangle of the target by preprocessing the acquired depth image, dividing the local region, performing adaptive threshold segmentation, and merging, thereby determining the position of the center point of the anchor mesh support hole.

[0004] Furthermore, the vision-calibrated drilling and anchoring robot calibrates its pose and the position of the drilling rig's end effector by equipping it with a radar ranging sensor, photoelectric encoder, and vision module. This solution, through laser ranging and image processing, ensures that the drilling rig's end effector accurately aligns with the center of the anchor mesh hole, achieving precise drilling. This method not only improves 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 vision-calibrated method for precise drilling positioning of a coal mine drilling and anchoring robot. It uses an onboard laser device to emit a laser beam with the beam precisely aligned with the center of the anchor mesh hole. Then, a camera extracts an image of the anchor mesh containing the beam in the current pose. Further, the coordinates of the beam center are obtained, and kinematic solutions are performed to guide the drilling rig's movement.

[0005] Furthermore, laser scanning technology is also used for center detection of support holes under low-light conditions in mines. This method acquires multiple laser images over time, uses the HSV color model to mark laser blocks in the images, and then extracts the three-dimensional coordinates of the anchor mesh holes. 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 method for center positioning of support holes based on a laser device. It uses a line laser scanning device to scan the support system and takes photos using an imaging device based on the time series. The photos are then processed and integrated into a single image, consisting of background pixel 0, anchor mesh pixel 1, and anchor mesh strip pixel 2. The coordinates of the anchor mesh holes and anchor mesh strip holes in the world coordinate system are then calculated based on the integrated image.

[0006] However, existing positioning methods based on depth images, visual calibration, and laser scanning rely on a large number of sensors and high-precision camera equipment, which significantly increases equipment costs. Furthermore, these methods typically involve complex image processing algorithms and sensor data fusion techniques, placing extremely high demands on the system's computing power. To ensure real-time performance and accuracy, the required hardware must possess powerful processing capabilities and efficient data transmission capabilities, thus significantly increasing hardware costs. The high cost and complex system architecture limit their large-scale application in actual mines. Additionally, depth image-based and laser-based solutions aim to locate the center of the anchor mesh hole and then adjust the anchor bolting rig's pose using the anchor mesh hole center coordinates. These solutions not only need to consider image recognition effectiveness but also require high precision in the movement of the anchor bolting robot arm. If any link in this chain is not ideal, the success rate of anchor mesh avoidance will decrease. In summary, to address these issues, researching a simpler, more efficient, and lower-cost anchor bolting rig anchor mesh avoidance technology is particularly important. Summary of the Invention

[0007] This invention provides a method and system for anchor bolt drilling rig to avoid anchor mesh, as well as anchor drilling equipment, electronic equipment, and computer-readable storage medium. It can effectively prevent anchor bolts from hitting the anchor mesh and has the advantages of low hardware cost, simple algorithm, and high success rate of anchor mesh avoidance.

[0008] According to one aspect of the present invention, a method for avoiding anchor mesh in a bolt drilling rig is provided, comprising the following:

[0009] After the top support plate of the anchor drilling rig extends and presses the anchor mesh against the tunnel wall, an image of the top support plate is acquired;

[0010] The template matching algorithm is used to identify the outline of the top support plate from the top support plate image, and the mapping point of the borehole center on the outline of the top support plate is determined according to the actual physical size of the top support plate and the position of the borehole center.

[0011] Edge detection algorithms are used to process the image of the region surrounding the mapping point to identify the anchor net outline closest to the mapping point;

[0012] Image reconstruction is performed based on the outline of the anchor mesh, the outline of the top support plate, and the actual physical dimensions. The coordinates of the borehole center are calculated. The system determines whether the anchor mesh will be touched based on the borehole center coordinates and the actual physical dimensions. If the anchor mesh will not be touched, the anchor bolt operation is performed directly. Otherwise, the movement parameters of the anchor bolt are calculated based on the borehole center coordinates, and the anchor bolt drilling machine is adjusted according to these movement parameters.

