An unmanned support method based on sensor and vision mixed auxiliary work
Patent Information
- Application Number
- CN202610978229.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-02
- Publication Date
- 2026-09-15
Smart Images
Figure CN122752079A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of unmanned anchor bolt support technology, specifically relating to an unmanned support method based on sensor and vision hybrid assistance. Background Technology
[0002] For a long time, the development of unmanned coal mines has suffered from the problem of "fast excavation but slow support." This "fast excavation but slow support" is a key bottleneck hindering overall efficiency improvement. Traditional drilling and anchoring support processes are complex, requiring the placement of drill rods, anchor bolts, explosive cartridges, mixers, and other materials. The environment is highly hazardous, and it heavily relies on manual labor, becoming the biggest bottleneck slowing down the entire tunneling process. Furthermore, the workload of support personnel is more than three times that of coal mining face workers. To ensure personnel safety and improve the inherent safety level of coal mines, unmanned and intelligent drilling and anchoring systems need to be prioritized in research and development.
[0003] In the current working conditions, anchor bolt support has a significant impact on the health and work efficiency of personnel. The efficiency of support depends entirely on the workers' skills. For those who are not familiar with the work, the workload is greater and the efficiency is lower.
[0004] Some scholars have pointed out several problems with unmanned anchor bolt support technology: 1) Automatic anchoring equipment: This technology adds a mechanical structure near the main body of the anchoring drill to achieve material gripping and placement. This structure has a relatively fixed material placement position each time, resulting in poor adaptability to different material types. For example, when placing drill rods, even slight bending after multiple uses can lead to placement failure; 2) Automatic anchoring intermediate clamp transition: This technology adds a clamp between the material gripping and placement stages. After gripping, the material is placed in the clamp and its position is adjusted before gripping and placement. This technology is more reliable than 1) While mitigating the impact of material deformation on placement accuracy to some extent, it still cannot guarantee accurate placement of materials, and the addition of intermediate clamps further increases the anchoring time; 3) Multi-station drilling rig body: This process sets up multiple stations on the drilling rig body, with drill rods and anchor rods placed in separate stations. Material placement is achieved by adjusting the position of the drill box. This process involves large hardware equipment, complex structure, low reliability during downhole use, and high cost; 4) Robotic arm teaching gripping: Robotic arm gripping places materials by running a pre-designed program. This process also suffers from a single program, low intelligence, and inaccurate placement when materials are deformed. Summary of the Invention
[0005] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides an unmanned support method based on sensor and vision hybrid assisted operation.
[0006] This invention is achieved using the following technical solution: an unmanned support method based on sensor and vision hybrid assisted operation, comprising: With the rotation center of the drilling rig body as the origin, the vertical direction of the drill box as the Z-axis, and the sliding direction of the drilling rig as the X-axis, a drilling rig coordinate system is constructed, and the transformation relationship between the drilling rig coordinate system and the robotic arm body coordinate system is established. When unmanned support is carried out using a robotic arm and drilling system, the position and posture parameters of the drilling system are collected in real time, and the position information of the material placement point in the coordinate system of the drilling system is determined. Based on the drilling rig system pose parameters and the position information of the material placement point in the drilling rig system coordinate system, the position information of the material placement point in the drilling rig system coordinate system is converted into the position information of the material placement point in the robotic arm main body coordinate system according to the transformation relationship between the drilling rig coordinate system and the robotic arm main body coordinate system. Based on the position information of the material placement point in the coordinate system of the robotic arm obtained by conversion, the robotic arm body is controlled to move the material to the position corresponding to the position information of the material placement point in the coordinate system of the robotic arm body, so that the material is combined with the drill box hole of the drilling system for unmanned automatic anchoring.
