A kind of anchor rod support remote hole arrangement system and method suitable for heading machine

Abstract

The application discloses a kind of anchor rod support remote hole arrangement system and method suitable for heading machine, anchor rod support remote hole arrangement system suitable for heading machine includes surrounding rock perception hole arrangement unit, anchor rod drilling machine mechanism, multiple sensor positioning execution component and upper control unit, surrounding rock perception hole arrangement unit uses integrated dual-axis holder structure, carries three-dimensional point cloud acquisition, image acquisition and laser point marking module;The motion freedom degree of each anchor rod drilling machine mechanism configuration position and pressure detection element, constitute closed-loop positioning system.The method generates initial hole arrangement, fuses point cloud and image recognition interference and bad surrounding rock, dynamically adjusts point position, kinematics solves the flow of driving drill automatic positioning, realizes whole-process remote unmanned operation.The application can replace artificial into dangerous area hole arrangement positioning, automatically avoid steel arch and other structure interference, adapt to complex support environment, greatly improve the safety and automation level of anchor rod support operation, lay the foundation for heading machine anchor rod support whole-process automation.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring equipment support technology, specifically to a remote hole-laying system and method for anchor bolt support applicable to tunnel boring machines. Background Technology

[0002] In the field of tunnel construction, full-face hard rock tunnel boring machines (TBMs) have become core equipment for long-distance hard rock tunnel construction due to their advantages such as high tunneling efficiency and stable construction safety. Rock bolt support, as a key process in the initial support of tunnels, reinforces the surrounding rock by driving anchor bolts into it, and is a core means of ensuring the stability of the exposed surrounding rock behind the tunnel face and preventing the risk of roof collapse. Achieving rapid and stable rock bolt support operations is a crucial prerequisite for ensuring the safety of construction personnel and the progress of the project.

[0003] Currently, in tunnel construction, the layout and positioning of anchor bolt supports still largely rely on manual labor: construction workers must enter the exposed surrounding rock area or temporary support section, manually mark the points according to the design layout diagram, and then manually control the anchor bolt drilling rig to drill the holes at the points. On the one hand, the overall support of the surrounding rock in the initial support area is not yet complete, posing a high risk of roof collapse and rockfall, and personnel entering the dangerous area face significant safety hazards; on the other hand, manual marking and positioning are inefficient, and the accuracy of the work is greatly affected by the operator's experience, making it difficult to meet the needs of efficient construction of long-distance tunnels.

[0004] To address the aforementioned issues, the industry has gradually conducted research on the automation of anchor bolt support. For example, some integrated drilling, grouting, and anchoring anchor bolt drilling rig solutions integrate drilling, grouting, and anchoring processes by adding mechanical structures. However, the hole layout and positioning still rely on manual control, failing to fundamentally solve the problem of personnel working in hazardous areas. Other automatic anchor bolt positioning solutions for coal mine roadways include two types: one based on binocular vision and positioning targets to identify anchor holes, but relying on pre-set targets and steel strip beam structures, making it only suitable for coal mine roadway support scenarios; the other uses a 3D laser scanner to scan the steel strip beam, identify the anchor hole coordinates, and plan the drilling rig's movement path, but its positioning target is the existing pre-fabricated hole positions on the steel strip beam, unable to autonomously lay holes in exposed surrounding rock, and lacking the ability to identify interference from complex support structures such as steel arches and rebar rows.

[0005] For tunneling machine (TBM) construction scenarios, the initial support zone contains multiple support structures such as steel arches, steel mesh, and steel bar rows, creating a complex working environment. Directly using the designed borehole layout diagram during construction is prone to spatial interference. Furthermore, the surrounding rock surface exhibits complex conditions such as fracturing and collapse, making it difficult to accurately determine anchoring conditions using a single 3D point cloud. Existing technologies are inadequate for this complex scenario and struggle to achieve full automation from borehole planning to drilling rig positioning. Therefore, developing an anchor bolt support system with remote borehole layout, interference recognition, dynamic borehole adjustment, and automatic positioning functions is crucial for improving the automation level of TBM support.

[0006] It should be noted that the analysis of the above technical information is the result of creative labor. The detailed description of it in the background section is only intended to deepen the understanding of the non-obviousness of the overall background of this application by those skilled in the art, and should not be regarded as an admission or in any form an implication that the above technical information constitutes prior art known to those skilled in the art. Summary of the Invention

[0007] This invention addresses the shortcomings of existing technologies by proposing a remote hole-laying system and method for anchor bolt support applicable to tunneling machines. It solves the technical problems of relying on manual hole laying during the anchor bolt support process of tunneling machines, high operational safety risks, easy structural interference in complex support environments, and the inability to achieve remote automatic hole laying and automatic drilling machine positioning.

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0009] A remote borehole layout system for anchor bolt support applicable to tunneling machines includes an anchor bolt drilling mechanism, a higher-level control unit, a surrounding rock sensing borehole layout unit, and a multi-sensor positioning and execution component. The surrounding rock sensing borehole layout unit includes an adjustable gimbal device installed at the rear of the tunneling machine's shield or main beam. The adjustable gimbal device integrates a 3D point cloud acquisition module, an image acquisition module, and a laser marking module. The multi-sensor positioning and execution component is mounted on the anchor bolt drilling mechanism, which includes a circular walking mechanism, an axial swing mechanism, a radial swing mechanism, and a compensation telescopic mechanism. The multi-sensor positioning and execution component includes position detection elements respectively configured on the circular walking mechanism, the axial swing mechanism, the radial swing mechanism, and the compensation telescopic mechanism. The higher-level control unit is communicatively connected to the 3D point cloud acquisition module, the image acquisition module, the laser marking module, and each position detection element. The higher-level control unit generates an initial borehole layout plan based on the surrounding rock grade, identifies support obstacles and surrounding rock conditions by combining 3D point cloud data and image data to dynamically adjust the borehole layout positions, and drives the anchor bolt drilling mechanism to complete the positioning operation based on the adjusted borehole layout positions.

[0010] Furthermore, the adjustable gimbal device is a dual-axis gimbal. The 3D point cloud acquisition module, image acquisition module, and laser marking module are integrated and installed on the bearing end of the dual-axis gimbal, adjusting their pitch and yaw angles synchronously with the dual-axis gimbal. Its advantages are: the integrated gimbal design enables unified attitude control of the sensing modules, ensuring the consistency of the coordinate systems of the point cloud, image, and laser marking, reducing calibration difficulty, and improving data matching accuracy.

