Coal mine body intelligent drilling and anchoring jetting robot and collaborative working method thereof

Abstract

The coal mine body intelligent drilling and anchoring and spraying robot and the collaborative working method thereof relate to the intelligent field of underground coal mines and solve the problems of the adaptive collaborative control method of the current underground anchoring and spraying robot, the difficulty in guaranteeing the reliability of the robot in a complex working dynamic scene and the like. The coal mine body intelligent drilling and anchoring and spraying robot comprises a walking module, an anchoring module, a spraying module, a supporting module and a sensing module. The walking module is installed below the anchoring module flat plate and the spraying module flat plate. The anchoring module is installed on one side of the whole machine base. The spraying module is symmetrically installed on the other side of the whole machine base. The supporting module is installed above the anchoring module flat plate. The sensing module is respectively installed in front of the walking module, at the front end of the anchoring module flat plate, above the automatic rod changing drilling and anchoring machine of the anchoring module and in front of the spraying assembly of the spraying module. The present application is suitable for harsh working conditions such as high dust, low illumination and limited space in underground coal mines.

Description

Technical Field

[0001] This invention relates to the field of intelligent underground coal mining, specifically to an intelligent drilling, anchoring, and spraying robot for coal mines and its collaborative working method. Background Technology

[0002] Tunnel excavation, as a fundamental engineering project in my country's underground coal mining, directly impacts mine productivity due to its excavation speed. Statistics show that my country excavates 12,000 km of new tunnels annually. However, except for mining areas with favorable geological conditions like those in northern Shaanxi and Shendong, the remaining 90% of mines with general or complex geological conditions average less than 200 m of tunneling progress per month. This slow speed and low level of automation severely restrict safe and efficient coal production. In the tunnel excavation process, drilling, anchoring, and support operations account for over 70% of the total tunneling time and require over 60% of the manpower at the excavation face. Furthermore, traditional drilling and anchoring equipment suffers from low levels of automation, lacking technologies such as tunnel environment perception, drilling and anchoring operation planning, and adaptive drilling, significantly limiting the improvement of excavation efficiency. Therefore, optimizing drilling, anchoring, and support operations, developing intelligent drilling and anchoring robots for coal mines, and exploring multi-source information perception and control methods for robots are crucial for advancing the "less manned and unmanned" process in underground coal mines.

[0003] In the existing technology, related equipment and control methods have formed a certain application foundation. For example, Chinese Patent Publication No. CN114320355A discloses an anchor-support shotcrete robot, which includes a walking device, an anchor drilling device, and a shotcrete device. The walking device can move on its own. The anchor drilling device and the shotcrete arm assembly are located on the walking device. The anchor drilling device can drive anchor rods or anchor cables. The shotcrete device includes a shotcrete arm assembly and a shotcrete component. The shotcrete component is located at the free end of the shotcrete arm assembly. The shotcrete component includes a first sensor, a shotcrete base frame, a shotcrete slide, a second sensor, a first shotcrete drive, a second shotcrete drive, and a nozzle. The first sensor is located at the free end of the shotcrete arm assembly or the shotcrete base frame. The shotcrete base frame is rotatably connected to the free end of the shotcrete arm assembly. The shotcrete slide is guided and slidably assembled on the shotcrete base frame. The first shotcrete drive is connected between the shotcrete base frame and the shotcrete slide. The nozzle is located on the shotcrete slide. The second shotcrete drive is located between the nozzle and the shotcrete slide. However, the anchoring of tunnels is mostly anchor-sprayed support, which is to support the surrounding rock of the tunnel by means of anchor bolts and shotcrete. Moreover, anchor-sprayed support is mostly operated by underground workers, which is labor-intensive and has low support efficiency. Chinese Patent Publication No. CN120026915A discloses a spraying and drilling-anchoring integrated tunneling device. The device includes a cantilever tunneling machine, a moving assembly, an integrated drilling-anchoring drill arm, a spraying robotic arm, and a control assembly. The cantilever tunneling machine includes a frame, a track assembly connected to the frame, a sliding boom that is movable relative to the frame, an adjusting arm connected to and movable relative to the sliding boom, and an integrated drilling-anchoring drill arm connected to and movable relative to the adjusting arm. The integrated drilling-anchoring drill arm is used for anchoring operations onto the tunnel wall. The spraying robotic arm is connected to the adjusting arm to spray support materials onto the tunnel wall. The control component is used to coordinate the movement of the integrated drilling and anchoring arm and the spraying robotic arm, integrating the spraying, drilling and anchoring processes and tunneling into one. However, most existing tunneling modes rely on cantilever tunneling machines, single-unit top anchor drilling rigs, and side anchor drilling rigs working together. On the one hand, in the "drilling-anchoring-" operation, the tunneling and support repeatedly switch positions, interfering with each other and affecting tunneling efficiency. On the other hand, there is a lack of effective temporary support, and anchor bolt construction relies on manual labor, which is labor-intensive, inefficient, and time-consuming.

[0004] In summary, existing methods for multi-source information perception in underground coal mines lack real-time performance and robustness. While significant progress has been made in environmental perception and digitization research, including 3D reconstruction of coal mine roadways, equipment positioning, and process identification, utilizing a variety of technologies such as lidar, visual sensing, multi-source fusion SLAM, and digital twins, current methods primarily focus on model building and feature extraction under static or controlled conditions. When facing unstructured scenarios with strong dust, low light, strong vibration, and dynamic changes underground, the real-time performance and robustness of the perception modules still need improvement, and the ability to continuously and accurately identify the collaborative state of multiple targets—equipment, surrounding rock, and personnel—remains significantly insufficient.

[0005] Current theories and methods for fusion in anchor spraying robots under extreme conditions in underground mines are insufficient to guarantee the overall robustness of the perception module in dynamic scenarios. Faced with harsh working conditions such as high dust, low light, and confined spaces in underground mines, multi-source heterogeneous data still have significant differences in quality, spatiotemporal reference, and semantics. Existing fusion methods are still insufficient in terms of effective cross-modal feature complementarity, conflict resolution, and missing feature tolerance, making it difficult to guarantee the overall robustness of the perception module in dynamic scenarios.

