An unmanned anchor rod supporting method based on a mechanical arm and single visual auxiliary work

Abstract

The present application belongs to the technical field of safety support operation, and particularly relates to an unmanned anchor rod supporting method based on a mechanical arm and single-vision auxiliary operation. The method acquires target anchor hole position information by shooting anchor net images, so that the drill box hole center axis is aligned with the target anchor hole. The mechanical arm respectively grabs drill rods, cartridge rods, mixers and anchor rods and other materials according to preset paths, which are respectively used for drilling, applying anchoring agent and fixing anchor rods in the target anchor hole, so as to realize anchor rod supporting work. The present application realizes anchor rod supporting and unmanned and automatic underground supporting process through the mechanical arm and single-vision assistance, can realize unmanned and few-person supporting operation when the working face is heading, does not need workers to operate nearby during supporting, avoids workers working in a serious dust environment, improves the safety of workers and reduces the labor intensity of workers.

Description

Technical Field

[0001] This invention belongs to the field of safety support operation technology, specifically relating to an unmanned anchor bolt support method based on robotic arm and single vision-assisted operation. Background Technology

[0002] Temporary support after tunnel excavation is a crucial step in ensuring the safety of subsequent operations. However, this stage still heavily relies on manual labor, leading to numerous problems such as high labor intensity, high safety risks, and unstable operational efficiency. Currently, temporary support technologies in coal mine roadways mainly include traditional manually operated support equipment and remotely controlled support equipment. Traditional support equipment is labor-intensive, operates in harsh environments, and its efficiency and quality depend heavily on the experience and skill of the workers. Remotely controlled support equipment currently relies mostly on real-time human perception and decision-making, requiring workers to assess information such as roof conditions and equipment positioning. Summary of the Invention

[0003] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides an unmanned anchor bolt support method based on robotic arm and single vision-assisted operation.

[0004] This invention is achieved using the following technical solution: an unmanned anchor bolt support method based on robotic arm and single vision-assisted operation, comprising: Acquire images of the anchor mesh laid in the area to be supported, identify the location information of the target anchor holes in the anchor mesh images, and adjust the position of the drill box based on the location information of the target anchor holes so that the central axis of the drill box holes is aligned with the target anchor holes. The robot arm acquires an image containing the relative position between the drill rod and the drill box hole, locates the positions of the drill rod and the drill box hole in the image, and adjusts the drill rod gripping path of the robot arm based on the location results of the drill rod and the drill box hole. After adjustment, the end effector of the hydraulic gripper of the robotic arm grabs the drill rod according to the adjusted drill rod grabbing path, grabs the drill rod and moves and fixes it in the drill box hole. By controlling the feed of the drill box, the drill rod is driven to drill at the target anchor hole position according to the preset drilling process parameters. After drilling is completed, the drill box is retracted to the preset retraction position, and the robotic arm is controlled to place the drill rod in the material box. The end effector of the hydraulic gripper of the robotic arm grasps the medicine roll rod according to the preset medicine roll rod grasping path, and moves and fixes it in the drill box hole. By controlling the feed of the drill box, the medicine roll rod is brought into contact with the bottom of the target anchor hole, and the anchoring agent in the medicine roll rod is pushed into the target anchor hole. After the push is completed, the drill box is retracted to the preset rod retraction position, and the robotic arm is controlled to place the medicine roll rod in the material box. The end effector of the robotic arm hydraulically gripping material grasps the agitator and anchor rod according to the preset gripping path of the agitator and the preset gripping path of the anchor rod, connects and fixes the two in the drill box hole, controls the feed of the drill box to make the end of the anchor rod contact the bottom of the cartridge in the target anchor hole, controls the drill box to drive the anchor rod to rotate, so as to stir the anchoring agent, make the anchoring agent evenly mixed and wrap the anchor rod, and fasten the anchor rod to the top plate, thus completing the support action.

[0005] Preferably, the process includes acquiring an image of the anchor mesh set up in the area to be supported, identifying the target anchor hole location information in the anchor mesh image, and adjusting the drill box position based on the target anchor hole location information so that the center axis of the drill box hole is aligned with the target anchor hole, including: The robotic arm carries a vision camera and takes images of the anchor netting set up in the area to be supported, and identifies the pre-marked points of the anchor netting in the images. Based on the pre-marked points of the anchor net, the two-dimensional coordinates of the target anchor hole are calculated, and based on the two-dimensional coordinates of the target anchor hole, the position information of the robotic arm, and the calibration parameters of the vision camera, the three-dimensional spatial coordinates of the target anchor hole are calculated. Adjust the position of the drill box according to the three-dimensional coordinates of the target anchor hole so that the center axis of the drill box hole is aligned with the target anchor hole.