[0011] Furthermore, the specific method by which the upper-level control unit generates the initial borehole layout scheme is as follows: A spatial coordinate system is established with the tunnel center starting face as the origin. Based on the construction design scheme corresponding to the current surrounding rock grade, the two-dimensional coordinates of the anchor bolt design points within the tunnel section are obtained. Combined with the tunneling machine's already excavated mileage and axial translation cylinder displacement data, the axial coordinates of the working section are calculated to obtain the three-dimensional spatial coordinates of each anchor bolt point, thus generating the initial borehole layout diagram. Its beneficial effects are: based on a standardized construction scheme matching the surrounding rock grade, and combined with real-time tunneling data, three-dimensional borehole layout coordinates are generated, ensuring the consistency between the initial borehole layout and the construction design, and providing a benchmark for subsequent dynamic adjustments.

[0012] Furthermore, the upper-level control unit incorporates a point cloud image fusion module. This module establishes a rigid transformation relationship between the lidar coordinate system and the camera pixel coordinate system using pre-calibrated camera intrinsic and extrinsic parameter matrices. It then projects the 3D point cloud coordinates onto a 2D image plane using a pinhole imaging model, extracts the texture information of the corresponding pixels, and assigns it to the 3D point cloud, generating enhanced point cloud data containing geometric position and texture color. The beneficial effects are: fusing 3D geometric information with 2D texture information preserves the spatial coordinate accuracy of the point cloud while supplementing the texture details of the image, solving the problem that a single 3D point cloud cannot accurately identify the state of rock fragmentation and collapse, and improving the accuracy of rock condition determination.

[0013] Furthermore, the upper-level control unit incorporates an interference recognition and point adjustment module. This module uses clustering and cylindrical fitting algorithms to identify steel arch frames, rebar rows, and rebar mesh support structures from point cloud data, marking points that spatially interfere with anchor bolt boreholes. It also combines image texture information to determine points where the rock surface is broken or collapsed, rendering them unsuitable for anchoring. For invalid points, a neighborhood search range is set, and alternative borehole locations are selected based on priority. If a search fails, the point is marked as skipped. The advantages are: it can automatically identify interference structures and unfavorable surrounding rock areas in complex support environments, automatically complete dynamic point adjustments without requiring manual on-site judgment, achieving unmanned borehole layout while effectively avoiding the risks of borehole interference and anchoring failure.

[0014] Furthermore, the position detection components include an absolute encoder, an angle sensor, and a compensating cylinder wire displacement sensor. The absolute encoder is mounted on the travel motor of the ring-shaped traveling mechanism and is used to acquire the angular position of the anchor drilling rig on the ring gear. The angle sensors are respectively mounted on the axial swing mechanism and the radial swing mechanism and are used to acquire the axial swing angle and the radial swing angle, respectively. The compensating cylinder wire displacement sensor is mounted on the compensating telescopic mechanism and is used to acquire the extension length of the compensating telescopic mechanism. Its beneficial effects are: configuring corresponding detection elements for multiple degrees of freedom of motion of the anchor drilling rig enables real-time acquisition of the pose of each joint, providing a data foundation for kinematic solution and closed-loop positioning, and ensuring the positioning accuracy of the drilling rig.

[0015] Furthermore, the multi-sensor positioning execution component also includes a pressure sensor, which is installed on the small cylinder side of the compensating telescopic mechanism to detect the contact pressure of the compensating telescopic mechanism. The upper control unit has a built-in positioning determination module for preset pressure thresholds. When the contact pressure of the compensating telescopic mechanism reaches the threshold, the anchor drilling rig is determined to be positioned successfully. Its advantages are: using a pressure threshold as the final positioning determination basis allows for adaptation to minute deformations of the surrounding rock surface, avoiding positioning deviations during idle strokes or damage to the equipment due to overpressure, and improving positioning reliability and environmental adaptability.

[0016] A remote hole-laying method for anchor bolt support in tunneling machines, comprising the following steps using the remote hole-laying system for anchor bolt support applicable to tunneling machines described in any of the above technical solutions:

[0017] S1. Obtain the surrounding rock grade information of the tunneling face and generate the corresponding initial hole layout scheme according to the surrounding rock grade;

[0018] S2. Collect three-dimensional point cloud data of the surrounding rock at the working face through three-dimensional scanning, and simultaneously collect surface image data of the surrounding rock at the working face.

[0019] S3. By integrating 3D point cloud data and surface image data, identify support obstacles and surrounding rock conditions within the working face, and mark invalid points that have spatial interference or do not meet anchoring conditions.

[0020] S4. Perform a neighborhood search on each invalid point, filter out alternative points that meet the anchoring conditions, and generate updated hole layout point coordinates.

[0021] S5. Based on the updated coordinates of the hole locations, perform kinematic calculations to obtain the execution parameters of each mechanism of the anchor drilling rig, drive the anchor drilling rig to move and position, and complete the positioning determination.

[0022] Furthermore, in step S4, the search radius of the neighborhood search is set to ±30cm, and alternative points are selected within a spherical range centered on invalid points. If no point meets the anchoring conditions within the search range, the point is marked as a skipped point, and drilling is not performed. Its beneficial effects are: limiting a reasonable search range, optimizing points while ensuring the overall layout of the support design, and avoiding invalid searches through the skipping mechanism, thus improving drilling efficiency.

[0023] Furthermore, in step S4, after generating the updated borehole coordinates, the laser emitter is aligned with the updated borehole locations to project laser marks onto the surrounding rock surface; simultaneously, the three-dimensional spatial coordinates of the laser-marked points are calculated and updated in the borehole layout plan, completing the update of the borehole layout diagram. Its beneficial effects are: visual marking of the locations is achieved through laser projection, facilitating on-site verification, while simultaneously updating coordinate data to ensure consistency between the borehole layout diagram and the actual locations.

[0024] Furthermore, in step S5, after the anchor drilling rig moves to the vicinity of the target point, the image acquisition module set on the top of the anchor drilling rig acquires images of the surrounding rock at close range, performs a secondary anchoring condition determination, and fine-tunes the borehole position based on the determination result to complete the final positioning. Its beneficial effects are: the accuracy of the positioning is further improved through close-range secondary determination, adapting to complex local conditions of the surrounding rock, and improving the anchoring reliability of the final borehole.