[0007] Preferably, establishing the transformation relationship between the drilling rig coordinate system and the robotic arm main body coordinate system includes: Randomly set n sets of drilling system posture parameters, and when the drilling system maintains any set of drilling system posture parameters, control the robotic arm to combine the material with the drill box hole, and take a picture of the material placement point where the end effector connected to the end of the robotic arm grabs the material through the camera; Identify the position information of the material placement point in the coordinate system of the robotic arm body in the material placement point image corresponding to each set of drilling system pose parameters; Based on n sets of drilling system pose parameters and the corresponding material placement points in the robot arm's main coordinate system, a transformation equation between the drilling system and the robot arm's main coordinate system is established.
[0008] Preferably, the drilling rig system attitude parameters include the drill frame rotation and pitch angles. α Drill frame rotation roll angle β and drill frame sliding displacement a ; Establish the transformation equations between the drilling rig coordinate system and the robotic arm body coordinate system, including: Let the coordinates of the origin of the drilling rig system coordinate system in the robot arm body coordinate system be (x1, y1, z1), the coordinates of the material placement point in the drilling rig system coordinate system be (x2, y2, z2), and the coordinates of the material placement point in the robot arm body coordinate system be (x1, y1, z1). M ,y M ,z M ); In the initial state, the rotation matrix is represented as ; If the rotation sequence of the drill frame in the drilling rig system is set as follows: first rotate α around the X-axis of the drill frame system coordinate system, then rotate β around the Y-axis of the drill frame system coordinate system, then the rotation matrix R is set. final The formula is expressed as: Set the translation matrix P final The formula is expressed as: The transformation matrix T is then expressed as: The transformation equation between the drilling rig coordinate system and the robotic arm body coordinate system is expressed as: X M =x1+( )x2+ y2- )z2 Y M =(y1+a)+cosβx2+0y2+sinβz2 Z M =z1-(cosαsinβ)x2+sinαy2+(cosαcosβ)z2.
[0009] Preferably, n sets of drilling system pose parameters are randomly set, and while the drilling system maintains any set of drilling system pose parameters, the robotic arm is controlled to combine the material with the drill box hole. An image of the material placement point, where the end effector connected to the end of the robotic arm grasps the material, is captured by a camera. This includes: From n sets of drilling system pose parameters, select m sets (6≤m≤n) of drilling system parameters and the corresponding material placement point image in the robot arm main body coordinate system position information. Input them into the transformation relationship equation between the drilling system coordinate system and the robot arm main body coordinate system. By solving the equation system, calculate the coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the robot arm main body coordinate system and the coordinates (x2, y2, z2) of the material placement point in the drilling system coordinate system. Among the n sets of drilling system pose parameters, select the nm sets of drilling system parameters and the position information of the material placement point in the corresponding material placement point image in the robot arm main body coordinate system. Input them into the transformation relationship equation between the drilling system coordinate system and the robot arm main body coordinate system to verify and adjust the coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the robot arm main body coordinate system and the coordinates (x2, y2, z2) of the material placement point in the drilling system coordinate system.
[0010] Preferably, a first preset usage threshold P1 is set for the coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the coordinate system of the robotic arm body and the coordinates (x2, y2, z2) of the material placement point in the coordinate system of the drilling system. When the number of times the coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the main body coordinate system of the robotic arm and the coordinates (x2, y2, z2) of the material placement point in the drilling system coordinate system are used reaches the preset usage threshold, the first coordinate of the material placement point in the main body coordinate system of the robotic arm is determined by the transformation relationship equation. At the same time, the current second material placement point image is captured by the camera, and the second coordinate of the material placement point in the second material placement point image in the main body coordinate system of the robotic arm is identified. Compare the position errors of the first and second coordinates and compare them with the preset position error. If the calculated position error is less than the preset position error, the current material will continue to be used in the subsequent P1 unmanned support process, and the comparison will be performed again after the P unmanned support process. If the calculated position error is less than the preset position error in 5 consecutive comparisons, the current material will be marked as being in long-term use.