[0006] Preferably, the end effector of the robotic arm hydraulically gripping material grasps the drill rod according to the adjusted drill rod gripping path, moves and fixes it in the drill box hole, and drives the drill rod to drill at the target anchor hole position according to the preset drilling process parameters by controlling the feed of the drill box. After drilling is completed, the drill box is retracted to the preset retraction position, and the robotic arm is controlled to place the drill rod in the material box, including: The end effector of the robotic arm hydraulically grips the drill rod according to the adjusted drill rod gripping path; The robotic arm moves the drill rod into the drill box hole, and controls the drill box feed to drive the drill rod to rise until it reaches the top. The first clamping mechanism for securing the drill pipe closes, performing a rod protection operation to prevent the drill pipe from shaking during drilling. According to the preset drilling process parameters, the drill box is controlled to drill according to the preset rotation speed and feed speed. The displacement sensor monitors the feed depth of the drill rod in real time. After reaching the preset drilling depth, the drilling stops, the first clamping mechanism is opened, the second clamping mechanism is closed, the drill rod is clamped, and the drill box (34) is controlled to reverse and return to the preset rod retraction position. Control the robotic arm to retract to the initial position of the drill rod gripping path, control the drill box to reverse, activate the second clamping mechanism to disengage the drill rod from the drill box, and control the robotic arm to place the drill rod back into the drill rod storage position in the material box.

[0007] Preferably, the end effector of the robotic arm hydraulically gripping material grasps the medicine roll rod according to a preset gripping path, moves and fixes it in the drill box hole, and controls the drill box feed to make the medicine roll rod contact the bottom of the target anchor hole, pushing the anchoring agent in the medicine roll rod into the target anchor hole. After pushing is completed, the drill box is retracted to the preset retraction position, and the robotic arm is controlled to place the medicine roll rod in the material box, including: The robotic arm moves to the medicine roll rod section of the material box and identifies the position and posture of the medicine roll rod through a vision camera; The end effector of the robotic arm hydraulically gripping material grabs the medicine roll rod according to the preset medicine roll rod gripping path, moves and fixes it in the drill box hole, closes the first clamping mechanism to tighten the medicine roll rod, and controls the drill box feed to make the medicine roll rod contact the bottom of the target anchor hole, pushing the anchoring agent in the medicine roll rod into the target anchor hole; The anchoring agent in the explosive cartridge rod is pushed into the target anchor hole by water or air pressure. The anchoring agent is fixed to the end of the explosive cartridge rod by adding tail wings or support mechanisms on the drill frame to prevent the anchoring agent from falling off. After the push is completed, the drill box is retracted to the preset retraction position, and the robotic arm is controlled to place the medicine roll rod into the material box.

[0008] Preferably, the end effector of the robotic arm hydraulically gripping material grasps the agitator and anchor rod according to a preset agitator gripping path and a preset anchor rod gripping path, connecting and fixing them inside the drill box hole. By controlling the feed of the drill box, the end of the anchor rod contacts the bottom of the cartridge in the target anchor hole. The drill box is controlled to rotate the anchor rod to agitate the anchoring agent, making the anchoring agent evenly mixed and encapsulating the anchor rod, and then fastening the anchor rod to the top plate, completing the support action, including: If the height of the area to be supported is greater than the length of the anchor bolt, the robotic arm is moved to the area where the agitator is stored in the material box. The end effector of the robotic arm hydraulically grabs the material and grabs the agitator according to the preset agitator grabbing path and moves it into the drill box hole. The robotic arm is controlled to move to the area where the anchor rods are stored in the material box. The end effector of the robotic arm hydraulically grabs the material and moves the anchor rod to the agitator hole in the drill box according to the preset anchor rod grabbing path. The feed of the drill box is controlled so that the top of the anchor rod contacts the anchoring agent in the target anchor hole. The drill box is controlled to rotate, and the anchoring agent is stirred by the anchor rod to make the anchoring agent evenly mixed and wrapping the anchor rod. The drill box is controlled to output a preset torque to the stirrer and the anchor rod. The rotation of the anchor rod causes the anchor rod body to be under tension, thereby applying an initial preload to the anchor rod before the anchoring agent solidifies, so that the anchor mesh is tightly attached to the top plate.