[0006] Current adaptive collaborative control methods for downhole anchor spraying robots struggle to guarantee their reliability in complex dynamic working scenarios. Current research has focused on equipment attitude control, load adaptation, and multi-robot collaboration at the tunneling face, developing various methods such as adaptive control, intelligent optimization algorithms, and reinforcement learning, achieving significant results in improving module dynamic response and operational stability. However, existing strategies still face challenges in dealing with abrupt geological changes, strong coupling of multiple processes, and long-term module operation. These challenges include the model's generalization ability, rapid adaptation to new tasks, and the collaborative safety and efficiency of multiple units under various uncertainties. Summary of the Invention

[0007] This invention addresses the shortcomings of existing multi-source information perception in coal mine environments in terms of real-time performance and robustness. Furthermore, current theories and methods for fusing information in anchor-spraying robots under extreme underground conditions struggle to guarantee the overall robustness of the perception module in dynamic scenarios. Moreover, current adaptive collaborative control methods for underground anchor-spraying robots cannot guarantee the robot's reliability in complex dynamic work scenarios. The generalization ability of existing strategies, their rapid adaptation to new tasks, and their collaborative safety and efficiency under various uncertainties remain challenging when facing sudden geological changes, strong coupling of multiple processes, and long-term module operation. Therefore, this invention proposes an embodied intelligent drilling and anchor-spraying robot for coal mines and its collaborative working method.

[0008] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: Option 1: This invention proposes a coal mine intelligent drilling, anchoring, and shotcreting robot. The robot includes a walking module, an anchoring module, a shotcreting module, a support module, and a sensing module. The walking module includes a base, the anchoring module includes an anchoring module plate, and the shotcreting module includes a shotcreting module plate. The walking module is installed below the anchoring module plate and the shotcreting module plate, and the anchoring module is installed on one side of the base. The shotcreting modules are symmetrically installed on the other side of the base. The support module is installed above the anchoring module plate. The sensing modules are respectively installed in front of the walking module, at the front end of the anchoring module plate, above the anchoring module, and in front of the shotcreting module.

[0009] Furthermore, in a preferred embodiment, the walking module further includes a track and a track mounting component. The track is connected to the track mounting component by bolts; the track mounting component is connected to the track by bolts; and the base of the machine is connected to the track mounting component by welding.

[0010] Furthermore, a preferred embodiment is provided, wherein the anchoring module further includes a screw slide, a ball screw slide, a transverse slide rail, a transverse push cylinder fixing ear plate, a transverse push cylinder, a right top plate anchoring module, and a left side wall anchoring module. The anchoring module plate is welded to one side of the base plate of the walking module; the screw slide is symmetrically installed above the anchoring module plate near the left and right sides by bolts; the ball screw slide seat cooperates with the slide rod of the screw slide seat; the transverse slide rail is connected to the ball screw slide seat by bolts; the transverse push cylinder fixing ear plates are symmetrically installed at both ends of the transverse slide rail and inside the slide seats of the right top plate anchoring module and the left side anchoring module by welding; the two ends of the transverse push cylinder are connected to the installed transverse push cylinder fixing ear plates by pins; the right top plate anchoring module is connected to the transverse push cylinder fixing ear plates by bolts and is symmetrically assembled on the transverse slide rail; the left side anchoring module is connected to the transverse push cylinder fixing ear plates by bolts and is symmetrically assembled on the transverse slide rail.

[0011] Furthermore, a preferred embodiment is provided, wherein the right-side top plate anchoring module includes a right-side top plate anchoring module slide, a top plate drilling rig rotating support, a top plate drilling rig swing push rod fixing ear plate, a top plate drilling rig swing push rod, and a first automatic rod-changing drilling and anchoring machine; the right-side top plate anchoring module slide is installed on the transverse slide rail of the anchoring module; the top plate drilling rig rotating support is connected to the right-side top plate anchoring module slide by bolts; the top plate drilling rig swing push rod fixing ear plate is connected to the slide and the first automatic rod-changing drilling and anchoring machine by bolts; the top plate drilling rig swing push rod is connected to the top plate drilling rig swing push rod fixing ear plate by pins; the first automatic rod-changing drilling and anchoring machine is connected to the top plate drilling rig rotating support and the top plate drilling rig swing push rod fixing ear plate by bolts.

[0012] Furthermore, a preferred embodiment is provided, wherein the left side anchoring module includes a left side anchoring module slide, a side drilling rig rotation support, a first-stage rocker arm of the side anchoring module, a fixed ear plate for the telescopic push cylinder of the first-stage rocker arm of the side anchoring module, a telescopic push cylinder of the first-stage rocker arm of the side anchoring module, a double rocker arm transition adapter, a second-stage rocker arm of the side anchoring module, a fixed ear plate for the telescopic cylinder of the second-stage rocker arm of the side anchoring module, a telescopic cylinder of the second-stage rocker arm of the side anchoring module, a fixed connection between the second-stage rocker arm of the side anchoring module and the drilling rig, and a second automatic rod changing drilling and anchoring machine; The left side anchoring module slide is mounted on the transverse slide rail of the anchoring module; the side drilling rig rotating support is connected to the left side anchoring module slide and the double rocker arm transition adapter by bolts, and is symmetrically installed on both sides of the inner wall; the first-stage rocker arm of the side anchoring module is connected to the side drilling rig rotating support and the double rocker arm transition adapter installed in the left side anchoring module slide by bolts; the fixing ear plate of the first-stage rocker arm telescopic push cylinder of the side anchoring module is connected to the left side anchoring module slide and the first-stage rocker arm of the side anchoring module by bolts; the first-stage rocker arm telescopic push cylinder of the side anchoring module is connected to the fixing ear plate of the first-stage rocker arm telescopic push cylinder of the side anchoring module by pins; the double rocker arm transition adapter is connected to the side anchoring module by bolts. The primary rocker arm is connected to the rotating support of the sidewall drilling rig; the secondary rocker arm of the sidewall anchoring module is connected to the rotating support of the sidewall drilling rig and the fixed connection between the secondary rocker arm and the drilling rig, which are installed on the inner wall of the double rocker arm transition adapter, respectively, by bolting; the fixing lugs of the telescopic cylinder of the secondary rocker arm of the sidewall anchoring module are installed on the inner side of the upper arm of the double rocker arm transition adapter and the secondary rocker arm of the sidewall anchoring module by bolting; the two ends of the telescopic cylinder of the secondary rocker arm of the sidewall anchoring module are connected to the fixing lugs of the telescopic cylinder of the secondary rocker arm of the sidewall anchoring module by pins; the fixed connection between the secondary rocker arm and the drilling rig is connected to the secondary rocker arm of the sidewall anchoring module and the second automatic rod changing drilling and anchoring machine by bolting; the second automatic rod changing drilling and anchoring machine is connected to the fixed connection between the secondary rocker arm and the drilling rig by bolting.