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

[0014] A rectangular coordinate system is established using the two perpendicular sides of the intersecting anchor mesh outline as the X-axis and Y-axis, respectively. The coordinates of the borehole center are calculated based on the following formula:

[0015]

[0016] Where (x0, y0) represents the coordinates of the borehole center, (x f ,y f ) represents the coordinates of the mapping point, D represents the actual distance from the borehole center to the edge of the top support plate, and k represents the slope of the line connecting the mapping point and the borehole center.

[0017] Furthermore, if none of the numbers in the borehole edges [x0-r,x0+r] and [y0-r,y0+r] are divisible by 100, it is determined that the anchor rod will not touch the anchor mesh. If there exists a number X or Y that is divisible by 100, it is determined that the anchor rod will touch the anchor mesh. Here, X∈[x0-r,x0+r], Y∈[y0-r,y0+r], 100 is the actual physical size of the rectangular hole in the anchor mesh, and r is the borehole radius.

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

[0019]

[0020] Where (x0,y0) represents the coordinates of the borehole center, and (x,y) represents the movement parameter.

[0021] Furthermore, the process of using an edge detection algorithm to process the image of the region surrounding the mapping point and identifying the anchor mesh outline closest to the mapping point includes the following:

[0022] Two-dimensional wavelet transform is used to process the image of the region around the mapping point to obtain low-frequency sub-images and high-frequency sub-images;

[0023] Mathematical morphology detection operators are used to perform edge detection on low-frequency sub-images to obtain the edge contours of low-frequency sub-images;

[0024] The wavelet modulus maxima detection algorithm is used to perform edge detection on the high-frequency sub-image to obtain the edge contour of the high-frequency sub-image;

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

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

[0027] Create a template image of the top support plate, extract the edges of the template image to obtain the boundary points of the template image, extract the edges of the acquired top support plate image to 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 the outline of the top support plate.

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

[0029] The image acquisition module is used to acquire images of the top support plate after the top support plate of the anchor drilling rig extends and the anchor mesh is pressed against the roadway wall;

[0030] The mapping point determination module is used to identify the outline of the top support plate from the top support plate image based on the template matching algorithm, and determine the mapping point of the borehole center on the outline of the top support plate according to the actual physical size of the top support plate and the position of the borehole center.

[0031] The anchor net outline recognition module is used to process the image of the area around the mapping point using an edge detection algorithm to identify the anchor net outline closest to the mapping point.

[0032] The anchor mesh avoidance control module is used to reconstruct the image based on the anchor mesh outline, the top support plate outline, and the actual physical dimensions, and calculate the coordinates of the borehole center. Based on the borehole center coordinates and the actual physical dimensions, it determines whether the anchor mesh will be touched. If the anchor mesh will not be touched, the anchor bolt operation is performed directly. Otherwise, the movement parameters of the anchor bolt are calculated based on the borehole center coordinates, and the anchor bolt drilling machine is controlled to adjust its position based on these movement parameters.

[0033] In addition, the present invention also provides a drilling and anchoring device that employs the anchor mesh avoidance system of the anchor drilling machine 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 method described above 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 anchor drilling rig to avoid anchor nets, 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 bolt drilling rig's anchor mesh avoidance method of the present invention involves acquiring an image of the top support plate after the top support plate supports the anchor mesh, then identifying the outline of the top support plate through a template matching algorithm, and then determining the mapping point of the borehole center on the outline of the top support plate to identify the key area of ​​concern. Next, for the key area of ​​concern, the anchor mesh outline closest to the mapping point is identified. Finally, the anchor mesh outline and the top support plate outline are reconstructed based on the actual physical dimensions, and the coordinates of the borehole center are determined based on the reconstructed image. This allows it to determine whether the drill rod will touch the anchor mesh. If it will not touch the anchor mesh, the anchor bolt operation is performed directly; otherwise, the movement parameters of the anchor bolt are calculated based on the coordinates of the borehole center, and the anchor bolt drilling rig is controlled to adjust its position according to these movement parameters. The anchor-net avoidance method of the anchor drilling machine of the present invention can effectively prevent anchor bolts from hitting the anchor net. It only requires adding a camera near the anchor drilling machine to collect images, which has low hardware cost and simple algorithm. It has low requirements for hardware data processing capabilities, which can significantly reduce hardware cost. Furthermore, after determining that the anchor bolt will touch the anchor net, it directly controls the anchor drilling machine to adjust its position, which helps to improve the success rate of anchor-net avoidance.