[0009] Preferably, the end effector of the robotic arm hydraulically gripping material grasps the agitator and anchor rod according to a preset agitator gripping path and a preset anchor rod gripping path, connecting and fixing them inside the drill box hole. By controlling the feed of the drill box, the end of the anchor rod contacts the bottom of the cartridge in the target anchor hole. The drill box is controlled to rotate the anchor rod to agitate the anchoring agent, making the anchoring agent evenly mixed and encapsulating the anchor rod, and then fastening the anchor rod to the top plate, completing the support action, including: If the height of the coal roadway is lower than the length of the anchor bolt, the control robot arm moves to the area where the anchor bolt is stored in the material box. The end effector of the robot arm hydraulically grabs the material according to the preset anchor bolt grabbing path, grabs the anchor bolt, and moves it into the drill box hole. Control the feed of the drill box to push the anchor rod into the target anchor hole. When the drill box (34) reaches the preset height, the anchor rod is closed and fixed by the first clamping mechanism. Control the drill box to reset and separate from the anchor rod. The robotic arm is controlled to move to the area where the agitator is stored in the material box. The end effector of the robotic arm hydraulically grabs the material and places the agitator in the drill box hole according to the preset agitator grabbing path. The drill box is fed to the preset height so that the anchor rod is inserted into the agitator hole. The drill box is controlled to rotate, and the anchoring agent is stirred by the anchor rod to make the anchoring agent evenly mixed and wrapping the anchor rod. The drill box is controlled to output a preset torque to the stirrer and the anchor rod. The rotation of the anchor rod causes the anchor rod body to be under tension, thereby applying an initial preload to the anchor rod before the anchoring agent solidifies, so that the anchor mesh is tightly attached to the top plate.

[0010] Compared with the prior art, the beneficial effects of the present invention are: This invention provides an unmanned anchor bolt support method based on robotic arm and single-vision assistance. It acquires the target anchor hole location information by capturing images of the anchor mesh, aligns the center axis of the drill box borehole with the target anchor hole, and uses a robotic arm to grab materials such as drill rods, explosive coils, a mixer, and anchor bolts according to a preset path. These materials are then used for drilling, applying anchoring agent, and fixing the anchor bolts into the target anchor hole, thus achieving anchor bolt support. This invention utilizes robotic arm and single-vision assistance to achieve unmanned and automated downhole support processes, enabling unmanned or minimally manned support operations at the working face. No workers are required to operate the support, avoiding working in dusty environments, improving worker safety, and reducing labor intensity. Attached Figure Description

[0011] 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.

[0012] Figure 1 This is a flowchart illustrating an unmanned anchor bolt support method based on robotic arm and single vision-assisted operation provided by the present invention.

[0013] Figure 2 This is a schematic diagram of the equipment on which the method implementation of the unmanned anchor bolt support method based on robotic arm and single vision assistance provided by the present invention is based.

[0014] Figure 3 This is a schematic diagram of the marked anchor mesh structure in an unmanned anchor bolt support method based on robotic arm and single vision assistance provided by the present invention.

[0015] Figure 4 This is a schematic diagram of the anchor support state when the height of the support area is greater than the length of the anchor bolt, in an unmanned anchor bolt support method based on robotic arm and single vision assistance provided by the present invention.

[0016] Figure 5 This is a schematic diagram of the anchor support state when the height of the support area is less than the length of the anchor bolt, in an unmanned anchor bolt support method based on robotic arm and single vision assistance provided by the present invention. Detailed Implementation

[0017] 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.

[0018] 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.

[0019] This invention provides an embodiment: such as Figure 1 As shown, this invention provides an unmanned anchor bolt support method based on robotic arm and single vision-assisted operation, comprising: S110: Acquire an image of the anchor mesh laid in the area to be supported, identify the target anchor hole location information in the anchor mesh image, and adjust the position of the drill box based on the target anchor hole location information so that the center axis of the drill box hole is aligned with the target anchor hole.

[0020] The structure of the main equipment for unmanned anchor bolt support of this invention is as follows: Figure 2-5 As shown, the system includes: a drill frame 3, a robotic arm 2, and a material box. The material box stores labeled anchor mesh 5, drill rod 41, explosive coil rod 42, anchor rod 43, and a mixer 44. An anchoring agent 421 is attached to the end of the explosive coil rod 42. Sensors include a vision camera 21, a drill frame displacement sensor 33, and a pressure sensor 35. The displacement sensor 33 and pressure sensor 35 are mounted on the drill frame 3 body. The displacement sensor 33 monitors the drill frame's posture, and the pressure sensor 35 monitors whether the drill frame 3's movements are normal. The vision camera 21 is mounted on the end shaft of the robotic arm 2 and is mainly used to locate the drill box hole, target anchor hole, and the posture of various materials. To address the high dust, low light, and moisture problems in coal mines, the vision camera is equipped with a self-cleaning module (automatic dust removal / defogging), an adaptive lighting module, and a shake-damping structure. The end gripper of the robotic arm 2 uses a flexible gripping structure, working in conjunction with the vision system to achieve adaptive grasping.