[0011] Preferably, for materials marked as long-term use, a second preset usage threshold P2 is set. When the current material is used for unattended support 5P1+P2+1 times, a judgment comparison is performed. If the comparison results are all less than the preset position error, a third preset usage threshold P3 is set, and a judgment comparison is performed when the current material is used for unattended support 5P1+P2++P3+1 times, until the set P1 preset usage threshold is 1. After the usage count is set to 1, the current material is replaced.
[0012] Compared with the prior art, the beneficial effects of the present invention are: This invention provides an unmanned support method based on sensor and vision-assisted operation. It establishes a transformation relationship between the drilling rig coordinate system and the robotic arm's main body coordinate system by constructing a drilling rig coordinate system. The method collects the drilling rig system's pose parameters in real time and determines the position information of the material placement point within the drilling rig system coordinate system. Following the transformation relationship, the position information of the material placement point in the drilling rig system coordinate system is converted into its position information within the robotic arm's main body coordinate system. Based on this converted position information, the robotic arm is controlled to move the material to the location corresponding to the material placement point's position information within the robotic arm's main body coordinate system, achieving unmanned automatic anchoring. This invention achieves accurate placement of anchoring materials and also accurately places materials within a controllable deformation range, increasing the versatility of material placement. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0014] Figure 1 This is a flowchart illustrating an unmanned support method based on a hybrid sensor and vision-assisted operation provided by the present invention.
[0015] Figure 2 This is a schematic diagram of the equipment on which the unmanned support method based on sensor and vision hybrid assisted operation provided by the present invention is based.
[0016] Figure 3 This is a schematic diagram of the material warehouse layout of the equipment on which the unmanned support method based on sensor and vision hybrid assisted operation provided by the present invention is based.
[0017] Figure 4 This is a simplified schematic diagram of the workflow of an unmanned support method based on sensor and vision hybrid assistance provided by the present invention.
[0018] Figure 5 This is a schematic diagram of material placement location identification in an unmanned support method based on sensor and vision hybrid assistance provided by the present invention. Detailed Implementation
[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0020] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.
[0021] This invention provides an embodiment: such as Figure 1 As shown, the present invention provides an unmanned support method based on sensor and vision hybrid assistance, comprising: S110: Construct a drilling coordinate system with the rotation center of the drilling rig body as the origin, the vertical direction of the drill box as the Z-axis, and the sliding direction of the drilling rig as the X-axis, and establish the transformation relationship between the drilling coordinate system and the robotic arm body coordinate system.
[0022] S120: When performing unmanned support using a robotic arm and drilling system, the position and orientation parameters of the drilling system are collected in real time, and the location information of the material placement point in the coordinate system of the drilling system is determined.
[0023] S130: Based on the drilling rig system pose parameters and the position information of the material placement point in the drilling rig system coordinate system, according to the transformation relationship between the drilling rig coordinate system and the robotic arm main body coordinate system, the position information of the material placement point in the drilling rig system coordinate system is converted into the position information of the material placement point in the robotic arm main body coordinate system.
[0024] S140: Based on the position information of the material placement point in the coordinate system of the robotic arm body obtained by conversion, control the robotic arm body to move the material to the position corresponding to the position information of the material placement point in the coordinate system of the robotic arm body, so that the material is combined with the drill box hole of the drilling system for unmanned automatic anchoring.
[0025] The method of the present invention is based on, for example Figure 2-3 The device shown is implemented as follows. Figure 2 As shown, the device comprises a robotic arm body 1, a vision camera 2, an end effector 3, a tilt sensor 4, a drill box 5, a clamp 6, a drill rig body 7, and a material bin 8. The material bin 8 includes a drill rod 8.1, a cartridge rod 8.2, an anchor rod 8.3, and a mixer 8.4. The material placement and identification process is set up as follows: Figure 4 As shown.