[0013] Furthermore, in a preferred embodiment, the shotcrete module further includes a base, a base, an articulated arm, a rotating joint, an articulated forearm, an end effector, a shotcrete head, a shotcrete pump station bracket, and a hydraulic pump station; The shotcrete module plate is welded to the rear half of the base plate of the walking module; the base is bolted to the shotcrete module plate; the base is mounted on the upper end of the base; the two ends of the articulated arm are respectively mounted to the base and the rotating joint; the rotating joint is respectively mounted to the articulated arm and the articulated forearm; the two ends of the articulated forearm are respectively mounted to the rotating joint and the end effector; the end effector is respectively mounted to the articulated forearm and the shotcrete head; the shotcrete head is bolted to the end effector; the shotcrete pump station bracket is bolted to the base plate and the shotcrete module plate; the hydraulic pump station is bolted to the shotcrete pump station bracket.

[0014] Furthermore, a preferred embodiment is provided, wherein the support module includes a top plate support module and a side support module; the top plate support module is connected to the shotcrete module plate by bolt connection; the side support modules are respectively installed on both sides of the top plate support module by bolt connection. The top plate support module in the support module includes support columns, top plate support leg sliding sleeves, top plate support leg upper sliding sleeves, and top plate support square tubes; the support columns are installed at the four corners of the anchoring module plate by bolt connection; the top plate support leg sliding sleeves are connected to the support columns by welding; the top plate support leg upper sliding sleeves are assembled with the top plate support leg sliding sleeves; and the top plate support square tubes are connected to the top plate support leg upper sliding sleeves by welding.

[0015] Furthermore, a preferred embodiment is provided, wherein the support module further includes a side support cylinder and a side support frame; the side support cylinder is connected to the four support columns and the sliding sleeve of the top plate support leg by bolt connection; the side support frame is connected to the side support cylinder by bolt connection.

[0016] Furthermore, a preferred embodiment is provided, wherein the sensing module includes an ultrasonic radar, a lidar, an industrial camera, a millimeter-wave radar, and an inertial navigation system; the ultrasonic radar is symmetrically installed at the front end of the base plate of the whole machine; the lidar is respectively installed on the foremost side of the anchoring module plate and on the shotcrete pump station bracket of the shotcrete head; the industrial camera is respectively installed in front of the four second automatic rod changing drilling and anchoring machines and on the shotcrete pump station bracket of the shotcrete head; the millimeter-wave radar and the inertial navigation system are installed on the shotcrete pump station bracket of the shotcrete head.

[0017] Option 2: A collaborative working method for a coal mine embossed intelligent drilling, anchoring, and spraying robot, the method being implemented based on any one of the coal mine embossed intelligent drilling, anchoring, and spraying robots described in Option 1, the method comprising the following steps: Step 1: After the intelligent drilling and anchoring robot enters the fully mechanized tunneling face, it collects multi-source heterogeneous data in an ultra-low visibility environment through vision sensors, lidar, and pose measurement modules; based on the multi-source heterogeneous data, it extracts multi-dimensional features of the surrounding rock of the roadway, the robot body, and the operators, and constructs a multi-target recognition and dynamic capture system for equipment-surrounding rock-personnel, so as to achieve accurate positioning and trajectory tracking of key objects. Step 2: Based on the multi-source heterogeneous data collected in Step 1, construct a multi-source heterogeneous data federated learning fusion model to achieve accurate perception of complex environments under extreme working conditions; at the same time, construct a dynamic three-dimensional mapping mechanism for equipment pose, process sequence and surrounding rock response, establish a transparent spatiotemporal representation model of the entire process chain, and realize full-process spatiotemporal state visualization of the anchoring module, shotcreting module and support module processes. Step 3: Construct a multi-process collaborative dynamic game decision-making framework. Based on the decision-making framework, the walking module drives the robot to position itself, and the anchoring module, shotcrete module, and support module complete the drilling anchoring, shotcrete support, and temporary support operations, respectively, to realize the autonomous collaborative operation of the drilling, anchoring, and shotcrete robot under complex geological conditions.

[0018] The advantages of this invention are: This invention discloses a coal mine embodied intelligent drilling, anchoring, and shotcreting robot and its collaborative working method. It constructs an embodied intelligent anchoring and shotcreting robot integrating walking, anchor bolt support, shotcreting, and support operations. Furthermore, it applies advanced technologies such as multi-sensor fusion, online trajectory planning, and pump-valve linkage control to construct an embodied intelligent module for the drilling and anchoring robot. This enables comprehensive perception of the drilling and anchoring equipment's operating environment and status, online planning and posture control of the drill arm trajectory, and adaptive drilling under complex coal and rock loads. Ultimately, the embodied intelligent module of the drilling and anchoring robot achieves a closed-loop operation from intelligent perception and autonomous decision-making to automatic control.

[0019] This invention discloses an intelligent drilling, anchoring, and shotcreting robot for coal mines. This robot, integrating drilling, anchoring, and shotcreting, can more intelligently and flexibly complete drilling, anchoring, and shotcreting tasks underground in coal mines. It employs a multi-target recognition, dynamic capture, and multi-sensor spatiotemporal calibration and precise alignment method for roadways, equipment, and personnel in ultra-low visibility environments, forming a cross-domain fusion perception system adapted to the collaborative operations of drilling, anchoring, and shotcreting in fully mechanized tunneling faces. Furthermore, it constructs a dynamic three-dimensional mapping mechanism for equipment pose, process sequence, and roadway surrounding rock response, establishing a transparent spatiotemporal representation model for the entire process of drilling positioning, anchor installation, and shotcreting thickness. Additionally, it constructs a dynamic game-theoretic decision-making framework for multi-process collaborative operations of the drilling, anchoring, and shotcreting robot under multi-source uncertainty environments, establishing a collaborative game model for resource competition and task priority among processes, proposing an equilibrium decision-making strategy and an autonomous fault-tolerant decision-making method under multi-objective constraints, forming an intelligent decision-making system for complex operating environments, and realizing multi-process collaborative autonomous intelligent operation.

[0020] This invention is also applicable to harsh working conditions such as high dust, low light, and confined spaces underground. Attached Figure Description

[0021] Figure 1 This is an isometric view of the intelligent drilling, anchoring, and spraying robot for coal mines as described in Embodiment 1.

[0022] Figure 2 This is a side view of the intelligent drilling, anchoring, and spraying robot for coal mines as described in Embodiment 1.

[0023] Figure 3 This is a schematic diagram of the anchoring module in the intelligent drilling and anchoring robot for coal mines described in Embodiment 1.