[0025] This invention can be applied to anchor bolt support operations of tunnel construction equipment such as full-face hard rock tunnel boring machines, enabling unmanned remote borehole layout and automatic drilling rig positioning in complex support environments. Compared with existing technologies, it has the following advantages:

[0026] Reduce operational safety risks: By remotely collecting surrounding rock data through integrated sensing units, the system automatically completes borehole planning and point adjustment, replacing the manual operation mode of entering exposed surrounding rock areas to mark points. This fundamentally avoids personnel safety risks caused by roof falls and rockfalls, and enables remote unmanned borehole layout.

[0027] Adaptable to complex support environments: The perception scheme, which combines point cloud and image fusion, can automatically identify support structures such as steel arches and steel bar rows, determine the fracture state of the surrounding rock, and dynamically adjust the drilling points. It can automatically avoid structural interference and effectively solve the problem of interference that easily occurs when manually drilling in complex support environments.

[0028] Enhancing Automation Level: Position and pressure detection elements are configured for the multi-degree-of-freedom anchor drilling rig, and multi-sensor closed-loop positioning is implemented to achieve fully automated control from hole layout coordinates to rig positioning, thus constructing a complete closed-loop positioning system and laying the foundation for full-process automation of anchor support.

[0029] Hole placement efficiency and accuracy are improved simultaneously: The system automatically completes point identification, adjustment and positioning, which greatly improves work efficiency compared with manual marking and positioning. At the same time, the standardized algorithm judgment avoids human experience error and improves the consistency and accuracy of hole placement and positioning. Attached Figure Description

[0030] To more clearly illustrate the embodiments of this technical solution, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this technical solution. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the initial hole arrangement in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the overall structure of the anchor bolt support system according to an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the sensor arrangement of the anchor drilling rig according to an embodiment of the present invention;

[0034] Figure 4 This is a flowchart illustrating the remote hole layout control logic for anchor bolt support according to an embodiment of the present invention.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1-Surrounding rock sensing hole layout unit; 2-Axial translation cylinder; 3-Anchor bolt drilling mechanism; 4-Axial swing mechanism; 5-Circular walking mechanism; 6-Compensation cylinder; 7-Angle encoder; 8-Compensation cylinder wire displacement sensor; 9-Rock drill wire displacement sensor. Detailed Implementation

[0037] The technical solutions of this technical solution will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this technical solution. Obviously, the described embodiments are only one preferred embodiment of this technical solution, and not all embodiments. Based on the core concept of this invention and the following embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this technical solution.

[0038] It should be noted that these embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be observed that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​described in these embodiments should be interpreted as merely exemplary and not as limiting.

[0039] In the description of this technical solution, it should be understood that the terms axial, radial, left, right, top, inner, and outer, indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings. They are used solely for the convenience of describing the technical solution and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this technical solution. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this technical solution, "several" means one or more, unless otherwise explicitly specified.

[0040] In this technical solution, unless otherwise explicitly specified and limited, the terms installation, connection, linking, fixing, etc., should be interpreted broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; they can refer to mechanical connection or electrical connection; they can refer to direct connection or indirect connection through an intermediate medium; and they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this technical solution can be understood according to the specific circumstances.

[0041] Example 1: Overall Structure Example of a Remote Hole Layout System for Anchor Bolt Support Applicable to Tunnel Boring Machines

[0042] like Figure 2 As shown, this embodiment provides a remote hole-laying system for anchor bolt support applicable to tunneling machines, which is suitable for anchor bolt support operations of full-face hard rock tunneling machines (TBMs). The system consists of four main parts: a surrounding rock sensing hole-laying unit 1, an anchor bolt drilling mechanism 3, a multi-sensor positioning and execution component, and a host control unit.

[0043] The main body of the surrounding rock sensing perforation unit 1 is installed on a stable structure at the rear of the TBM shield or the rear of the main beam. The specific installation position can be adjusted according to the actual spatial layout of the equipment, ensuring that the field of view of the sensing unit can completely cover the surrounding rock area of ​​the working section. In this embodiment, the supporting base of the sensing unit adopts a dual-axis gimbal device, which has the attitude adjustment capability of two degrees of freedom: pitch and yaw. It can achieve a wide range of viewing angle rotation through electronic control to meet the requirements of full-section scanning. The supporting end of the dual-axis gimbal integrates a three-dimensional point cloud acquisition module, an image acquisition module, and a laser marking module. The three modules move synchronously with the gimbal, and the coordinate system is relatively fixed, which facilitates pre-combined calibration.

[0044] Wherein, the 3D point cloud acquisition module adopts a 3D laser scanner, which realizes the acquisition of 3D coordinates of the surrounding rock surface by emitting laser pulses and receiving reflected signals; the image acquisition module adopts an industrial camera, which is used to acquire high-definition texture images of the surrounding rock surface; the laser marking module adopts a visible laser emitter, which can project a clear light spot mark on the surrounding rock surface for identifying the finally determined drilling point position.

[0045] The roof bolter mechanism 3 is a TBM-matched annular roof bolter, which is integrally arranged along the annular gear ring on the inner wall of the tunnel, and can realize walking and positioning in the circumferential direction along the gear ring. The roof bolter mechanism 3 is mainly composed of four parts: an annular walking mechanism 5, an axial swing mechanism 4, a radial swing mechanism and a compensation telescopic mechanism. The annular walking mechanism 5 includes dual walking motors, which cooperates with the annular gear ring through gear meshing to drive the entire drilling rig to perform circumferential movement along the gear ring, so as to realize the angle adjustment of the drilling point position on the circumferential section of the tunnel; the axial swing mechanism 4 is driven by an axial swing oil cylinder, which is responsible for adjusting the pitch angle of the drilling rig within the circumferential section of the tunnel, so that the drill pipe is perpendicular to the arc surface of the surrounding rock; the radial swing mechanism is driven by a radial swing oil cylinder, which is responsible for adjusting the deflection angle of the drilling rig along the tunnel axis direction to adapt to the drilling requirements of different axial positions; the compensation telescopic mechanism is the compensation oil cylinder 6, which is arranged at the front end of the drilling rig, and is used to realize the feed and abutment of the front end of the drill pipe towards the surrounding rock surface, so as to compensate the distance deviation caused by the deformation of the surrounding rock.