[0021] Each time anchoring work is carried out, the anchor drilling system 1 is first prepared and initialized. The main control system is powered on, and self-checks and communication confirmations are performed on various sensors such as vision camera 21, drill frame displacement sensor 33, pressure sensor 35, and actuators such as robotic arm 2, drill frame 3, and drill box 34. Vision camera 21 undergoes lens dust removal and defogging, and environmental image adaptive enhancement. Drill frame 3 returns to its vertical position, drill box 34 is at its lowest point, robotic arm 2 retracts to its initial safe position, and drill rod 41, anchor rod 43 with tray nuts, explosive cartridge rod 42, and agitator 44 are ready. Workers remotely or on-site lay the anchor mesh 5 with pre-marked markers 51, such as reflective dots or special patterns, to the area to be supported, such as the tunnel roof.

[0022] After preparation, the robotic arm 2 carries the vision camera 21 and takes an image of the anchor net set in the area to be supported, and identifies the anchor net preset marker points 51 in the anchor net image; based on the anchor net preset marker points 51, the two-dimensional coordinates of the target anchor hole are calculated, and based on the two-dimensional coordinates of the target anchor hole, the position information of the robotic arm and the calibration parameters of the vision camera, the three-dimensional spatial coordinates of the target anchor hole are calculated; according to the three-dimensional coordinates of the target anchor hole, the position of the drill box 34 is adjusted so that the central axis of the drill box hole is aligned with the target anchor hole.

[0023] Specifically, robotic arm 2, carrying vision camera 21, moves above the anchor net 5 and takes pictures of the area of ​​the anchor net 5. Through image recognition of the anchor net image, it identifies preset marker points 51 on the anchor net 5 and accurately calculates the two-dimensional pixel coordinates of the target anchor hole. Combining the precise pose of robotic arm 2 and camera calibration parameters, the two-dimensional pixel coordinates of the anchor hole are converted into three-dimensional spatial coordinates relative to the base of the drill frame 3. Based on the three-dimensional coordinates of the target anchor hole, the system controls multiple hydraulic cylinders of the drill frame 3 to adjust its pitch angle, sliding distance, etc., and monitors sensor data to ensure that the center axis of the drill box hole is precisely aligned with the target anchor hole. Simultaneously, the support cylinder at the top of the drill frame 3 rises, and the displacement sensor 33 determines the height, and the pressure sensor 35 determines the contact force, ensuring that the drill frame 3 stably and flexibly presses against the top plate, providing stable reaction force support for drilling. A single vision camera scans various positions in the material hopper to obtain the position identification of drill rods, anchor rods, and cartridges within the hopper, and inspects the appearance of drill rods and anchor rods. If the inspection is qualified, the process proceeds to the next step; if defects are found, an alarm is issued and the material is replaced.

[0024] S120: Acquire an image containing the relative position between the drill rod and the drill box hole, locate the positions of the drill rod and the drill box hole in the image, and adjust the drill rod gripping path of the robotic arm based on the location results of the drill rod and the drill box hole.

[0025] S130: After adjustment, the end effector 22 of the robotic arm hydraulically gripping material grabbing mechanism grabs the drill rod according to the adjusted drill rod gripping path, moves and fixes it in the drill box hole, and drives the drill rod to drill at the target anchor hole position according to the preset drilling process parameters by controlling the feed of the drill box. After drilling is completed, the drill box is retracted to the preset retraction position, and the robotic arm is controlled to place the drill rod in the material box.

[0026] The end effector 22 of the robotic arm hydraulically grips the material and grasps the drill rod 41 according to the adjusted drill rod gripping path; the robotic arm 2 moves the drill rod 41 into the drill box hole, and drives the drill rod 41 to rise until it reaches the top by controlling the feed of the drill box 34; the first clamping mechanism 31 for fastening the drill rod 41 closes to protect the drill rod 41 and prevent it from shaking during drilling; according to the preset drilling process parameters, the drill box 34 is controlled to drill at the preset speed and feed rate, and the displacement... Sensor 33 monitors the feed depth of drill rod 41 in real time. After reaching the preset drilling depth, drilling stops, the first clamping mechanism 31 is opened, the second clamping mechanism 32 is closed, the drill rod 41 is clamped, and the drill box 34 is controlled to reverse and return to the preset rod retraction position. The robotic arm 2 is controlled to retract to the initial position of the drill rod grasping path, the drill box 34 is controlled to reverse, the second clamping mechanism 32 is opened, the drill rod 41 is disengaged from the drill box 34, and the robotic arm 2 is controlled to put the drill rod 41 back into the drill rod storage position in the material box.