[0024] Figure 4 This is a structural diagram of the right-side roof anchoring module in the intelligent drilling, anchoring, and spraying robot for coal mines described in Embodiment 1.

[0025] Figure 5 This is a schematic diagram of the left-side side anchoring module in the intelligent drilling and anchoring robot for coal mines described in Embodiment 1.

[0026] Figure 6This is a schematic diagram of the shotcrete module in the intelligent drilling and anchoring robot for coal mines described in Embodiment 1.

[0027] Figure 7 A schematic diagram of the support module in the intelligent drilling and anchoring robot for coal mines described in Embodiment 1.

[0028] The system includes: a walking module 1, an anchoring module 2, a shotcrete module 3, a support module 4, a sensing module 5, a track 1-1, a track mounting component 1-2, a base 1-3, an anchoring module plate 2-1, a screw slide 2-2, a ball screw slide 2-3, a transverse slide rail 2-4, a transverse push cylinder fixing ear plate 2-5, a transverse push cylinder 2-6, a right top plate anchoring module 2-7, a left side anchoring module 2-8, and a right top plate anchoring module slide 2. -7-1, Top slab drilling rig rotating support; 2-7-2, Top slab drilling rig swing push rod fixing lug; 2-7-3, Top slab drilling rig swing push rod; 2-7-4, First automatic rod changing drilling and anchoring machine; 2-7-5, Left side anchoring module slide block; 2-8-1, Side slab drilling rig rotating support; 2-8-2, Side slab anchoring module first-stage rocker arm; 2-8-3, Side slab anchoring module first-stage rocker arm telescopic push cylinder fixing lug; 2-8-4, Side slab anchoring module first-stage rocker arm. Telescopic push cylinder 2-8-5, double rocker arm transition adapter 2-8-6, side anchoring module secondary rocker arm 2-8-7, side anchoring module secondary rocker arm telescopic cylinder fixing ear plate 2-8-8, side anchoring module secondary rocker arm telescopic cylinder 2-8-9, side secondary rocker arm and drilling rig fixing connection 2-8-10, second automatic rod changing drilling and anchoring machine 2-8-11, shotcrete module plate 3-1, base 3-2, base 3-3, articulated arm 3-4. Rotating joint 3-5, joint forearm 3-6, end effector 3-7, shotcrete head 3-8, shotcrete pump station bracket 3-9, hydraulic pump station 3-10, support column 4-1-1, roof support leg sliding sleeve 4-1-2, roof support leg upper sliding sleeve 4-1-3, roof support square tube 4-1-4, side support cylinder 4-2-1, side support frame 4-2-2, ultrasonic radar 5-1, lidar 5-2, industrial camera 5-3. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them.

[0030] Implementation Method 1: The purpose of this invention is to provide a coal mine intelligent drilling, anchoring, and shotcreting robot, comprising five parts: a walking module 1, an anchoring module 2, a shotcreting module 3, a support module 4, and a sensing module 5. The walking module 1 is installed below the anchoring module plate 2-1 and the shotcreting module plate 3-1, and the anchoring module 2 is installed on one side of the machine base 1-3. The shotcreting module 3 is symmetrically installed on the other side of the machine base 1-3. The support module 4 is installed above the anchoring module plate 2-1. The sensing module 5 is installed in front of the walking module 1, at the front end of the anchoring module plate 2-1, above the first automatic rod changing drilling and anchoring machine 2-7-5 of the anchoring module 2, and in front of the shotcreting module 3.

[0031] The walking module 1 includes a track 1-1, a track mounting component 1-2, and a base 1-3. The track 1-1 is connected to the track mounting component 1-2 by bolts; the track mounting component 1-2 is connected to the track 1-1 by bolts; and the base 1-3 is connected to the track mounting component 1-2 by welding.

[0032] The anchoring module 2 includes an anchoring module plate 2-1, a screw slide 2-2, a ball screw slide 2-3, a transverse slide rail 2-4, a transverse push cylinder fixing ear plate 2-5, a transverse push cylinder 2-6, a right top plate anchoring module 2-7, and a left side plate anchoring module 2-8. Anchoring module plate 2-1 is welded to one side of the base plate of walking module 1; screw slide 2-2 is symmetrically installed above anchoring module plate 2-1 near the left and right sides by bolt connection; ball screw slide 2-3 cooperates with the slide rod of screw slide 2-2; transverse slide rail 2-4 is connected to ball screw slide 2-3 by bolt connection; transverse push cylinder fixing ear plate 2-5 is symmetrically installed at both ends of transverse slide rail 2-4 and anchored on the right top plate by welding. The inner side of the slide block of module 2-7 and the left side anchoring module 2-8; the two ends of the transverse push cylinder 2-6 are respectively connected to the installed transverse push cylinder fixing ear plate 2-5 by pin connection; the right top plate anchoring module 2-7 is connected to the transverse push cylinder fixing ear plate 2-5 by bolt connection, and is symmetrically assembled on the transverse slide rail 2-4; the left side anchoring module 2-8 is connected to the transverse push cylinder fixing ear plate 2-5 by bolt connection, and is symmetrically assembled on the transverse slide rail 2-4.

[0033] The right-side top plate anchoring module 2-7 includes a right-side top plate anchoring module slide 2-7-1, a top plate drilling rig rotating support 2-7-2, a top plate drilling rig swing push rod fixing lug 2-7-3, a top plate drilling rig swing push rod 2-7-4, and a first automatic rod changing drilling and anchoring machine 2-7-5; the right-side top plate anchoring module slide 2-7-1 is installed on the transverse slide rail 2-4 of the anchoring module 2; the top plate drilling rig rotating support 2-7-2 is bolted to the right-side top plate anchoring module slide 2-7-1. 1. Connected; the fixed ear plate 2-7-3 of the swing push rod of the top slab drilling rig is connected to the slide 2-7-1 and the first automatic rod changing drilling and anchoring machine 2-7-5 respectively by bolt connection; the swing push rod 2-7-4 of the top slab drilling rig is connected to the fixed ear plate 2-7-3 of the swing push rod of the top slab drilling rig by pin connection; the first automatic rod changing drilling and anchoring machine 2-7-5 is connected to the rotating support 2-7-2 of the top slab drilling rig and the fixed ear plate 2-7-3 of the swing push rod of the top slab drilling rig by bolt connection.