[0046] The multi-sensor positioning execution component is integrally configured on each moving joint of the roof bolter mechanism 3, such as Figure 3 shown in the figure, which specifically includes an absolute value encoder, an angle sensor, a compensation oil cylinder pull-wire displacement sensor 8 and a pressure sensor. The absolute value encoder is installed at the output end of the walking motor of the annular walking mechanism 5, which is used to collect the rotation angle data of the walking motor in real time, and convert it to obtain the circumferential angular position of the roof bolter on the annular gear ring; the angle sensors are respectively installed at the hinges of the axial swing oil cylinder and the radial swing oil cylinder, which are respectively used to collect the axial swing angle and the radial swing angle of the drilling rig in real time; the compensation oil cylinder pull-wire displacement sensor 8 is installed between the fixed end and the telescopic end of the compensation oil cylinder 6, which is used to collect the extension length of the compensation oil cylinder 6 in real time, and convert it to obtain the distance from the front end of the drilling rig to the surrounding rock tunnel wall; the pressure sensor is installed on the oil circuit on the small cylinder side of the compensation oil cylinder 6, which is used to detect the oil pressure when the compensation oil cylinder 6 extends and abuts against the surrounding rock, and indirectly reflects the abutting tightness between the front end of the drilling rig and the surrounding rock.

[0047] The upper control unit is installed in the main control room of the TBM, adopts industrial upper computer hardware, and is built in with the software of the TBM rock bolt support intelligent control system. The upper control unit is communicatively connected with each module of the surrounding rock perception and hole arrangement unit 1, each sensor of the multi-sensor positioning execution component, and the driving elements of the roof bolter mechanism 3 through the industrial bus, so as to realize the integrated control of data acquisition, algorithm processing and instruction issuance.

[0048] The overall working principle of the system in this embodiment is as follows: The upper control unit first matches the corresponding construction design scheme according to the surrounding rock grade of the current construction section and generates an initial three-dimensional hole layout map; then, it controls the dual-axis gimbal to drive the three-dimensional point cloud acquisition module and the image acquisition module to scan and acquire the surrounding rock of the working section, respectively obtaining the three-dimensional point cloud model and surface texture image of the surrounding rock; the upper control unit performs fusion processing on the point cloud and image data, identifies the support structures such as steel arch frames, steel bar rows, and steel mesh in the section, and at the same time determines the areas of rock breakage and collapse, marking invalid points that have interference or do not meet the anchoring conditions; for invalid points, the system automatically searches for alternative points that meet the conditions in the surrounding area, updates the hole layout coordinates, and marks them on the surrounding rock surface through the laser marking module; finally, the system performs kinematic solution based on the final hole layout coordinates, calculates the target motion of each mechanism of the anchor drilling rig, drives the ring walking mechanism 5, axial swing mechanism 4, radial swing mechanism and compensation telescopic mechanism to work together until the contact pressure of the compensation cylinder 6 reaches the set threshold, determines that the positioning is complete, and can start the drilling operation.

[0049] Example 2: Preferred Example of Dual-Axis Gimbal Integrated Sensing

[0050] This embodiment, based on embodiment 1, provides a detailed description of the dual-axis gimbal integrated structure of the surrounding rock sensing hole distribution unit 1.

[0051] In this embodiment, the adjustable gimbal device adopts a high-precision dual-axis electrically controlled gimbal. The gimbal base is fixedly mounted on the support side mounting seat at the rear of the TBM shield with bolts. The mounting seat has been designed with enhanced rigidity to effectively isolate the vibration generated by TBM tunneling and avoid vibration affecting scanning and imaging accuracy. The dual-axis gimbal has two rotational degrees of freedom: a horizontal deflection axis and a pitch swing axis. Each axis is equipped with a servo drive unit and an angle encoder 7, which can realize precise angle control and attitude feedback. The horizontal deflection range of the gimbal covers the entire circumference of the tunnel, and the pitch swing range covers the complete cross-section from the arch to the sidewall.

[0052] The 3D point cloud acquisition module, image acquisition module, and laser marking module are integrated and fixed on the top support plate of the gimbal via an integrated mounting bracket. The optical axes of the three modules are pre-calibrated to be approximately parallel. The 3D point cloud acquisition module is centrally located, while the image acquisition module and laser marking module are symmetrically arranged on both sides. The relative positions of the three are precisely calibrated before leaving the factory, and the relative spatial coordinate parameters are pre-stored in the upper control unit.

[0053] The control unit of the dual-axis gimbal is communicatively connected to the upper-level control unit. The upper-level control unit can issue attitude commands to control the gimbal to rotate to a specified angle, while simultaneously transmitting the current attitude data of the gimbal back in real time. During surrounding rock scanning operations, the upper-level control unit controls the dual-axis gimbal to scan line by line along a preset path. The 3D point cloud acquisition module and the image acquisition module are triggered synchronously to ensure that the perspective of each frame of point cloud data corresponds consistently with that of the image data.

[0054] The integrated dual-axis gimbal design in this embodiment has three major advantages compared to the scheme of dispersing multiple sensing devices: First, all sensing modules share the same attitude reference and the coordinate system transformation relationship is fixed, which can greatly reduce the calibration difficulty of multi-source data fusion; second, full-section coverage can be achieved by rotating the gimbal, eliminating the need to configure multiple sets of scanning equipment and reducing hardware costs; third, the integrated arrangement facilitates unified protection and vibration reduction design, making it more suitable for the harsh working conditions of high dust and strong vibration in tunnels.

[0055] Example 3: Preferred Example of Initial Hole Generation

[0056] This embodiment, based on Embodiment 1, provides a detailed explanation of the process for generating the initial aperture layout scheme, with the corresponding initial aperture layout diagram as shown below. Figure 1 As shown.

[0057] The upper control unit has a built-in standardized construction hole layout scheme library corresponding to different surrounding rock grades. This scheme library is pre-designed by the project construction design institute according to the tunnel geological conditions. Different surrounding rock grades correspond to different anchor bolt spacing, layout quantity and arrangement. The scheme data is stored in the form of two-dimensional cross-sectional coordinates, that is, the plane coordinates of each anchor bolt point in the tunnel cross section.

[0058] When generating the initial borehole layout scheme, a unified spatial coordinate system is first established: with the center of the cross-section at the tunnel starting end as the origin, the tunnel axis as the Z-axis, the horizontal direction within the tunnel cross-section as the X-axis, and the vertical direction as the Y-axis, forming a right-handed spatial coordinate system.