[0027] Specifically, to prevent cumulative errors, the end effector camera of robotic arm 2 needs to take pictures of the attitude of drill frame 3 and the drill box hole sequentially to accurately locate its actual position and fine-tune the gripping path of robotic arm 2. Robotic arm 2 moves to the drill rod 41 section of the material box and visually identifies the position and attitude of the drill rod 41. According to the planned path, robotic arm 2 reliably grips a drill rod 41 using its end effector. During gripping, the end effector force sensor detects the clamping force in real time, determining whether the gripping is complete and the quality of the grip by judging the magnitude of the force. Only when the judgment is successful does the program proceed to the next step of placing the drill rod into the drill box hole; otherwise, the robotic arm takes another picture through the vision camera and re-grabs and judges. Robotic arm 2 precisely transfers and inserts the drill rod 41 into the aligned drill box hole. The drill box 34 slowly rises until the drill rod 41 touches the top, and the first clamping mechanism 31 closes, performing a rod protection operation to prevent the drill rod from shaking during drilling.

[0028] Afterwards, anchor hole operations are carried out on the roof of the coal roadway. The system calls the preset process parameters such as drilling depth, rotation speed, and feed speed at this location. Through the combined operation of rotating feed of the drill box 34, drilling is performed. The displacement sensor monitors the feed depth of the drill rod 41 in real time. After reaching the preset depth, it automatically stops. The first clamping mechanism 31 opens and the second clamping mechanism 32 closes to clamp the drill rod. The drill box 34 reverses and returns to a certain position before stopping rotation, only retaining the return action to the preset rod return position. The robotic arm 2 returns to the original position where the anchor rod 43 was placed and grabs the drill rod 41. At this time, the drill box 34 slowly reverses and returns to the lowest position, and the drill rod 41 is separated from the drill box 34. The second clamping mechanism 32 opens, and then the robotic arm 2 puts the drill rod 41 back into the material box at the original storage position of the drill rod 41.

[0029] S140: The end effector 22 of the robotic arm hydraulically grips the material, grips the drug roll rod according to the preset drug roll rod gripping path, and moves and fixes it in the drill box hole. By controlling the feed of the drill box, the drug roll rod is brought into contact with the bottom of the target anchor hole, and the anchoring agent in the drug roll rod is pushed into the target anchor hole. After the push is completed, the drill box is retracted to the preset retraction position, and the robotic arm is controlled to place the drug roll rod in the material box.

[0030] The robotic arm 2 moves to the area in the material box where the drug roll rods are stored, and identifies the position and posture of the drug roll rod 42 through the vision camera 21. The end effector 22 of the robotic arm hydraulically grips the material, grips the drug roll rod 42 according to the preset drug roll rod gripping path, and transfers and fixes it in the drill box hole. The first clamping mechanism 31 is closed to secure the drug roll rod 42. By controlling the feed of the drill box, the drug roll rod 42 is brought into contact with the bottom of the target anchor hole, and the anchoring agent 421 in the drug roll rod 42 is pushed into the target anchor hole. The anchoring agent 421 in the drug roll rod 42 is pushed into the target anchor hole by water pressure or air pressure. The anchoring agent 421 is fixed to the end of the drug roll rod 42 by adding a tail fin or a support mechanism on the drill frame to prevent the anchoring agent 421 from falling off. After the pushing is completed, the drill box 34 is retracted to the preset retraction position, and the robotic arm 2 is controlled to place the drug roll rod 42 in the material box.

[0031] Specifically, robotic arm 2 moves to the drug roll rod 42 section of the material box, identifies the position and orientation of the drug roll rod 42 through a vision camera, and the end effector grasps the drug roll rod 42. Robotic arm 2 pushes the drug roll rod 42 into the bottom of the pre-drilled anchor hole according to the planned route. The first clamping mechanism 31 of the drill frame engages a guard rod action, and the drill box 34 feeds slowly, bringing the drug roll rod 42 into contact with the top and aligning it with the pre-drilled anchor hole. Water pressure or air pressure is used to push the anchoring agent 421 in the drug roll rod 42 into the anchor hole. The anchoring agent 421 is prevented from falling out by adding a tail fin or a support mechanism on the drill frame.

[0032] S150: The end effector 22 of the robotic arm hydraulically grips the material, grips the agitator and anchor rod according to the preset gripping path of the agitator and the preset gripping path of the anchor rod, connects and fixes the two in the drill box hole, controls the feed of the drill box to make the end of the anchor rod contact the bottom of the medicine roll in the target anchor hole, controls the drill box to drive the anchor rod to rotate, so as to stir the anchoring agent, make the anchoring agent evenly mixed and wrap the anchor rod, and fasten the anchor rod to the top plate to complete the support action.