[0034] The left side anchoring module 2-8 includes a left side anchoring module slide block 2-8-1, a side drilling rig rotation support 2-8-2, a first-stage rocker arm of the side anchoring module 2-8-3, a fixed ear plate for the telescopic push cylinder of the first-stage rocker arm of the side anchoring module 2-8-4, a telescopic push cylinder of the first-stage rocker arm of the side anchoring module 2-8-5, a double rocker arm transition adapter 2-8-6, a second-stage rocker arm of the side anchoring module 2-8-7, a fixed ear plate for the telescopic cylinder of the second-stage rocker arm of the side anchoring module 2-8-8, a telescopic cylinder of the second-stage rocker arm of the side anchoring module 2-8-9, a fixed connection between the second-stage rocker arm of the side anchoring module and the drilling rig 2-8-10, and a second automatic rod changing drilling and anchoring machine 2-8-11; The left side anchoring module slide block 2-8-1 is installed on the transverse slide rail 2-4 of the anchoring module; the side drilling rig rotating support 2-8-2 is connected to the left side anchoring module slide block 2-8-1 and the double rocker arm transition adapter 2-8-6 by bolts, and is symmetrically installed on both sides of the inner wall; the first-stage rocker arm 2-8-3 of the side anchoring module is connected to the side drilling rig rotating support 2-8-2 and the double rocker arm transition adapter 2-8-6 installed in the left side anchoring module slide block 2-8-1 by bolts. -8-6 are connected; the fixing ear plate 2-8-4 of the first-stage rocker arm telescopic push cylinder of the side anchoring module is connected to the slide block 2-8-1 of the left side anchoring module and the first-stage rocker arm 2-8-3 of the side anchoring module by bolts; the telescopic push cylinder 2-8-5 of the first-stage rocker arm of the side anchoring module is connected to the fixing ear plate 2-8-4 of the telescopic push cylinder of the first-stage rocker arm of the side anchoring module by pins; the double rocker arm transition adapter 2-8-6 is connected to the first-stage rocker arm 2-8-3 of the side anchoring module by bolts. -8-3 is connected to the sidewall drilling rig rotating support 2-8-2; the sidewall anchoring module secondary rocker arm 2-8-7 is connected by bolts to the sidewall drilling rig rotating support 2-8-2 and the sidewall secondary rocker arm and drilling rig fixed connection 2-8-10 installed on the inner wall of the double rocker arm transition adapter 2-8-6; the sidewall anchoring module secondary rocker arm telescopic cylinder fixing ear plate 2-8-8 is connected by bolts to the inner side of the upper arm of the double rocker arm transition adapter 2-8-6 and the sidewall anchoring module secondary rocker arm 2-8-10. 8-7 (top); The two ends of the secondary rocker arm telescopic cylinder 2-8-9 of the side anchoring module are connected to the fixed ear plate 2-8-8 of the secondary rocker arm telescopic cylinder of the side anchoring module by means of pin connection; The secondary rocker arm and the drilling rig fixed connection piece 2-8-10 of the side anchoring module are connected to the secondary rocker arm 2-8-7 of the side anchoring module and the second automatic rod changing drilling and anchoring machine 2-8-11 by means of bolt connection; The second automatic rod changing drilling and anchoring machine 2-8-11 is connected to the secondary rocker arm and the drilling rig fixed connection piece 28-10 of the side anchoring module by means of bolt connection.

[0035] The shotcrete module 3 includes a shotcrete module plate 3-1, a base 3-2, a base 3-3, an articulated arm 3-4, a rotating joint 3-5, an articulated forearm 3-6, an end effector 3-7, a shotcrete head 3-8, a shotcrete pump station bracket 3-9, and a hydraulic pump station 3-10. The shotcrete module plate 3-1 is installed on the rear half of the base plate of the walking module by welding; the base 3-2 is connected to the shotcrete module plate 3-1 by bolts; the base 3-1 is assembled on the upper end of the base 3-2; the two ends of the articulated arm 3-4 are respectively assembled to the base 3-3 and the rotating joint 3-5; the rotating joint 3-5 is respectively assembled to the articulated arm 3-4 and the articulated forearm 3-6; the two ends of the articulated forearm 3-6 are respectively assembled to the rotating joint 3-5 and the end effector 3-7; the end effector 3-7 is respectively assembled to the articulated forearm 3-6 and the shotcrete head 3-8; the shotcrete head 3-8 is connected to the end effector 3-7 by bolts; the shotcrete pump station bracket 3-9 is connected to the base plate of the machine and the shotcrete module plate 3-1 by bolts; the hydraulic pump station 3-10 is connected to the shotcrete pump station bracket 3-9 by bolts.

[0036] The support module 4 includes a top plate support module and a side support module; the top plate support module is connected to the shotcrete module plate 3-1 by bolts; the side support modules are installed on both sides of the top plate support module by bolts. The top plate support module in support module 4 includes support columns 4-1-1, top plate support leg sliding sleeves 4-1-2, top plate support leg upper sliding sleeves 4-1-4, and top plate support square tubes 4-1-4. The support columns 4-1-1 are installed at the four corners of the anchoring module plate 2-1 by bolt connection. The top plate support leg sliding sleeves 4-1-2 are connected to the support columns 4-1-1 by welding. The top plate support leg upper sliding sleeves 4-1-4 are assembled with the top plate support leg sliding sleeves 4-1-2. The top plate support square tubes 4-1-4 are connected to the top plate support leg upper sliding sleeves 4-1-4 by welding.

[0037] The support module 4 also includes a side support cylinder 4-2-1 and a side support frame 4-2-2; the side support cylinder 4-2-1 is connected to the four support columns 4-1-1 and the sliding sleeve 4-1-2 of the top plate support leg by bolts; the side support frame 4-2-2 is connected to the side support cylinder 4-2-1 by bolts.

[0038] The sensing module 5 includes an ultrasonic radar 5-1, a lidar 5-2, an industrial camera 5-3, a millimeter-wave radar, and an inertial navigation system. The ultrasonic radar 5-1 is symmetrically installed at the front end of the base plate of the whole machine. The lidar 5-2 is installed on the front side of the anchoring module plate 2-1 and on the shotcrete pump station bracket 3-9 of the shotcrete head 3-8, respectively. The industrial camera 5-3 is installed in front of the four second automatic rod changing drilling and anchoring machines 2-8-11 and on the shotcrete pump station bracket 3-9 of the shotcrete head 3-8, respectively. The millimeter-wave radar and the inertial navigation system are installed on the shotcrete pump station bracket 3-9 of the shotcrete head 3-8.