[0038] In addition, the anchor mesh avoidance system and the anchor drilling equipment of the present invention also have the above-mentioned advantages.

[0039] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0040] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0041] Figure 1 This is a flowchart illustrating the anchor mesh avoidance method of the anchor drilling rig according to a preferred embodiment of this application;

[0042] Figure 2 This is a schematic diagram of a camera installed on the anchoring equipment to capture images of the top support plate in a preferred embodiment of this application;

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

[0044] Figure 4 This is a schematic diagram of the anchor mesh outline identified in the preferred embodiment of this application;

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

[0046] Figure 6 This is a schematic diagram of the modular structure of the anchor mesh avoidance system of the anchor drilling rig according to a preferred embodiment of this application. Detailed Implementation

[0047] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0048] Reference Figure 1 A preferred embodiment of this application provides a method for anchor mesh avoidance in a bolt drilling rig, including the following:

[0049] Step S1: After the top support plate of the anchor drilling rig extends and the anchor mesh is pressed against the tunnel wall, acquire an image of the top support plate;

[0050] Step S2: Identify the outline of the top support plate from the top support plate image based on the template matching algorithm, and determine the mapping point of the borehole center on the outline of the top support plate according to the actual physical size of the top support plate and the position of the borehole center.

[0051] Step S3: Use an edge detection algorithm to process the image of the area around the mapping point and identify the anchor net outline closest to the mapping point;

[0052] Step S4: Reconstruct the image based on the outline of the anchor mesh, the outline of the top support plate, and the actual physical dimensions, and calculate the coordinates of the borehole center. Determine whether the anchor mesh will be touched based on the borehole center coordinates and the actual physical dimensions. If the anchor mesh will not be touched, proceed directly with the anchor bolt installation. Otherwise, calculate the movement parameters of the anchor bolt based on the borehole center coordinates, and control the anchor bolt drilling machine to adjust its position based on these movement parameters.

[0053] It is understood that the anchor mesh avoidance method of the anchor drilling rig in this embodiment involves acquiring an image of the top support plate after the top support plate supports the anchor mesh, then identifying the outline of the top support plate through a template matching algorithm, and then determining the mapping point of the borehole center on the outline of the top support plate to identify the key areas of concern. Next, for the key areas of concern, the anchor mesh outline closest to the mapping point is identified. Finally, the anchor mesh outline and the top support plate outline are reconstructed in combination with the actual physical dimensions, and the coordinates of the borehole center are determined based on the reconstructed image. This allows it to determine whether the drill rod will touch the anchor mesh. If it will not touch the anchor mesh, the anchor rod is directly driven. Otherwise, the movement parameters of the anchor rod are calculated based on the coordinates of the borehole center, and the anchor drilling rig is controlled to adjust its position based on these movement parameters. The anchor-net avoidance method of the anchor drilling machine of the present invention can effectively prevent anchor bolts from hitting the anchor net. It only requires adding a camera near the anchor drilling machine to collect images, which has low hardware cost and simple algorithm. It has low requirements for hardware data processing capabilities, which can significantly reduce hardware cost. Furthermore, after determining that the anchor bolt will touch the anchor net, it directly controls the anchor drilling machine to adjust its position, which helps to improve the success rate of anchor-net avoidance.