[0026] The robotic arm body 1 carries an end effector 3 at its end. After the end effector 3 completes the material gripping, the robotic arm body 1 moves the material from the hopper to the top of the drill box 5 by adjusting different joint angles. The power of the robotic arm body 1 is provided by a servo motor. When the robotic arm body 1 is subjected to force, it can provide feedback to the servo motor. If the force is too great and exceeds the threshold, the robotic arm body 1 will stop moving.
[0027] The vision camera 2 mainly realizes the material recognition function. The vision camera is a depth camera, which can obtain the specific pose of the material by taking pictures of the material. After the vision algorithm is written through the vision camera, when the material is identified and the position is changed, the 3D vision camera can determine where the current material robotic arm needs to move to for successful grasping and placing. When the material is bent after frequent use, the vision camera can identify its degree of bending and, combined with the position of the drill box 5, successfully place the bent material within the allowable range into the drill box 5.
[0028] The end effector 3 is mainly used to grasp materials. The driving method of the end effector includes, but is not limited to, electric drive, hydraulic, pneumatic, etc. After the robotic arm body 1 reaches the designated position, the end effector 3 grasps the materials. When the robotic arm body 1 moves above the drill box 5, the end effector 3 releases the materials and successfully places them into the drill box 5.
[0029] The tilt sensor 4 is mainly used to obtain the degree of change in the posture of the drill body 7 after the posture of the drill body 7 changes. By combining the point where the robotic arm body 1 grabs the material and places it when the drill body 7 is in its initial position, and the change in the tilt angle of the tilt sensor 4 after the position of the drill body 7 changes, the position that the robotic arm body 1 needs to reach to smoothly put the material into the drill box 5 after the posture of the drill body 7 changes can be obtained.
[0030] The drill box 5 is the position where the robotic arm body 1 places the material after it is grabbed. The opening of the drill box 5 is a columnar object. When the material is put in, the space is limited and the allowable deviation is no more than 2mm. The position of the drill box 5 will also change as the posture of the drill body 7 swings.
[0031] The clamp 6 is mainly used to ensure that after the robotic arm body 1 successfully places the material into the drilling box 5, the clamp 6 closes to prevent the material from falling, and then the end effector 3 releases, allowing the robotic arm body 1 to leave.
[0032] The main body 7 of the drilling rig mainly supports the drill box 5, clamp 6 and tilt sensor 4. The positions of the drill box 5, clamp 6 and tilt sensor 4 change as the position of the main body 7 of the drilling rig changes.
[0033] The material bin 8 is mainly used for placing materials, including drill rods 8.1, cartridge rods 8.2, anchor rods 8.3, and agitators 8.4. The material bin can reduce the flow of materials during the grabbing process.
[0034] The robotic arm body 1 is fixed to the ground by bolts and pins. The end of the robotic arm body 1 is first connected to the vision camera 2 by bolts to ensure that the relative position between the vision camera 2 and the robotic arm body 1 does not change. After the connection is completed, the end effector 3 is connected to the vision camera 2 by bolts to ensure that the relative positions between the end effector 3, the vision camera 2 and the robotic arm body 1 do not change.
[0035] The main body of the drill rig 7 is fixed to the ground by bolts and pins. The tilt sensor 4 is fixed near the rotating shaft of the main body of the drill rig 7 by bolts to ensure that the tilt sensor 4 can accurately reflect the current swing angle of the drill frame 7. The drill box 5 is connected to the main body of the drill rig by bolts. After the material is placed, the drill box 5 can move along the guide rod on the main body of the drill rig 7. The clamp 6 is connected to the main body of the drill rig 7 by bolts. After the material is placed in the drill box, the clamp 6 moves or swings around a fixed position on the main body of the drill rig to grab the material.
[0036] The material bin 8 is fixed to the ground with bolts and pins to ensure the stability of the material bin 8 and that its position relative to the robotic arm 1 and the drilling rig body 7 cannot be changed.