[0039] Implementation Method 2: This implementation method proposes a collaborative working method for a coal mine intelligent drilling and shotcrete robot. The method is based on the coal mine intelligent drilling and shotcrete robot described in Implementation Method 1, and includes the following steps: Step 1: After the robot enters the tunnel face, the perception module is immediately activated. It collects multi-source heterogeneous data in the ultra-low visibility environment through vision sensors, LiDAR 5-2, and pose measurement module. Based on this data, it extracts multi-dimensional features of the surrounding rock of the tunnel, the robot body, and the operators, and constructs a multi-target recognition and dynamic capture system of "equipment-surrounding rock-personnel" to achieve accurate positioning and trajectory tracking of key objects. A multi-sensor spatiotemporal calibration and precise alignment mechanism is established simultaneously to eliminate data spatiotemporal deviations and lay the foundation for subsequent cross-domain fusion sensing. At this time, the walking module is in low-speed stable standby mode, while the anchoring, shotcreting, and support modules are all in the initial standby position to ensure safety and stability during the data acquisition phase.

[0040] Step 2: Employing a multimodal cross-domain fusion perception method, a multi-source heterogeneous data federated learning fusion model is constructed. Through cross-modal feature complementarity, data missing fault tolerance strategies, and preprocessing and feature extraction algorithms, accurate perception of complex environments under extreme conditions such as visual degradation and point cloud sparsity is achieved. Simultaneously, a dynamic three-dimensional mapping mechanism for equipment pose, process sequence, and surrounding rock response is constructed, establishing a transparent spatiotemporal representation model for the entire process chain. This enables full-process spatiotemporal visualization and traceability of the spatiotemporal status of processes such as anchoring module 2, shotcreting module 3, and support module 4. The perception module continuously outputs the fused environmental and equipment status data, and the walking module adjusts its position accordingly. The anchoring and shotcreting modules complete pre-operation self-checks and parameter pre-adjustments, while the support module deploys temporary support structures to prepare for subsequent processes.

[0041] Step 3: Combining uncertain working conditions such as ultra-low visibility and surrounding rock deformation, the impact of perception and characterization performance is analyzed through simulation experiments, and the spatiotemporal coupling, decoupling and interference mechanisms of multiple processes are analyzed; a multi-process collaborative dynamic game decision-making framework is constructed, the fusion weight and algorithm lightweight design are optimized, and the decision stability analysis and instability early warning module are improved to ensure scientific and reliable decision-making under complex working conditions; based on the decision-making framework, the walking module drives the robot to position, and the anchoring module 2, shotcrete module 3 and support module 4 respectively complete the drilling anchoring, shotcrete support and temporary support operations, and each module coordinates in an orderly manner according to instructions.

[0042] Step 4: Construct a multi-sensor all-round monitoring module and an integrated measurement and control platform, develop full-process 3D visualization interactive software to realize real-time monitoring, data visualization and remote intervention of the operation process; modify the comprehensive test platform and build an ultra-low visibility simulation test environment. Through experimental testing and iterative optimization, form an integrated technology system of high-precision perception, accurate characterization and high-reliability decision-making, and finally realize the autonomous collaborative operation of drilling, anchoring and spraying robots under complex geological conditions.

[0043] This embodiment describes a coal mine embodied intelligent drilling, anchoring, and spraying robot hardware architecture that integrates a walking module, an anchoring module, a spraying module, a support module, and a perception module, enabling integrated collaborative operations of drilling, anchoring, spraying, and support. For complex working conditions with extremely low visibility in coal mines, a basic perception system is established, encompassing multi-source heterogeneous data acquisition, multi-target recognition and dynamic capture, and multi-sensor spatiotemporal calibration and alignment. A multimodal cross-domain fusion perception and federated learning fusion model are adopted to adapt to scenarios with visual degradation and sparse point clouds, possessing cross-modal feature complementarity and data missing fault tolerance capabilities. A dynamic three-dimensional mapping and spatiotemporal representation model of equipment pose, process sequence, and surrounding rock response is constructed to achieve visualization and traceability of the entire spatiotemporal state of drilling, anchoring, and spraying support process. A multi-process collaborative dynamic game decision-making framework is established, completing fusion weight optimization, algorithm lightweighting, and decision instability early warning to ensure reliable decision-making under complex working conditions. By building a multi-sensor all-round monitoring module, an integrated measurement and control platform, and three-dimensional visualization interactive software, and through experimental iteration, a high-precision perception-precise characterization-high-reliability decision-making integrated technology was formed, enabling robots to operate autonomously and collaboratively under complex geological conditions.

[0044] This embodiment describes a coal mine integrated intelligent drilling, anchoring, and shotcreting robot. This robot, which integrates drilling, anchoring, and shotcreting, can more intelligently and flexibly complete drilling, anchoring, and shotcreting tasks in underground coal mines. It employs a multi-target recognition, dynamic capture, and multi-sensor spatiotemporal calibration and precise alignment method for roadways, equipment, and personnel in ultra-low visibility environments to form a cross-domain fusion perception system adapted to the collaborative operations of drilling, anchoring, and shotcreting in fully mechanized tunneling faces. Furthermore, it constructs a dynamic three-dimensional mapping mechanism for equipment pose, process sequence, and roadway surrounding rock response, and establishes a transparent spatiotemporal representation model for the entire process of drilling positioning, anchor installation, and shotcreting thickness. Additionally, it constructs a dynamic game-theoretic decision-making framework for multi-process collaborative operations of the drilling, anchoring, and shotcreting robot under multi-source uncertainty environments, establishes a collaborative game model for resource competition and task priority among processes, proposes an equilibrium decision-making strategy and an autonomous fault-tolerant decision-making method under multi-objective constraints, and forms an intelligent decision-making system for complex operating environments, realizing multi-process collaborative autonomous intelligent operations.

[0045] The sensing module of the intelligent drilling, anchoring, and shotcrete robot in this embodiment collects multi-source heterogeneous data to complete multi-target recognition, dynamic capture, and spatiotemporal calibration and alignment of multiple sensors. It employs a multimodal cross-domain fusion sensing and federated learning fusion model to achieve accurate perception of complex environments under extreme working conditions and establish a spatiotemporal representation model of the entire process chain. Simulation experiments were conducted in conjunction with uncertain working conditions to construct a multi-process collaborative dynamic game decision-making framework, which was then optimized and provided early warnings. Based on decision commands, the modules collaboratively complete walking and positioning, drilling and anchoring, and shotcrete support operations. An integrated measurement and control and 3D visualization platform was constructed, and through iterative optimization, the robot's autonomous collaborative operation was achieved. This realizes comprehensive perception of the drilling and anchoring equipment's operating environment and status, online planning and posture control of the drill arm trajectory, and adaptive drilling under complex coal and rock loads. Ultimately, relying on the intelligent module of the drilling and anchoring robot, a closed-loop operation from intelligent perception and autonomous decision-making to automatic control is achieved.