[0054] Understandable, such as Figure 2 As shown, a camera is installed near the anchor drilling rig on the anchoring equipment. This camera can clearly capture the top support plate and the anchor mesh. Preferably, a night vision camera is used, so that clear images can be acquired even in low-light conditions. In step S1, after the anchoring equipment moves to the target position, it first extends the top support plate of the anchor drilling rig, thereby pressing the anchor mesh against the tunnel wall. The top support plate has a built-in pressure sensor. When the pressure sensor reaches a set value, it means that the top support plate has firmly pressed the anchor mesh against the tunnel wall. At this time, the camera is controlled to capture an image of the top support plate. It can be understood that the image of the top support plate is the image of the area where the top support plate is located, including the top support plate, part of the anchor mesh, and the tunnel wall. Furthermore, when multiple anchor drilling rigs are close together, a single camera can be shared.

[0055] It is understood that after acquiring the image of the top support plate in step S1, in step S2, a contour line of the top support plate (e.g., the top contour line, bottom contour line, or left and right contour lines) is identified from the top support plate image using a template matching algorithm. Preferably, the contour line closest to the center of the anchor bolt is identified. Then, based on the actual physical dimensions of the top support plate and the relative position between the center of the borehole on the anchor bolt drilling rig (i.e., the center of the anchor bolt) and the corresponding edge contour of the top support plate, the mapping point of the borehole center on this top support plate contour line can be determined. For example, assuming the top contour line of the top support plate is identified, since the relative position between the center of the anchor bolt on the anchor bolt drilling rig (i.e., the center of the borehole) and the top contour line of the top support plate is known, a perpendicular line is drawn from the borehole center to the top contour line, and the vertical projection point is the mapping point of the anchor bolt center on the top contour line of the top support plate. In addition, the slope of the line connecting the borehole center and the mapping point can also be determined at this time. In addition, in actual anchor drilling rigs, the vertical projection point of the anchor bolt center on the outline of the top support plate is generally the midpoint of the outline, which is related to the size and structural design of the anchor drilling rig.

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

[0057] A template image of the support plate is created, and Canny edge extraction is performed on the template image to obtain its boundary points. Then, Canny edge extraction is performed on the acquired image of the support plate to obtain its boundary points. Finally, a sliding window matching search algorithm is used to match the image based on these boundary points to obtain a contour line of the support plate. The specific sliding window matching search algorithm is existing technology and will not be described in detail here.

[0058] It is understood that in step S3, after determining the mapping point of the borehole center on a top support plate contour line, an edge detection algorithm is used to extract the contours of the pixels around the mapping point in order to identify the anchor mesh contour line closest to the mapping point. For example, Figure 3 As shown, the process of using an edge detection algorithm to process the image of the region surrounding the mapping point and identify the anchor mesh outline closest to the mapping point includes the following:

[0059] Step S31: Use two-dimensional wavelet transform to process the image of the region around the mapping point to obtain low-frequency sub-images and high-frequency sub-images;

[0060] Step S32: Use mathematical morphology detection operators to perform edge detection on the low-frequency sub-image to obtain the edge contour of the low-frequency sub-image;

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

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

[0063] Specifically, a two-dimensional wavelet transform is first applied to process the image of the region surrounding the mapping point, resulting in four sub-images: LL, LH, HL, and HH. LL represents the low-frequency sub-image, while LH, HL, and HH represent the high-frequency sub-images. The specific two-dimensional wavelet transform process is existing technology and will not be elaborated upon here.

[0064] Then, mathematical morphology detection operators are used to perform edge detection on the low-frequency sub-image LL to obtain the edge contours of the low-frequency sub-image. The mathematical morphology detection operators utilize 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] Where G represents the processed image, f represents the original image, and b1, b2, and b3 are all 3×3 matrices.