[0037] Both the robotic arm body 1 and the drilling rig body 7 are connected to the ground by bolts and pins, ensuring that the robotic arm 1 and the drilling rig body 7 can change their pose through a transformation matrix.
[0038] The drill rod 8.1, the cartridge rod 8.2, the anchor rod 8.3, and the agitator 8.4 in the material silo are all fixed by clips. The drill rods and agitators on both sides are reusable, and the cartridge rods and anchor rods are arranged intermittently to improve the efficiency of use.
[0039] Establish the transformation relationship between the drilling rig coordinate system and the robotic arm body coordinate system, including: Randomly set n sets of drilling system posture parameters, and when the drilling system maintains any set of drilling system posture parameters, control the robotic arm to combine the material with the drill box hole, and take a picture of the material placement point where the end effector connected to the end of the robotic arm grabs the material through the camera; Identify the position information of the material placement point in the coordinate system of the robotic arm body in the material placement point image corresponding to each set of drilling system pose parameters; Based on n sets of drilling system pose parameters and the corresponding material placement points in the robot arm's main coordinate system, a transformation equation between the drilling system and the robot arm's main coordinate system is established.
[0040] In embodiments of the present invention, the drilling rig system attitude parameters include the drill frame rotation pitch angle. α Drill frame rotation roll angle β and drill frame sliding displacement a ; Establish the transformation equations between the drilling rig coordinate system and the robotic arm body coordinate system, including: Let the coordinates of the origin of the drilling rig system coordinate system in the robot arm body coordinate system be (x1, y1, z1), the coordinates of the material placement point in the drilling rig system coordinate system be (x2, y2, z2), and the coordinates of the material placement point in the robot arm body coordinate system be (x1, y1, z1). M,y M ,z M ); In the initial state, the rotation matrix is represented as ; If the rotation sequence of the drill frame in the drilling rig system is set as follows: first rotate α around the X-axis of the drill frame system coordinate system, then rotate β around the Y-axis of the drill frame system coordinate system, then the rotation matrix R is set. final The formula is expressed as: Set the translation matrix P final The formula is expressed as: The transformation matrix T is then expressed as: The transformation equation between the drilling rig coordinate system and the robotic arm body coordinate system is expressed as: X M =x1+( )x2+ y2- )z2 Y M =(y1+a)+cosβx2+0y2+sinβz2 Z M =z1-(cosαsinβ)x2+sinαy2+(cosαcosβ)z2.
[0041] In the foregoing embodiments, n sets of drilling system pose parameters are randomly set, and while the drilling system maintains any set of drilling system pose parameters, the robotic arm is controlled to combine the material with the drill box hole. An image of the material placement point, where the end effector connected to the end of the robotic arm grasps the material, is captured by a camera. This includes: From n sets of drilling system pose parameters, select m sets (6≤m≤n) of drilling system parameters and the corresponding material placement point image in the robot arm main body coordinate system position information. Input them into the transformation relationship equation between the drilling system coordinate system and the robot arm main body coordinate system. By solving the equation system, calculate the coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the robot arm main body coordinate system and the coordinates (x2, y2, z2) of the material placement point in the drilling system coordinate system. Among the n sets of drilling system pose parameters, select the nm sets of drilling system parameters and the position information of the material placement point in the corresponding material placement point image in the robot arm main body coordinate system. Input them into the transformation relationship equation between the drilling system coordinate system and the robot arm main body coordinate system to verify and adjust the coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the robot arm main body coordinate system and the coordinates (x2, y2, z2) of the material placement point in the drilling system coordinate system.