[0046] Those skilled in the art will understand that the above description is merely a preferred embodiment of the present invention, and the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. This is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0047] Although preferred embodiments of the invention 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 both the preferred embodiments and all changes and modifications falling within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if these modifications and modifications of the invention fall within the scope of the claims and their equivalents, the invention is also intended to include these modifications and modifications.

Claims

1. A coal mine embodied intelligent drilling, anchoring, and spraying robot, characterized in that, The robot includes a walking module (1), an anchoring module (2), a shotcrete module (3), a support module (4), and a sensing module (5). The walking module (1) includes a base (1-3), and the anchoring module (2) includes an anchoring module plate (2-1). The shotcrete module (3) includes a shotcrete module plate (3-1); the walking module (1) is installed below the anchoring module plate (2-1) and the shotcrete module plate (3-1); the anchoring module (2) is installed on one side of the machine base (1-3); the shotcrete module (3) is symmetrically installed on the other side of the machine base (1-3); the support module (4) is installed above the anchoring module plate (2-1); the sensing module (5) is installed in front of the walking module (1), at the front end of the anchoring module plate (2-1), above the anchoring module (2), and in front of the shotcrete module (3).

2. The intelligent drilling, anchoring, and spraying robot for coal mines according to claim 1, characterized in that, The walking module (1) also includes a track (1-1) and a track mounting component (1-2). The track (1-1) is connected to the track mounting component (1-2) by bolts, and the track mounting component (1-2) is connected to the track (1-1) by bolts. The base (1-3) of the whole machine is connected to the track mounting component (1-2) by welding.

3. The intelligent drilling, anchoring, and spraying robot for coal mines according to claim 1, characterized in that, The anchoring module (2) also includes a screw slide (2-2), a ball screw slide (2-3), a transverse slide rail (2-4), a transverse push cylinder fixing ear plate (2-5), a transverse push cylinder (2-6), a right top plate anchoring module (2-7), and a left side wall anchoring module (2-8). Anchoring module plate (2-1) is installed on one side of the base plate of the walking module (1) by welding; screw slide (2-2) is symmetrically installed above the anchoring module plate (2-1) near the left and right sides by bolt connection; ball screw slide (2-3) cooperates with the slide rod of screw slide (2-2); transverse slide rail (2-4) is connected to ball screw slide (2-3) by bolt connection; transverse push cylinder fixing ear plate (2-5) is symmetrically installed at both ends of transverse slide rail (2-4) and anchored on the right top plate by welding. The inner side of the slide of module (2-7) and the left side anchoring module (2-8); the two ends of the transverse push cylinder (2-6) are connected to the installed transverse push cylinder fixing ear plate (2-5) by means of pin connection; the right top plate anchoring module (2-7) is connected to the transverse push cylinder fixing ear plate (2-5) by means of bolt connection, and is symmetrically assembled on the transverse slide rail (2-4); the left side anchoring module (2-8) is connected to the transverse push cylinder fixing ear plate (2-5) by means of bolt connection, and is symmetrically assembled on the transverse slide rail (2-4).

4. The intelligent drilling, anchoring, and spraying robot for coal mines according to claim 3, characterized in that, The right-side top plate anchoring module (2-7) includes a right-side top plate anchoring module slide (2-7-1), a top plate drilling rig rotating support (2-7-2), a top plate drilling rig swing push rod fixing lug (2-7-3), a top plate drilling rig swing push rod (2-7-4), and a first automatic rod changing drilling and anchoring machine (2-7-5); the right-side top plate anchoring module slide (2-7-1) is installed on the transverse slide rail (2-4) of the anchoring module (2); the top plate drilling rig rotating support (2-7-2) is connected to the right-side top plate anchoring module slide (2-7-1) by bolts. 7-1) Connected; the fixed ear plate (2-7-3) of the swing push rod of the top slab drilling rig is connected to the slide (2-7-1) and the first automatic rod changing drilling and anchoring machine (2-7-5) respectively by bolt connection; the swing push rod (2-7-4) of the top slab drilling rig is connected to the fixed ear plate (2-7-3) of the swing push rod of the top slab drilling rig respectively by pin connection; the first automatic rod changing drilling and anchoring machine (2-7-5) is connected to the rotating support (2-7-2) of the top slab drilling rig and the fixed ear plate (2-7-3) of the swing push rod of the top slab drilling rig by bolt connection.

5. The intelligent drilling, anchoring, and spraying robot for coal mines according to claim 3, characterized in that, The left side anchoring module (2-8) includes a left side anchoring module slide (2-8-1), a side drilling rig rotating support (2-8-2), a first-stage rocker arm of the side anchoring module (2-8-3), a fixed ear plate for the telescopic push cylinder of the first-stage rocker arm of the side anchoring module (2-8-4), a telescopic push cylinder of the first-stage rocker arm of the side anchoring module (2-8-5), a double rocker arm transition adapter (2-8-6), a second-stage rocker arm of the side anchoring module (2-8-7), a fixed ear plate for the telescopic cylinder of the second-stage rocker arm of the side anchoring module (2-8-8), a telescopic cylinder of the second-stage rocker arm of the side anchoring module (2-8-9), a fixed connection between the second-stage rocker arm of the side anchoring module and the drilling rig (2-8-10), and a second automatic rod changing drilling and anchoring machine (2-8-11). The left side anchoring module slide (2-8-1) is installed on the transverse slide rail (2-4) of the anchoring module; the side drilling rig rotating support (2-8-2) is connected to the left side anchoring module slide (2-8-1) and the double rocker arm transition adapter (2-8-6) by bolts, and is symmetrically installed on both sides of the inner wall; the first-stage rocker arm (2-8-3) of the side anchoring module is connected to the side drilling rig rotating support (2-8-2) and the double rocker arm transition adapter installed in the left side anchoring module slide (2-8-1) by bolts. (2-8-6) are connected; the fixing ear plate (2-8-4) of the first-stage rocker arm telescopic push cylinder of the side anchoring module is connected to the slide block (2-8-1) of the left side anchoring module and the first-stage rocker arm (2-8-3) of the side anchoring module by bolts; the telescopic push cylinder (2-8-5) of the first-stage rocker arm of the side anchoring module is connected to the fixing ear plate (2-8-4) of the telescopic push cylinder of the first-stage rocker arm of the side anchoring module by pins; the double rocker arm transition adapter (2-8-6) is connected to the first-stage rocker arm (2-8-3) of the side anchoring module by bolts. -8-3) and the side drilling rig rotating support (2-8-2); the side anchoring module secondary rocker arm (2-8-7) is connected to the side drilling rig rotating support (2-8-2) and the side secondary rocker arm and drilling rig fixed connection (2-8-10) installed on the inner wall of the double rocker arm transition adapter (2-8-6) by bolt connection; the side anchoring module secondary rocker arm telescopic cylinder fixing ear plate (2-8-8) is installed on the inner side of the upper arm of the double rocker arm transition adapter (2-8-6) and the side anchoring module secondary rocker arm (2-8-10) by bolt connection. -8-7) On the side anchoring module, the two ends of the secondary rocker arm telescopic cylinder (2-8-9) are connected to the fixed ear plate (2-8-8) of the secondary rocker arm telescopic cylinder of the side anchoring module by means of pin connection; the secondary rocker arm of the side anchoring module and the fixed connection piece (2-8-10) of the drilling rig are connected to the secondary rocker arm of the side anchoring module (2-8-7) and the second automatic rod changing drilling and anchoring machine (2-8-11) by means of bolt connection; the second automatic rod changing drilling and anchoring machine (2-8-11) is connected to the secondary rocker arm of the side anchoring module and the fixed connection piece (2-8-10) of the drilling rig by means of bolt connection.