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

[0068]

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

[0070]

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

[0072] Therefore, the image f(x,y) is smoothed by the smoothing function θ s The two-dimensional binary wavelet transform of (x,y) under 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) are the gradient vectors along the horizontal and vertical directions. The modulus and argument of the wavelet transform of the function f(x,y) at scale s are defined as follows:

[0075]

[0076] Wherein, the gradient vector direction A s f(x,y) on M s The local maxima of f(x,y) correspond to the abrupt changes in the smoothed function, meaning these points are highly likely to be edge points of the image. Furthermore, since uneven grayscale or noise can also produce some fine edges, a threshold needs to be specified. Only local maxima exceeding this threshold can be considered edge points of the image.

[0077] Finally, the edge contours of the low-frequency and high-frequency sub-images are fused using the difference image method to obtain the anchor net contour line closest to the mapping point. The difference image method is an existing algorithm, and its specific principle will not be elaborated here. It can be understood that the identified anchor net contour image is as follows: Figure 4 As shown, the straight line containing EG is the outline of the top support plate, point F is the mapping point of the borehole center on the outline of the top support plate, and rectangle ABCD is the outline of the anchor mesh closest to the mapping point F.

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

[0079] It is understood that in step S4, based on the already identified top support plate outline and anchor mesh outline ABCD, and combined with the actual physical dimensions of the anchor mesh and top support plate, the anchor mesh and top support plate are reconstructed, and the reconstructed image is as follows. Figure 5 As shown, rectangles A`B`C`D` represent the reconstructed anchor mesh outline closest to mapping point F, straight line E`G` represents the reconstructed top support plate outline, and point F` represents the reconstructed mapping point. Furthermore, the specific image reconstruction process is a simple projection transformation process, which is existing technology and will not be elaborated here. Then, the coordinates of the borehole center are calculated based on the reconstructed image. The process of calculating the coordinates of the borehole center includes the following:

[0080] A rectangular coordinate system is established using the two perpendicular sides of the intersecting anchor mesh outline as the X-axis and Y-axis, respectively. The coordinates of the borehole center are calculated based on the following formula:

[0081]

[0082] Where (x0, y0) represents the coordinates of the borehole center, (x f ,yf ) represents the coordinates of the mapping point, D represents the actual distance from the borehole center to the edge of the top support plate, and k represents the slope of the line connecting the mapping point and the borehole center.

[0083] Specifically, if a rectangular coordinate system is established with C`B` as the positive x-axis and C`D` as the positive y-axis, then the coordinates of point E` are (0, y = 0). e The coordinates of point G' are (100, y). g The coordinates of point F' are (x f ,y f ), where 100 represents the actual physical dimensions of the anchor mesh, i.e., the length of C`B`. Based on geometric relationships, the coordinates of the borehole center can be calculated as follows:

[0084] If none of the numbers in the borehole edges [x0-r, x0+r] and [y0-r, y0+r] are divisible by 100, then the anchor bolt will not touch the anchor mesh. If there exists a number X or Y divisible by 100, then the anchor bolt will touch the anchor mesh, where X ∈ [x0-r, x0+r], Y ∈ [y0-r, y0+r], and r is the borehole radius. The anchor bolt's movement parameters are specifically calculated based on the following formula:

[0085]

[0086] Where (x0,y0) represents the coordinates of the borehole center, and (x,y) represents the movement parameter.

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

[0088] In addition, such as Figure 6 As shown, another embodiment of the present invention also provides an anchor mesh avoidance system for an anchor drilling rig, preferably employing the anchor mesh avoidance method for the anchor drilling rig described above. The system includes:

[0089] The image acquisition module is used to acquire images of the top support plate after the top support plate of the anchor drilling rig extends and the anchor mesh is pressed against the roadway wall;

[0090] The mapping point determination module is used to identify the outline of the top support plate from the top support plate image based on the template matching algorithm, and determine the mapping point of the borehole center on the outline of the top support plate according to the actual physical size of the top support plate and the position of the borehole center.