[0042] Preferably, a first preset usage threshold P1 is set for the coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the coordinate system of the robotic arm body and the coordinates (x2, y2, z2) of the material placement point in the coordinate system of the drilling system. When the number of times the coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the main body coordinate system of the robotic arm and the coordinates (x2, y2, z2) of the material placement point in the drilling system coordinate system are used reaches the preset usage threshold, the first coordinate of the material placement point in the main body coordinate system of the robotic arm is determined by the transformation relationship equation. At the same time, the current second material placement point image is captured by the camera, and the second coordinate of the material placement point in the second material placement point image in the main body coordinate system of the robotic arm is identified. Compare the position errors of the first and second coordinates and compare them with the preset position error. If the calculated position error is less than the preset position error, the current material will continue to be used in the subsequent P1 unmanned support process, and the comparison will be performed again after the P unmanned support process. If the calculated position error is less than the preset position error in 5 consecutive comparisons, the current material will be marked as being in long-term use.
[0043] Furthermore, for materials marked as being in long-term use, a second preset usage threshold P2 is set. When the current material is used for unattended support 5P1+P2+1 times, a judgment and comparison are performed. If the comparison results are all less than the preset position error, a third preset usage threshold P3 is set, and a judgment and comparison are performed when the current material is used for unattended support 5P1+P2++P3+1 times, until the set P1 preset usage threshold is 1. After the usage count is set to 1, the current material is replaced.
[0044] like Figure 5 As shown, the present invention provides the following specific embodiments: A method for unmanned anchor bolt support based on sensor and vision hybrid assistance of robotic arm includes the following steps: 10: In the initial state, the robotic arm body 1 is directly in front of the drill rig body 7. The robotic arm body 1 controls the vision camera 2 to move directly above the drill box 5. The 3D camera 2 identifies the position of the drill box 5 and records the coordinate information of the center of gravity of the drill box 5. At the same time, the tilt sensor 4 identifies the current posture of the drill rig body 7. The 3D camera mentioned in this embodiment is the vision camera.
[0045] In step 20:10, after the 3D camera 2 completes the point recognition and the tilt sensor 4 transmits the current posture of the drill body 7, the robotic arm body 1 moves to the fixed hopper position to grab the material. After grabbing, it moves according to the point recognized by the 3D vision camera 2 in step 10.
[0046] 30: When the robotic arm 1 grabs the material and moves it to the location of the drill box 5 identified in step 10, the 3D camera 2 takes a picture of the drill box 5 to identify whether the material has been successfully placed. After the material is successfully placed, the robotic arm 1 transmits the current coordinates back and compares the current coordinates with the position identified in step 10 to analyze the accuracy of the position identified in step 10.
[0047] 40: After the material is successfully placed in step 30, clamp 6 closes to prevent the material from falling, and the robotic arm body 1 leaves and returns to the position it was in in step 10.
[0048] 50: At this point, based on the attitude of the drill body 7 returned by the tilt sensor 4 obtained in step 10 and the coordinates of the end of the robotic arm body 1 returned after the material is placed in step 40, the drill body 7 is considered to be a 3-degree-of-freedom robotic arm. The placement positions of the drill body 7 and the robotic arm body 1 can be converted through a correspondence relationship to obtain the correspondence between the two.
[0049] 60: Repeat the operation between steps 10 and 50 continuously. After verifying the relationship between the attitude of the drilling rig body 7 and the robotic arm body 1 50 times, subsequent work can be carried out through the tilt sensor 4.
[0050] 70; In the initial state, the robotic arm body 1 is as follows: Figure 1 As shown in the position, directly in front of the drill body 7, adjust the attitude of the drill body 7. At this time, the tilt sensor 4 identifies the current attitude of the drill body 7 and transmits it back to the robotic arm body 1 through the correspondence verified in step 60.
[0051] 80: The robotic arm body 1 goes to the fixed material bin to grab the material. After grabbing, it moves the material according to the coordinates returned in step 70. After placement, the clamp 6 closes and the robotic arm body 1 moves back to the initial position.