[0059] The system first reads the current TBM tunneling mileage data and, combined with the real-time displacement data of the axial translation cylinder 2, calculates the coordinates of the current working section on the Z-axis, i.e., the axial position of the working section. Then, the system reads the surrounding rock grade information of the current working face and retrieves the corresponding grade's borehole layout data from the construction scheme library to obtain the X and Y two-dimensional coordinates of each anchor bolt point within the section. Combining the two-dimensional coordinates with the axial Z-coordinate, the three-dimensional spatial coordinates Pi(x1, y1, z1) of each anchor bolt design point in the global coordinate system can be obtained.

[0060] After the three-dimensional coordinates of all points are generated, the upper control unit performs visualization rendering in the three-dimensional model of the tunnel to form an initial hole layout diagram and display it on the operation interface. The initial hole layout diagram fully presents the spatial position and design angle of each anchor point, serving as a reference for subsequent dynamic adjustments.

[0061] The initial borehole generation mechanism in this embodiment strictly follows the construction design specifications. At the same time, it combines real-time tunneling data from the equipment to achieve dynamic matching of three-dimensional coordinates, ensuring the synchronization of the borehole layout plan with the construction progress, avoiding errors caused by manual coordinate conversion, and providing accurate benchmark data for subsequent automated operations.

[0062] Example 4: Preferred Example of Point Cloud Image Fusion

[0063] This embodiment, based on embodiment 1, provides a detailed explanation of the fusion processing of point cloud and image data.

[0064] Before data fusion, joint calibration of the camera and 3D scanner must be completed in advance to obtain the camera's intrinsic parameter matrix K and extrinsic parameter matrix [R|t]. The intrinsic parameter matrix K contains the camera's focal length, principal point coordinates, and other internal parameters, while the extrinsic parameter matrix [R|t] contains the rotation matrix R and translation vector t of the camera coordinate system relative to the lidar coordinate system. The calibration parameters are stored in the point cloud image fusion module of the upper control unit.

[0065] The specific steps of data fusion are as follows:

[0066] The first step is synchronous data acquisition. When the dual-axis gimbal rotates to the target viewpoint, the 3D point cloud acquisition module and the image acquisition module are triggered simultaneously to acquire the 3D point cloud dataset and 2D image data from that viewpoint, respectively, while recording the current gimbal attitude data.

[0067] The second step is coordinate system mapping and transformation. Using pre-calibrated intrinsic parameter matrix K and extrinsic parameter matrix [R|t], a rigid body transformation relationship is established between the LiDAR coordinate system and the camera pixel coordinate system. For any spatial point Pi(x,y,z) in the 3D point cloud dataset, forward projection calculation is performed using a pinhole imaging model to solve for its corresponding pixel coordinates (u,v) on the 2D image plane. During the projection calculation, visibility is assessed using the depth information of the point cloud to eliminate occluded invalid points and avoid projection misalignment.

[0068] The third step is texture information assignment. After mapping the pixel coordinates of all point clouds, the RGB color value of the pixel at each spatial point is extracted from the original image based on the pixel coordinates (u,v), and the color attribute is directly assigned to the corresponding 3D point cloud data. After assignment, the point cloud data that originally only contained geometric coordinate information is upgraded to enhanced point cloud data Pi{x,y,z,r,g,b} that includes geometric position and texture color.

[0069] The fourth step is model updating. The generated enhanced point cloud data is matched and updated in the initial tunnel surrounding rock model to obtain a 3D model of the surrounding rock with realistic texture and color, and then uploaded to the display interface of the upper control unit.

[0070] If the original drilling operation is not feasible, the newly selected locations are manually marked using a laser emitter on the surrounding rock identification device. The time it takes for the laser to travel from emission to reflection off the rock wall is calculated, and the distance between the scanner and each point on the rock wall is precisely determined. Simultaneously, the angle of the laser beam and its own position are recorded. The updated borehole location information is then obtained and updated in the borehole layout map.

[0071] The point cloud image fusion processing in this embodiment not only preserves the accurate spatial geometric information of the 3D point cloud but also supplements the surface texture details captured by the industrial camera, effectively solving the shortcomings of a single 3D point cloud in distinguishing the surrounding rock material and identifying the state of fracture and collapse. Staff can intuitively view the true state of the surrounding rock on the host computer interface. Simultaneously, subsequent interference recognition and surrounding rock determination algorithms can utilize both geometric and texture features, significantly improving recognition accuracy.

[0072] Example 5: Preferred Example of Interference Recognition and Point Adjustment

[0073] This embodiment, based on embodiment 1, provides a detailed explanation of the process of interference identification of the support structure and dynamic adjustment of the hole location.

[0074] Interference identification and point adjustment are performed by the interference identification and point adjustment module built into the upper control unit. The specific process is as follows:

[0075] The first step is support structure identification. For enhanced point cloud data, a point cloud clustering algorithm is first used to segment the point cloud, separating the point cloud clusters corresponding to different objects. Then, a cylindrical fitting algorithm is used for feature matching of the segmented point cloud clusters. Since steel arches, rebar rows, and rebar meshes all have regular cylindrical geometric features, the spatial location and contour of various support structures can be accurately identified by fitting cylindrical parameters. After identification, the spatial range of all support structures is marked in the 3D model.

[0076] The second step is invalid point determination. Each designed borehole point in the initial borehole layout is subjected to spatial collision detection with the support structure. If the borehole path overlaps with the support structure, the point is determined to be an interference-type invalid point. Simultaneously, by combining the texture information and geometric undulation features of the enhanced point cloud, areas with fractured rock surfaces or localized collapse to the rebar rows or mesh are identified. If a borehole point is located within such an area, it is determined to be an invalid point due to unqualified surrounding rock conditions.

[0077] The third step is dynamic adjustment of invalid points. For borehole points determined to be invalid, the system automatically starts a neighborhood search algorithm: with the original coordinates of the invalid point as the center, a spherical search range with a radius of ±30cm is set, and candidate points are traversed within the range at a set step size; for each candidate point, interference detection and surrounding rock condition judgment are performed in sequence, and all candidate points that meet the anchoring conditions are selected.