6. The intelligent drilling, anchoring, and spraying robot for coal mines according to claim 1, characterized in that, The shotcrete module (3) also includes a base (3-2), a base (3-3), an articulated arm (3-4), a rotating joint (3-5), an articulated forearm (3-6), an end effector (3-7), a shotcrete head (3-8), a shotcrete pump station bracket (3-9), and a hydraulic pump station (3-10). The shotcrete module plate (3-1) is installed on the rear half of the base plate of the walking module by welding; the base (3-2) is connected to the shotcrete module plate (3-1) by bolts; the base (3-1) is assembled on the upper end of the base (3-2); the two ends of the articulated arm (3-4) are respectively assembled with the base (3-3) and the rotating joint (3-5); the rotating joint (3-5) is respectively assembled with the articulated arm (3-4) and the articulated forearm (3-6); the two ends of the articulated forearm (3-6) It is assembled with the rotating joint (3-5) and the end effector (3-7) respectively; the end effector (3-7) is assembled with the joint arm (3-6) and the shotcrete head (3-8) respectively; the shotcrete head (3-8) is connected to the end effector (3-7) by bolts; the shotcrete pump station bracket (3-9) is connected to the base plate of the whole machine and the shotcrete module plate (3-1) by bolts; the hydraulic pump station (3-10) is connected to the shotcrete pump station bracket (3-9) by bolts.

7. The intelligent drilling, anchoring, and spraying robot for coal mines according to claim 6, characterized in that, The support module (4) includes a top plate support module and a side support module; the top plate support module is connected to the shotcrete module plate (3-1) by bolt connection; the side support modules are installed on both sides of the top plate support module by bolt connection. The top plate support module in the support module (4) includes a support column (4-1-1), a top plate support leg sliding sleeve (4-1-2), a top plate support leg upper sliding sleeve (4-1-4), and a top plate support square tube (4-1-4). The support column (4-1-1) is installed at the four corners of the anchoring module plate (2-1) by bolt connection. The top plate support leg sliding sleeve (4-1-2) is connected to the support column (4-1-1) by welding. The top plate support leg upper sliding sleeve (4-1-4) is assembled with the top plate support leg sliding sleeve (4-1-2). The top plate support square tube (4-1-4) is connected to the top plate support leg upper sliding sleeve (4-1-4) by welding.

8. The intelligent drilling, anchoring, and spraying robot for coal mines according to claim 7, characterized in that, The support module (4) also includes a side support cylinder (4-2-1) and a side support frame (4-2-2); the side support cylinder (4-2-1) is connected to four support columns (4-1-1) and the sliding sleeve (4-1-2) of the top plate support leg by bolt connection; the side support frame (4-2-2) is connected to the side support cylinder (4-2-1) by bolt connection.

9. The intelligent drilling, anchoring, and spraying robot for coal mines according to claim 1, characterized in that, The sensing module (5) includes an ultrasonic radar (5-1), a lidar (5-2), an industrial camera (5-3), a millimeter-wave radar, and an inertial navigation system. The ultrasonic radar (5-1) is symmetrically installed at the front end of the base plate of the whole machine. The lidar (5-2) is installed on the front side of the anchoring module plate (2-1) and on the shotcrete pump station bracket (3-9) of the shotcrete head (3-8). The industrial camera (5-3) is installed in front of the four second automatic rod changing drilling and anchoring machines (2-8-11) and on the shotcrete pump station bracket (3-9) of the shotcrete head (3-8). The millimeter-wave radar and the inertial navigation system are installed on the shotcrete pump station bracket (3-9) of the shotcrete head (3-8).

10. A collaborative working method for a coal mine embodied intelligent drilling, anchoring, and spraying robot, characterized in that, The method is based on the intelligent drilling, anchoring, and spraying robot for coal mines as described in claim 1, and the method includes the following steps: Step 1: After the intelligent drilling and anchoring robot enters the fully mechanized tunneling face, it collects multi-source heterogeneous data in an ultra-low visibility environment through visual sensors, lidar (5-2), and pose measurement module; based on the multi-source heterogeneous data, it extracts multi-dimensional features of the surrounding rock of the roadway, the robot body, and the operators, and constructs a multi-target recognition and dynamic capture system of equipment-surrounding rock-personnel to achieve accurate positioning and trajectory tracking of key objects. Step 2: Based on the multi-source heterogeneous data collected in Step 1, construct a multi-source heterogeneous data federated learning fusion model to achieve accurate perception of complex environments under extreme working conditions; at the same time, construct a dynamic three-dimensional mapping mechanism for equipment pose, process sequence and surrounding rock response, establish a transparent spatiotemporal representation model for the entire process chain, and realize full-process spatiotemporal state visualization of the anchoring module (2), shotcrete module (3) and support module (4) processes; Step 3: Construct a multi-process collaborative dynamic game decision-making framework. Based on the decision-making framework, the walking module (1) drives the robot to position, and the anchoring module (2), shotcrete module (3), and support module (4) respectively complete the drilling anchoring, shotcrete support and temporary support operations, so as to realize the autonomous collaborative operation of the drilling, anchoring and shotcrete robot under complex geological conditions.

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