[0033] If the height of the area to be supported is greater than the length of the anchor bolt 43, the robotic arm 2 is moved to the area where the agitator 44 is stored in the material box. The end effector 22 of the robotic arm hydraulically grabs the material, grabs the agitator 44 according to the preset agitator grabbing path, and moves it into the drill box hole. The robotic arm 3 is controlled to move to the area where the anchor rod 43 is stored in the material box. The end effector 22 of the robotic arm hydraulically grabs the material and moves the anchor rod 43 to the agitator hole in the drill box according to the preset anchor rod grabbing path. The drill box 34 is controlled to feed so that the top of the anchor rod 43 contacts the anchoring agent 421 in the target anchor hole. The drill box 34 is controlled to rotate, and the anchoring agent 421 is stirred by the anchor rod 43 to make the anchoring agent 421 evenly mixed and wrapping the anchor rod 43. The drill box 34 is controlled to output a preset torque to the stirrer 44 and the anchor rod 43. The anchor rod 43 is rotated so that the anchor rod 43 is under tension, thereby applying an initial pre-tightening force to the anchor rod 43 before the anchoring agent 421 solidifies, so that the anchor mesh 5 is tightly attached to the top plate.

[0034] If the height of the area to be supported is less than the length of the anchor bolt 43, the robotic arm 2 is moved to the area where the anchor bolt 43 is stored in the material box. The end effector 22 of the robotic arm hydraulically grabs the material, grabs the anchor bolt 43 according to the preset anchor bolt grabbing path, and moves it into the drill box hole. The drill box 34 is fed to push the anchor rod 43 into the target anchor hole. When the drill box 34 reaches the preset height, the first clamping mechanism 31 closes and fixes the anchor rod 43, and the drill box 34 is reset and separated from the anchor rod 43. The robotic arm 2 is moved to the area where the agitator 44 is stored in the material box. The end effector 22 of the robotic arm hydraulically grabs the material and places the agitator 44 in the drill box hole according to the preset agitator grabbing path. The drill box 34 is fed to the preset height so that the anchor rod 43 is inserted into the agitator hole. The drill box 34 is controlled to rotate, and the anchoring agent 421 is stirred by the anchor rod 43 to make the anchoring agent 421 evenly mixed and wrapping the anchor rod 43. The drill box 34 is controlled to output a preset torque to the stirrer 44 and the anchor rod 43. The anchor rod 43 is rotated so that the anchor rod 43 is under tension, thereby applying an initial pre-tightening force to the anchor rod 43 before the anchoring agent 421 solidifies, so that the anchor mesh 5 is tightly attached to the top plate.

[0035] After the anchoring operation is completed, the drill frame 3 returns to its original vertical position, the support column cylinder falls back, the drill box 34 returns to its lowest position, and the robotic arm 2 retracts to its initial safe position, waiting for the next support command.

[0036] Specifically, if the height of the area to be supported meets the anchor bolt length requirement, the robotic arm 2 moves to the material box mixer 44. The end effector visually identifies that the mixer 44 can accommodate and clamp the lower nut of the anchor bolt 43. The end effector then precisely moves the mixer 44 into the drill box hole. The end effector camera at the end of the robotic arm photographs the hole above the mixer 44 to determine its position. The robotic arm 2 then moves to the material box anchor bolt 43, identifies and grabs the anchor bolt 43 with the tray and nut already installed. The end effector grabs the middle of the anchor bolt 43, avoiding the tray and nut. The anchor bolt 43 is moved into the mixer hole, the drill box 34 feeds, and the lower clamping structure 31 of the drill frame moves under the action of the guard rod, ensuring that the anchor bolt 43 and the drill box 34 move stably together until the head of the anchor bolt 43 reaches the bottom of the explosive cartridge and enters the anchor hole on the coal roof. After the drill box 34 is fed to a certain height, the guard rod opens, and the drill box 34 continues to rise until the tray is in contact with the anchor mesh 6. At this point, the drill box 34 starts, driving the anchor rod 43 to rotate at high speed, which fully stirs the anchoring agent 421 in the hole, making it evenly mixed and wrapping the anchor rod 43. The drill box 34 outputs a preset torque to rotate the lower nut of the anchor rod 43, causing the anchor rod 43 to be under tension. This applies an initial preload to the anchor rod 43 before the anchoring agent 421 solidifies, making the anchor mesh 6 tightly adhere to the top plate.

[0037] If the coal roadway height is lower than the length of anchor bolt 43, robotic arm 2 first moves to the material box anchor bolt 43, identifies and grabs anchor bolt 43, and moves it into the drill box hole. The first clamping mechanism 31 activates its guard rod, and the drill box 34 feeds at a constant speed, pushing anchor bolt 43 and fastening agent together into the anchor hole. When the drill box 34 reaches the preset height, the second clamping mechanism 32 closes to clamp anchor bolt 43, the first clamping mechanism 31 opens, and the drill box 34 resets. At this time, robotic arm 2 moves to the mixer frame, identifies and grabs the mixer, places it on the drill box hole, and the drill box 34 feeds to the preset height. The mixer connects to the bottom of anchor bolt 43, the upper clamp opens, and the above anchor bolt 43 fastening action is repeated to complete the pre-tightening.