[0078] The fourth step is optimal location selection. Among the candidate locations that meet the criteria, they are sorted according to the priority of "closest to the original location and best surrounding rock integrity," and the highest-ranked candidate location is selected as the alternative borehole location. If no candidate location that meets the criteria is found within the set search range, the system marks the location as a skipped location, and no drilling operation will be performed at that location.

[0079] Step 5: Hole Layout Update. After all invalid points have been adjusted, the system will synchronize the updated point coordinates to the initial hole layout, overwriting the original invalid point coordinates, and generating the final updated hole layout.

[0080] The dynamic hole adjustment mechanism in this embodiment can automatically optimize the location in complex environments, completely replacing the manual on-site judgment and marking work. While ensuring drilling safety and anchoring reliability, it greatly improves the efficiency of hole layout operations, and is especially suitable for complex support scenarios with dense steel arches and steel bars in TBM construction.

[0081] Example 6: Preferred Example of Multi-Sensor Positioning for Drilling Rigs

[0082] This embodiment, based on Embodiment 1, provides a detailed description of the multi-sensor positioning mechanism of the anchor drilling rig. The sensor arrangement is as follows: Figure 3 As shown.

[0083] In this embodiment, each of the four degrees of freedom of the anchor drilling rig is equipped with a corresponding position detection element, forming a multi-degree-of-freedom closed-loop detection system. The specific configuration and functions are as follows:

[0084] Circular travel positioning: The annular travel mechanism 5 is driven by dual travel motors, with absolute encoders installed on the output shafts of both motors. The absolute encoders output the angle values ​​of the motor shafts in real time. Combined with the transmission ratio between the travel gears and the annular gear ring, the overall circumferential angular position of the anchor drilling rig on the annular gear ring can be accurately calculated. The upper control unit controls the forward and reverse rotation of the travel motors, and with the real-time feedback from the absolute encoders, precise positioning of the drilling rig at any angle on the gear ring can be achieved.

[0085] Axial swing positioning: The axial swing mechanism 4 is driven by an axial swing cylinder and is used to adjust the pitch angle of the drilling rig within the tunnel's circumferential cross-section. An angle sensor is installed at the hinge shaft of the axial swing cylinder to detect the axial swing angle of the drilling rig body in real time. The upper control unit controls the extension and retraction of the axial swing cylinder, and in conjunction with the feedback from the angle sensor, achieves precise adjustment of the drilling rig's pitch angle, ensuring that the drill rod is perpendicular to the surrounding rock surface.

[0086] Radial oscillation positioning: The radial oscillation mechanism is driven by a radial oscillation cylinder and is used to adjust the deflection angle of the drilling rig along the tunnel axis. An angle sensor is also installed at the hinge shaft of the radial oscillation cylinder to detect the radial oscillation angle of the drilling rig in real time. By adjusting the radial oscillation, it can accommodate small deviations in the axial direction of the drilling point, ensuring that the drilling angle meets the design requirements.

[0087] Telescopic Distance Detection: A cable displacement sensor 8 is installed between the fixed end and the telescopic end of the compensating cylinder 6. The cable of the cable displacement sensor 8 extends and retracts synchronously with the extension and retraction of the cylinder, and can output the extension length value of the compensating cylinder 6 in real time. By combining the extension length with the structural parameters of the drilling rig, the distance between the end face of the drill rod at the front end of the drilling rig and the surrounding rock tunnel wall can be accurately calculated, providing data support for feed control.

[0088] Once the system obtains the final coordinates of the hole placement points, it first uses an inverse kinematics algorithm to convert the spatial coordinates of the target points into target parameters with four degrees of freedom: the circular travel angle, the axial swing angle, the radial swing angle, and the extension amount of the compensation cylinder 6. Then, the upper control unit sends motion commands to each drive mechanism, and each mechanism moves to the target position under the closed-loop feedback of the corresponding sensor, completing the coarse positioning of the drilling rig.

[0089] The multi-sensor configuration scheme in this embodiment is adapted to the unique structure of the TBM ring anchor drilling rig. Closed-loop detection is realized for each degree of motion, ensuring the positioning accuracy of each joint and providing a hardware foundation for the fully automatic positioning of the drilling rig.

[0090] Example 7: Preferred Example for Pressure Positioning Determination

[0091] This embodiment, based on Embodiment 1, provides a detailed explanation of the final positioning determination mechanism based on pressure sensors.

[0092] Because the surface of the surrounding rock in a tunnel is not an ideally smooth arc, but has local unevenness and deformation, relying solely on the extension length calculated by the displacement sensor for positioning can lead to problems such as the drill rod not being firmly against the surrounding rock or overloading, affecting drilling accuracy and even damaging the equipment. Therefore, this embodiment introduces a pressure determination mechanism as the final positioning criterion.

[0093] The specific implementation method is as follows: A high-precision pressure sensor is installed on the oil circuit of the small cylinder side of the compensation cylinder 6. The pressure sensor collects the oil pressure value of the small cylinder side in real time and uploads it to the positioning judgment module of the upper control unit. The positioning judgment module has a preset pressure threshold, which is preset according to the drilling rig structural parameters and surrounding rock characteristics. This ensures that the drill rod tip can reliably contact the surrounding rock, but also prevents damage to the surrounding rock or equipment due to excessive pressure.

[0094] During the positioning process, after the anchor drilling rig completes the angle adjustment, the compensation cylinder 6 extends, driving the drill rod tip closer to the surrounding rock surface. During this process, the compensation cylinder's cable displacement sensor 8 monitors the extension length in real time. When the extension length approaches the calculated value, the compensation cylinder 6 switches to a low-speed feed mode. After the drill rod tip contacts the surrounding rock, the continued extension of the compensation cylinder 6 causes the hydraulic pressure on the small cylinder side to continuously increase. The pressure sensor detects the pressure value in real time and provides feedback. When the detected pressure value reaches the preset pressure threshold, the positioning judgment module immediately issues a stop command, the compensation cylinder 6 stops extending and maintains the current pressure, and the anchor drilling rig is determined to be positioned successfully. Simultaneously, the anchor drilling rig mechanism 3 is equipped with a rock drill cable displacement sensor 9, connected to the upper control unit, forming a closed-loop control system that interlocks precise and timely positioning and drilling.

[0095] The pressure determination mechanism adopted in this embodiment can adapt to the local deformation and unevenness of the surrounding rock surface, and achieve flexible positioning. This not only ensures reliable contact between the drill rod and the surrounding rock surface, avoiding slippage and deviation during drilling, but also effectively prevents damage from overpressure, thereby improving the reliability of the positioning process and the service life of the equipment.