[0052] 90: Set 20 scans as the recognition threshold for 3D camera 2. This threshold is used 5 times. That is, after every 20 scans in steps 70 and 80, 3D camera 2 will intervene to scan and determine the placement error. Subsequently, every 20 scans, 3D camera will determine the placement error until the threshold is reached after 5 scans. At this time, it is considered that the anchor is in a "long-term use" state. At this time, 3D camera will scan once every 15 repetitions of steps 70 and 80. After the scan is completed, 3D camera will scan once every 10 repetitions of steps 70 and 80, and so on, until 3D camera 2 needs to scan once every time it is placed, at which point an alarm will be triggered. If it is found that the placement accuracy of tilt sensor 4 is greater than the required threshold, 3D vision camera 2 will directly intervene and will not use the coordinates transmitted by tilt sensor 4 for movement.
[0053] 100: The material placement method is to first grab the drill rod 8.1 to drill holes. During the process of grabbing the drill rod, the positioning work from step 1 to step 90 above is achieved. The subsequent material grabbing position is the same as the drill rod 8.1 grabbing position. Using the same placement point, the entire process of unmanned automatic anchoring can be achieved.
[0054] This invention provides an unmanned support method based on sensor and vision-assisted operation. It establishes a transformation relationship between the drilling rig coordinate system and the robotic arm's main body coordinate system by constructing a drilling rig coordinate system. The method collects the drilling rig system's pose parameters in real time and determines the position information of the material placement point within the drilling rig system coordinate system. Following the transformation relationship, the position information of the material placement point in the drilling rig system coordinate system is converted into its position information within the robotic arm's main body coordinate system. Based on this converted position information, the robotic arm is controlled to move the material to the location corresponding to the material placement point's position information within the robotic arm's main body coordinate system, achieving unmanned automatic anchoring. This invention achieves accurate placement of anchoring materials and also accurately places materials within a controllable deformation range, increasing the versatility of material placement.
[0055] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A method for unmanned support operations based on a hybrid sensor and vision-assisted operation, characterized in that, include: A drilling coordinate system is constructed with the rotation center of the drilling rig body as the origin, the vertical direction of the drill box as the Z-axis, and the sliding direction of the drilling rig as the X-axis. The transformation relationship between the drilling coordinate system and the robotic arm body coordinate system is established. When unmanned support is carried out using a robotic arm and drilling system, the position and posture parameters of the drilling system are collected in real time, and the position information of the material placement point in the coordinate system of the drilling system is determined. Based on the drilling system pose parameters and the position information of the material placement point in the drilling system coordinate system, the position information of the material placement point in the drilling system coordinate system is converted into the position information of the material placement point in the robotic arm main body coordinate system according to the transformation relationship between the drilling system coordinate system and the robotic arm main body coordinate system. Based on the position information of the material placement point in the coordinate system of the robotic arm body obtained by conversion, the robotic arm body is controlled to move the material to the position corresponding to the position information of the material placement point in the coordinate system of the robotic arm body, so that the material is combined with the drill box hole of the drilling system for unmanned automatic anchoring.
2. The unmanned support method based on sensor and vision hybrid assisted operation according to claim 1, characterized in that, Establishing the transformation relationship between the drilling rig coordinate system and the robotic arm body coordinate system includes: Randomly set n sets of drilling system posture parameters, and when the drilling system maintains any set of drilling system posture parameters, control the robotic arm to combine the material with the drill box hole, and take a picture of the material placement point where the end effector connected to the end of the robotic arm grabs the material through the camera; Identify the position information of the material placement point in the coordinate system of the robotic arm body in the image corresponding to each set of drilling system pose parameters; Based on n sets of drilling system pose parameters and the corresponding material placement points in the robot arm's main coordinate system, a transformation equation between the drilling system and the robot arm's main coordinate system is established.