[0038] 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 anchor bolt support based on robotic arm and single vision-assisted operation, characterized in that, include: Acquire images of the anchor mesh laid in the area to be supported, identify the target anchor hole location information in the anchor mesh image, and adjust the position of the drill box based on the target anchor hole location information so that the center axis of the drill box hole is aligned with the target anchor hole; The robot arm acquires an image containing the relative position between the drill rod and the drill box hole, locates the positions of the drill rod and the drill box hole in the image, and adjusts the drill rod gripping path of the robot arm based on the location results of the drill rod and the drill box hole. After adjustment, the end effector of the hydraulic gripping material of the robotic arm grips the drill rod according to the adjusted drill rod gripping path, moves and fixes it in the drill box hole, and drives the drill rod to drill at the target anchor hole position according to the preset drilling process parameters by controlling the feed of the drill box. After drilling is completed, the drill box is retracted to the preset retraction position, and the robotic arm is controlled to place the drill rod in the material box. The end effector of the robotic arm hydraulically gripping material grabs the medicine roll rod according to the preset medicine roll rod gripping path, and moves and fixes it in the drill box hole. By controlling the feed of the drill box, the medicine roll rod is brought into contact with the bottom of the target anchor hole, and the anchoring agent in the medicine roll rod is pushed into the target anchor hole. After the push is completed, the drill box is retracted to the preset rod retraction position, and the robotic arm is controlled to place the medicine roll rod in the material box. The end effector of the hydraulically gripping robotic arm grasps the agitator and anchor rod according to the preset gripping paths of the agitator and anchor rod, connecting and fixing them in the drill box hole. By controlling the feed of the drill box, the end of the anchor rod contacts the bottom of the cartridge in the target anchor hole. The drill box is controlled to drive the anchor rod to rotate, so as to stir the anchoring agent, making the anchoring agent evenly mixed and wrapping the anchor rod, and fastening the anchor rod to the top plate, thus completing the support action.

2. The unmanned anchor bolt support method based on robotic arm and single vision-assisted operation according to claim 1, characterized in that, Acquire an image of the anchor mesh set up in the area to be supported, identify the target anchor hole location information in the anchor mesh image, and adjust the drill box position based on the target anchor hole location information so that the center axis of the drill box hole is aligned with the target anchor hole, including: A robotic arm carries a vision camera, which captures images of the anchor netting set up in the area to be supported, and identifies the preset marker points of the anchor netting in the images. Based on the preset marker points of the anchor net, the two-dimensional coordinates of the target anchor hole are calculated, and based on the two-dimensional coordinates of the target anchor hole, the position information of the robotic arm, and the calibration parameters of the vision camera, the three-dimensional spatial coordinates of the target anchor hole are calculated. Based on the three-dimensional coordinates of the target anchor hole, adjust the position of the drill box so that the central axis of the drill box hole is aligned with the target anchor hole.

3. The unmanned anchor bolt support method based on robotic arm and single vision-assisted operation according to claim 1, characterized in that, The end effector of the robotic arm hydraulically gripping material grasps the drill rod according to the adjusted drill rod gripping path, moves and fixes it in the drill box hole, and drives the drill rod to drill at the target anchor hole position according to the preset drilling process parameters by controlling the feed of the drill box. After drilling is completed, the drill box is retracted to the preset retraction position, and the robotic arm is controlled to place the drill rod in the material box, including: The end effector of the robotic arm hydraulically grips the material and grips the drill rod according to the adjusted gripping path; The robotic arm moves the drill rod into the drill box hole, and controls the drill box feed to drive the drill rod to rise until it reaches the top. The first clamping mechanism for securing the drill pipe closes, performing a rod protection operation to prevent the drill pipe from shaking during drilling. According to the preset drilling process parameters, the drill box is controlled to drill at the preset rotation speed and feed speed. The displacement sensor monitors the feed depth of the drill rod in real time. After reaching the preset drilling depth, the drilling stops, the first clamping mechanism is opened, the second clamping mechanism is closed, the drill rod is clamped, and the drill box is controlled to reverse and return to the preset rod retraction position. Control the robotic arm to retract to the initial position of the drill rod gripping path, control the drill box to reverse, activate the second clamping mechanism to disengage the drill rod from the drill box, and control the robotic arm to place the drill rod back into the drill rod storage position in the material box.