[0096] Example 8: Example of a remote hole layout method for anchor bolt support for tunneling machines

[0097] This embodiment provides a remote hole-laying method for anchor bolt support in tunneling machines, and the corresponding control logic flowchart is as follows. Figure 4 As shown, the specific steps are as follows:

[0098] Step 1: System Initialization and Initial Hole Layout Generation. After system startup, the system completes self-checks of each module and communication connection verification, reads the surrounding rock grade information of the current working face, calls the corresponding construction design scheme, and generates the initial hole layout diagram of the working section in combination with the current tunneling mileage, obtaining the three-dimensional coordinates of all design points.

[0099] Step 2: Synchronous Acquisition of Surrounding Rock Data. The dual-axis gimbal is controlled to drive the 3D point cloud acquisition module and image acquisition module to perform a full-area scan of the working section, simultaneously acquiring 3D point cloud data and surface image data of the surrounding rock, and uploading both types of data to the upper control unit.

[0100] Step 3: Multi-source data fusion and feature recognition. Point cloud data and image data are fused to generate an enhanced point cloud model. Clustering and fitting algorithms are used to identify support structures such as steel arches, rebar rows, and rebar mesh within the cross-section. Texture information is combined to determine areas of fractured surrounding rock, and all invalid points with interference or unqualified anchoring conditions are marked.

[0101] Step 4: Dynamic Update of Hole Layout Points. For each invalid point, initiate a neighborhood search to filter for the optimal alternative point. If no alternative point can be found, mark it as skipped. After all points are adjusted, control the laser marking module to project laser marks onto each updated point, synchronously updating the point coordinates in the hole layout map, and generating the final hole layout scheme.

[0102] Step 5: Drilling Rig Trajectory Planning. Read the current pose data of the anchor drilling rig, combine it with the target coordinates of the final hole placement points, calculate the target parameters of each motion mechanism using inverse kinematics, and plan the drilling rig's movement trajectory.

[0103] Step Six: Automatic Positioning of the Drill Rig. Following the planned trajectory, the circular walking mechanism 5, axial swing mechanism 4, and radial swing mechanism work together to adjust the drill rig to the target angle. Then, the compensation cylinder 6 extends, and the contact pressure is monitored in real time. When the pressure reaches the set threshold, feeding stops, indicating that positioning is complete.

[0104] Step 7: Drilling Operation. After positioning is completed, the system can start the drilling rig to perform drilling operations. After the operation of a single hole is completed, the above positioning process is repeated to complete the drilling support operation of all anchor points in a single ring.

[0105] Example 9: Preferred Example of Neighborhood Search and Point Skipping

[0106] This embodiment, based on embodiment 8, provides a detailed explanation of the neighborhood search and skipping mechanism for invalid points.

[0107] When adjusting the location, the parameter settings of the neighborhood search directly affect the hole layout quality and work efficiency. In this embodiment, the search radius is set to ±30cm, that is, a spherical search space is constructed with the center of the original invalid location and a radius of 30cm. This range can meet the location offset requirements of most local interferences without compromising the overall design rationality of the support layout due to excessive offset.

[0108] The search process employs a gridded traversal method, dividing the spherical space into candidate grid points with a 5cm step size. Each candidate point is verified sequentially in order of distance from the original point. The verification of each candidate point includes two conditions: first, there is no spatial interference between the drilling path and the support structure such as the steel arch frame and rebar; second, the surrounding rock surface corresponding to the point is intact, without large-area breakage or collapse, and has the conditions for anchoring.

[0109] When the first candidate point that meets both conditions is found, it is designated as an alternative point, and the search is terminated to improve computational efficiency. If no candidate point that meets the conditions is found after traversing the entire spherical search space, the system marks the original point as "skipped" and automatically skips it in subsequent operations without drilling. At the same time, the point information is recorded in the construction log for later manual review and re-drilling.

[0110] The search and skip mechanism in this embodiment maximizes the preservation of the overall layout of the designed holes while ensuring the safety of the support. At the same time, the search strategy of prioritizing proximity ensures the efficiency of adjustment. It is a point optimization scheme that takes into account both rationality and efficiency.

[0111] Example 10: Preferred Example of Laser Marking and Hole Update

[0112] This embodiment, based on embodiment 8, provides a detailed explanation of the process of synchronously updating laser markings and hole layout.

[0113] Once all points have been adjusted, the system will execute a laser marking process to achieve visual confirmation of the points and synchronous coordinate calibration. The specific process is as follows:

[0114] The system sequentially reads the coordinates of each updated borehole point, calculates the corresponding pitch and yaw angles of the dual-axis gimbal through coordinate conversion, and controls the dual-axis gimbal to rotate to the corresponding angle, aligning the optical axis of the laser marking module with the target point. The laser marking module is then activated, emitting a visible laser beam to project a clear circular light spot mark onto the surrounding rock surface.

[0115] Since the relative positions of the laser emitter and the 3D scanner have been pre-calibrated, the direction and distance of the laser projection can be precisely calculated using the gimbal attitude and laser flight time, thus obtaining the precise 3D coordinates of the spot's landing point. The system compares the calculated actual landing point coordinates with the updated design coordinates. If the deviation is within the allowable range, the actual coordinates are used as the final point coordinates and updated in the aperture layout diagram. If the deviation exceeds the threshold, the gimbal angle is readjusted for a second projection calibration until the coordinates meet the accuracy requirements.

[0116] The laser marking process allows on-site staff to visually see the actual location of the drilling points, facilitating on-site verification and quality control. Furthermore, by calibrating the design coordinates with the actual landing point coordinates, it eliminates gimbal errors and coordinate conversion errors, ensuring the accuracy of the final drilling location.

[0117] Example 11: Alternative Example of Secondary Positioning at the Top of the Drill Rig

[0118] This embodiment is an alternative implementation method. The core concept is the same as the main embodiment, but the difference lies in the arrangement of the image acquisition module and the positioning process.

[0119] In this embodiment, in addition to the main image acquisition module on the dual-axis gimbal, an auxiliary image acquisition module is additionally installed at the front end of the top of the anchor drilling rig. This auxiliary camera moves synchronously with the drilling rig and can acquire images of the surrounding rock near the borehole location at close range.