3. The unmanned support method based on sensor and vision hybrid assistance as described in claim 2, characterized in that, The drilling rig system's attitude parameters include the drill frame rotation and pitch angles. α Drill frame rotation roll angle β and drill frame sliding displacement a ; Establish the transformation equations between the drilling rig coordinate system and the robotic arm main body coordinate system, including: The coordinate origin of the drilling rig system coordinate system is set at the coordinates (x1, y1, z1) in the mechanical arm body coordinate system, the material placement point is at the coordinates (x2, y2, z2) in the drilling rig system coordinate system, and the material placement point is at the coordinates (x M ,y M ,z M ) in the mechanical arm body coordinate system; In the initial state, the rotation matrix is represented as ; If the rotation sequence of the drill frame in the drilling rig system is set as follows: first rotate α around the X-axis of the drill frame system coordinate system, then rotate β around the Y-axis of the drill frame system coordinate system, then the rotation matrix R is set. final The formula is expressed as: Set the translation matrix P final The formula is expressed as: The transformation matrix T is then expressed as: The transformation equation between the drilling rig coordinate system and the robotic arm main body coordinate system is expressed as follows: X M =x1+( )x2+ y2- )z2 Y M =(y1+a)+cosβx2+0y2+sinβz2 Z M =z1-(cosαsinβ)x2+sinαy2+(cosαcosβ)z2。 4. The unmanned support method based on sensor and vision hybrid assisted operation according to claim 2, characterized in that, Randomly set n sets of drilling system pose parameters, and while the drilling system maintains any set of drilling system pose parameters, control the robotic arm to engage the material with the drill box hole. Capture an image of the material placement point where the end effector connected to the end of the robotic arm picks up the material using a camera, including: From n sets of drilling system pose parameters, select m sets (6≤m≤n) of drilling system parameters and the corresponding material placement point image in the robot arm main body coordinate system position information. Input them into the transformation relationship equation between the drilling system coordinate system and the robot arm main body coordinate system. By solving the equation system, calculate the coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the robot arm main body coordinate system and the coordinates (x2, y2, z2) of the material placement point in the drilling system coordinate system. Among the n sets of drilling system pose parameters, select the nm sets of drilling system parameters and the position information of the material placement point in the corresponding material placement point image in the robot arm main body coordinate system. Input them into the transformation relationship equation between the drilling system coordinate system and the robot arm main body coordinate system to verify and adjust the calculated coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the robot arm main body coordinate system and the coordinates (x2, y2, z2) of the material placement point in the drilling system coordinate system.
5. The unmanned support method based on sensor and vision hybrid assisted operation according to claim 3, characterized in that, Set a first preset usage threshold P1 for the coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the coordinate system of the robotic arm body and the coordinates (x2, y2, z2) of the material placement point in the coordinate system of the drilling system. When the calculated coordinates (x1, y1, z1) of the origin of the drilling system coordinate system in the robotic arm main body coordinate system and the coordinates (x2, y2, z2) of the material placement point in the drilling system coordinate system reach the preset usage threshold, the first coordinate of the material placement point in the robotic arm main body coordinate system is determined by the transformation relationship equation. At the same time, the current second material placement point image is captured by the camera, and the second coordinate of the material placement point in the second material placement point image in the robotic arm main body coordinate system is identified. Compare the position errors of the first coordinate and the second coordinate, and compare them with the preset position error. If the calculated position error is less than the preset position error, the current material will continue to be used in the subsequent P1 unmanned support process, and the comparison and judgment will be carried out again after P unmanned support. If the calculated position error is less than the preset position error in 5 consecutive comparisons, the current material will be marked as being in long-term use.
6. The unmanned support method based on sensor and vision hybrid assisted operation according to claim 5, characterized in that, For materials marked as long-term use, a second preset usage threshold P2 is set. When the current material is used for unattended support 5P1+P2+1 times, a judgment and comparison are performed. If the comparison results are all less than the preset position error, a third preset usage threshold P3 is set. The judgment and comparison are performed when the current material is used for unattended support 5P1+P2++P3+1 times, until the set P1 preset usage threshold is 1. After the usage count is set to 1, the current material is replaced.