[0091] The anchor net outline recognition module is used to process the image of the area around the mapping point using an edge detection algorithm to identify the anchor net outline closest to the mapping point.

[0092] The anchor mesh avoidance control module is used to reconstruct the image based on the anchor mesh outline, the top support plate outline, and the actual physical dimensions, and calculate the coordinates of the borehole center. Based on the borehole center coordinates and the actual physical dimensions, it determines whether the anchor mesh will be touched. If the anchor mesh will not be touched, the anchor bolt operation is performed directly. Otherwise, the movement parameters of the anchor bolt are calculated based on the borehole center coordinates, and the anchor bolt drilling machine is controlled to adjust its position based on these movement parameters.

[0093] It is understood that the anchor mesh avoidance system of the anchor drilling rig in this embodiment acquires an image of the top support plate after the top support plate supports the anchor mesh, then identifies the outline of the top support plate through a template matching algorithm, and then determines the mapping point of the borehole center on the outline of the top support plate to identify the key areas of concern. Next, for the key areas of concern, the anchor mesh outline closest to the mapping point is identified. Finally, the anchor mesh outline and the top support plate outline are reconstructed in combination with the actual physical dimensions, and the coordinates of the borehole center are determined based on the reconstructed image. It can then be determined whether the drill rod will touch the anchor mesh. If it will not touch the anchor mesh, the anchor rod is directly driven. Otherwise, the movement parameters of the anchor rod are calculated based on the coordinates of the borehole center, and the anchor drilling rig is controlled to adjust its position according to the movement parameters. The anchor bolt drilling rig's anchor mesh avoidance system of the present invention can effectively prevent anchor bolts from hitting the anchor mesh. It only requires adding a camera near the anchor bolt drilling rig to collect images, resulting in low hardware costs. Moreover, the algorithm is simple and has low requirements for the data processing capabilities of the hardware, which can significantly reduce hardware costs. Furthermore, after determining that the anchor bolt will touch the anchor mesh, it directly controls the anchor bolt drilling rig to adjust its position, which helps to improve the success rate of anchor mesh avoidance.

[0094] In addition, another embodiment of the present invention provides a drilling and anchoring device, preferably employing the anchor mesh avoidance system of the anchor drilling machine as described above.

[0095] In addition, another embodiment of the present invention 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 method described above by calling the computer program stored in the memory.

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

[0097] Common computer-readable storage media include: floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs, any other optical media, punch cards, paper tape, any other physical media with perforated patterns, 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 chips or cartridges, or any other media readable by a computer. Instructions may further be transmitted or received by a transmission medium. The term transmission medium can include any tangible or intangible medium used to store, encode, or carry instructions for machine execution, and includes digital or analog communication signals or intangible media that facilitate communication of such instructions. Transmission media include coaxial cables, copper wires, and optical fibers, which contain conductors for transmitting a bus of computer data signals.

[0098] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take 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.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0099] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0100] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0101] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0102] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0103] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

[0104] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for avoiding anchor mesh in a bolt drilling rig, characterized in that, Includes the following: After the top support plate of the anchor drilling rig extends and presses the anchor mesh against the tunnel wall, an image of the top support plate is acquired; The template matching algorithm is used to identify the outline of the top support plate from the top support plate image, and the mapping point of the borehole center on the outline of the top support plate is determined according to the actual physical size of the top support plate and the position of the borehole center. Edge detection algorithms are used to process the image of the region surrounding the mapping point to identify the anchor net outline closest to the mapping point; Image reconstruction is performed based on the outline of the anchor mesh, the outline of the top support plate, and the actual physical dimensions. The coordinates of the borehole center are calculated. The anchor mesh is then checked based on the borehole center coordinates and the actual physical dimensions. If the anchor mesh is not touched, the anchor bolt operation is performed directly. Otherwise, the movement parameters of the anchor bolt are calculated based on the borehole center coordinates, and the anchor bolt drilling machine is adjusted according to these movement parameters. The process of calculating the coordinates of the borehole center includes the following: A rectangular coordinate system is established using the two perpendicular sides of the intersecting anchor mesh outline as the X-axis and Y-axis, respectively. The coordinates of the borehole center are calculated based on the following formula: Where (x0, y0) represents the coordinates of the borehole center, (x f ,y f ) represents the coordinates of the mapping point, D represents the actual distance from the borehole center to the edge of the top support plate, and k represents the slope of the line connecting the mapping point and the borehole center; If none of the numbers in the borehole edges [x0-r,x0+r] and [y0-r,y0+r] are divisible by 100, then the anchor rod will not touch the anchor mesh. If there exists a number X or Y that is divisible by 100, then the anchor rod will touch the anchor mesh. Here, X∈[x0-r,x0+r], Y∈[y0-r,y0+r], 100 is the actual physical size of the rectangular hole in the anchor mesh, and r is the borehole radius.