4. The unmanned anchor bolt support method based on robotic arm and single vision-assisted operation according to claim 1, characterized in that, The end effector of the robotic arm hydraulically gripping material grasps the drug roll rod according to a preset gripping path, moves and fixes it in the drill box hole, and controls the drill box feed to make the drug roll rod contact the bottom of the target anchor hole, pushing the anchoring agent in the drug roll rod into the target anchor hole. After pushing is completed, the drill box is retracted to the preset retraction position, and the robotic arm is controlled to place the drug roll rod in the material box, including: The robotic arm moves to the area in the material box where medicine rolls are stored, and uses a vision camera to identify the position and orientation of the medicine rolls. The end effector of the hydraulic gripper of the robotic arm grips the medicine roll rod according to the preset gripping path, and moves and fixes it in the drill box hole. The first clamping mechanism is closed to tighten the medicine roll rod. By controlling the feed of the drill box, the medicine roll rod is brought into contact with the bottom of the target anchor hole, and the anchoring agent in the medicine roll rod is pushed into the target anchor hole. The anchoring agent in the explosive cartridge rod is pushed into the target anchor hole by water or air pressure. The anchoring agent is fixed to the end of the explosive cartridge rod by adding tail wings or support mechanisms on the drill frame to prevent the anchoring agent from falling off. After the push is completed, the drill box is retracted to the preset retraction position, and the robotic arm is controlled to place the medicine roll rod into the material box.

5. The unmanned anchor bolt support method based on robotic arm and single vision-assisted operation according to claim 1, characterized in that, The end effector of the hydraulically gripping robotic arm grasps the agitator and anchor rod according to a preset gripping path and an anchor rod gripping path, connecting and fixing them inside the drill box hole. By controlling the feed of the drill box, the end of the anchor rod contacts the bottom of the cartridge in the target anchor hole. The drill box is then controlled to rotate the anchor rod to agitate the anchoring agent, ensuring it is evenly mixed and coats the anchor rod, thus securing the anchor rod to the top plate and completing the support action, including: If the height of the area to be supported is greater than the length of the anchor bolt, the robotic arm is controlled to move to the area where the agitator is stored in the material box. The end effector of the robotic arm hydraulically grabs the material, grabs the agitator according to the preset agitator grabbing path, and moves it into the drill box hole. The robotic arm is controlled to move to the area where the anchor rods are stored in the material box. The end effector of the robotic arm hydraulically grabbing the material moves the anchor rod to the agitator hole in the drill box according to the preset anchor rod grabbing path. The drill box is controlled to feed so that the top of the anchor rod contacts the anchoring agent in the target anchor hole. The drill box is controlled to rotate, and the anchoring agent is stirred by the anchor rod to make the anchoring agent evenly mixed and wrapping the anchor rod. The drill box is controlled to output a preset torque to the stirrer and the anchor rod. The rotation of the anchor rod causes the anchor rod body to be under tension, thereby applying an initial preload to the anchor rod before the anchoring agent solidifies, so that the anchor mesh is tightly attached to the top plate.

6. The unmanned anchor bolt support method based on robotic arm and single vision-assisted operation according to claim 4, characterized in that, The end effector of the hydraulically gripping robotic arm grasps the agitator and anchor rod according to a preset gripping path and an anchor rod gripping path, connecting and fixing them inside the drill box hole. By controlling the feed of the drill box, the end of the anchor rod contacts the bottom of the cartridge in the target anchor hole. The drill box is then controlled to rotate the anchor rod to agitate the anchoring agent, ensuring it is evenly mixed and coats the anchor rod, thus securing the anchor rod to the top plate and completing the support action, including: If the height of the area to be supported is less than the length of the anchor bolt, the robotic arm is moved to the area where the anchor bolts are stored in the material box. The end effector of the robotic arm hydraulically grabs the material and grabs the anchor bolt according to the preset anchor bolt grabbing path and moves it into the drill box hole. Control the feed of the drill box to push the anchor rod into the target anchor hole. When the drill box reaches the preset height, the anchor rod is closed and fixed by the first clamping mechanism. Control the drill box to reset and separate from the anchor rod. The robotic arm is controlled to move to the area where the agitator is stored in the material box. The end effector of the robotic arm hydraulically grabs the material and places the agitator in the drill box hole according to the preset agitator grabbing path. The drill box is fed to the preset height so that the anchor rod is inserted into the agitator hole. The drill box is controlled to rotate, and the anchoring agent is stirred by the anchor rod to make the anchoring agent evenly mixed and wrapping the anchor rod. The drill box is controlled to output a preset torque to the stirrer and the anchor rod. The rotation of the anchor rod causes the anchor rod body to be under tension, thereby applying an initial preload to the anchor rod before the anchoring agent solidifies, so that the anchor mesh is tightly attached to the top plate.

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