2. The anchor mesh avoidance method for anchor drilling rigs as described in claim 1, characterized in that, The movement parameters of the anchor bolt are calculated based on the following formula: Where (x0,y0) represents the coordinates of the borehole center, and (x,y) represents the movement parameter.

3. The anchor mesh avoidance method for anchor drilling rigs as described in claim 1, characterized in that, The process of using an edge detection algorithm to process the image of the region surrounding the mapping point and identify the anchor mesh outline closest to the mapping point includes the following: Two-dimensional wavelet transform is used to process the image of the region around the mapping point to obtain low-frequency sub-images and high-frequency sub-images; Mathematical morphology detection operators are used to perform edge detection on low-frequency sub-images to obtain the edge contours of low-frequency sub-images; The wavelet modulus maxima detection algorithm is used to perform edge detection on the high-frequency sub-image to obtain the edge contour of the high-frequency sub-image; The edge contours of low-frequency and high-frequency sub-images are fused using the difference image method to obtain the anchor net contour line closest to the mapping point.

4. The anchor mesh avoidance method for anchor drilling rigs as described in claim 1, characterized in that, The process of identifying the outline of the top support plate from the top support plate image based on the template matching algorithm includes the following: Create a template image of the top support plate, extract the edges of the template image to obtain the boundary points of the template image, extract the edges of the acquired top support plate image to 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 the outline of the top support plate.

5. An anchor mesh avoidance system for an anchor bolt drilling rig, employing the anchor mesh avoidance method for an anchor bolt drilling rig as described in any one of claims 1 to 4, characterized in that, include: The image acquisition module is used to acquire images of the top support plate after the top support plate of the anchor drilling rig extends and the anchor mesh is pressed against the roadway wall; The mapping point determination module is used to identify the outline of the top support plate from the top support plate image based on the template matching algorithm, and determine the mapping point of the borehole center on the outline of the top support plate according to the actual physical size of the top support plate and the position of the borehole center. The anchor net outline recognition module is used to process the image of the area around the mapping point using an edge detection algorithm to identify the anchor net outline closest to the mapping point. The anchor mesh avoidance control module is used to reconstruct the image based on the anchor mesh outline, the top support plate outline, and the actual physical dimensions, and calculate the coordinates of the borehole center. Based on the borehole center coordinates and the actual physical dimensions, it determines whether the anchor mesh will be touched. If the anchor mesh will not be touched, the anchor bolt operation is performed directly. Otherwise, the movement parameters of the anchor bolt are calculated based on the borehole center coordinates, and the anchor bolt drilling machine is controlled to adjust its position based on these movement parameters.

6. A tunneling and anchoring device, characterized in that, The anchor mesh avoidance system of the anchor drilling rig as described in claim 5 is adopted.

7. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the method as described in any one of claims 1 to 4 by calling the computer program stored in the memory.

8. A computer-readable storage medium for storing a computer program for anchor drilling rigs to avoid anchor nets, characterized in that, The computer program, when run on a computer, performs the steps of the method as described in any one of claims 1 to 4.

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