[0120] The corresponding positioning process is adjusted as follows: After the anchor drilling rig moves to the vicinity of the target point according to the hole layout coordinates and completes coarse positioning, the auxiliary image acquisition module at the top of the drilling rig is activated to acquire high-definition images of the surrounding rock at the current point at close range. The system performs secondary analysis on the close-range images to re-determine the state of the surrounding rock and the interference with the surrounding environment at that point. If it finds that there are minor cracks, small rebar heads, or other conditions unsuitable for drilling, it controls the drilling rig to make small-scale positional adjustments to find the optimal drilling position before performing the final contact positioning.

[0121] This alternative solution is suitable for complex working conditions with extremely broken surrounding rock and dense support structures. It further improves positioning accuracy and drilling quality through close-range secondary judgment. Although it increases the operation time slightly, it can effectively avoid anchoring failure caused by local defects. It can be flexibly selected according to the actual construction conditions.

[0122] All aspects not detailed in this invention are conventional technical means known to those skilled in the art.

[0123] The above content shows and describes the basic principles, main features, and beneficial effects of this technical solution. The above description is merely a preferred embodiment of this technical solution and is not intended to limit the scope of this technical solution. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this technical solution should be included within the protection scope of this technical solution.

Claims

1. A remote borehole layout system for anchor bolt support applicable to tunneling machines, comprising an anchor bolt drilling mechanism and a higher-level control unit for controlling the operation of the anchor bolt drilling mechanism, characterized in that, It also includes a surrounding rock sensing hole layout unit and a multi-sensor positioning and execution component; The surrounding rock sensing hole layout unit includes an adjustable gimbal device installed at the rear of the tunneling machine shield or main beam. The adjustable gimbal device is equipped with a three-dimensional point cloud acquisition module, an image acquisition module and a laser marking module. The multi-sensor positioning execution component is mounted on the anchor drilling rig mechanism, which includes a ring-shaped walking mechanism, an axial swing mechanism, a radial swing mechanism, and a compensation telescopic mechanism. The multi-sensor positioning execution component includes position detection components respectively configured on the ring-shaped walking mechanism, the axial swing mechanism, the radial swing mechanism, and the compensation telescopic mechanism. The upper control unit is communicatively connected to the three-dimensional point cloud acquisition module, the image acquisition module, the laser marking module, and the position detection components. The upper control unit is used to generate an initial hole layout plan based on the surrounding rock grade, identify support obstacles and surrounding rock conditions by combining three-dimensional point cloud data and image data to dynamically adjust the hole layout positions, and drive the anchor drilling rig mechanism to complete the positioning operation based on the adjusted hole layout positions.

2. The remote hole-laying system for anchor bolt support applicable to tunneling machines according to claim 1, characterized in that, The adjustable gimbal device is a dual-axis gimbal. The three-dimensional point cloud acquisition module, image acquisition module, and laser marking module are integrated and installed on the bearing end of the dual-axis gimbal, and the pitch and yaw angles are adjusted synchronously with the dual-axis gimbal.

3. The remote borehole layout system for anchor bolt support applicable to tunneling machines according to claim 1 or 2, characterized in that, The specific method by which the upper control unit generates the initial hole layout scheme is as follows: a spatial coordinate system is established with the tunnel center starting face as the origin; the two-dimensional coordinates of the anchor bolt design points in the tunnel section are obtained according to the construction design scheme corresponding to the current surrounding rock grade; the axial coordinates of the working section are calculated by combining the tunneling machine's excavated mileage and the axial translation cylinder displacement data; the three-dimensional spatial coordinates of each anchor bolt point are obtained; and the initial hole layout diagram is generated.

4. The remote hole-laying system for anchor bolt support applicable to tunneling machines according to claim 3, characterized in that, The upper control unit has a built-in point cloud image fusion module, which is used to establish a rigid transformation relationship between the lidar coordinate system and the camera pixel coordinate system through a pre-calibrated camera intrinsic parameter matrix and extrinsic parameter matrix. The three-dimensional point cloud coordinates are projected onto the two-dimensional image plane through a pinhole imaging model, the texture information of the corresponding pixels is extracted and assigned to the three-dimensional point cloud, and the enhanced point cloud data containing geometric position and texture color is generated.

5. The remote borehole system for anchor bolt support applicable to tunneling machines according to any one of claims 1, 2, and 4, characterized in that, The upper-level control unit has a built-in interference recognition and point adjustment module, which is used to identify steel arch frames, steel bar rows, and steel mesh support structures from point cloud data through clustering algorithms and cylindrical fitting algorithms, and to mark points that have spatial interference with anchor bolt boreholes; to determine points that are not suitable for anchoring due to broken or collapsed rock surfaces by combining image texture information; to set a neighborhood search range for invalid points, to filter alternative borehole positions according to priority, and to mark skipped points if the search fails.

6. The remote hole-laying system for anchor bolt support applicable to tunneling machines according to claim 5, characterized in that, The position detection component includes an absolute encoder, an angle sensor, and a compensating cylinder wire displacement sensor. The absolute encoder is mounted on the travel motor of the ring-shaped traveling mechanism and is used to acquire the angular position of the anchor drilling rig on the ring gear. The angle sensors are respectively mounted on the axial swing mechanism and the radial swing mechanism and are used to acquire the axial swing angle and the radial swing angle, respectively. The compensating cylinder wire displacement sensor is mounted on the compensating telescopic mechanism and is used to acquire the extension length of the compensating telescopic mechanism.

7. The remote borehole system for anchor bolt support applicable to tunneling machines according to any one of claims 1, 2, 4, and 6, characterized in that, The multi-sensor positioning execution component also includes a pressure sensor, which is installed on the small cylinder side of the compensation telescopic mechanism to detect the contact pressure of the compensation telescopic mechanism; the upper control unit has a built-in positioning determination module to preset a pressure threshold. When the contact pressure of the compensation telescopic mechanism reaches the threshold, the anchor drilling machine is determined to be positioned.

8. A method for remote hole layout of anchor bolt support for tunneling machines, characterized in that, The following steps are performed using the remote borehole system for anchor support applicable to tunneling machines as described in any one of claims 1-7: S1. Obtain the surrounding rock grade information of the tunneling face and generate the corresponding initial hole layout scheme according to the surrounding rock grade; S2. Collect three-dimensional point cloud data of the surrounding rock of the working face through three-dimensional scanning, and at the same time collect surface image data of the surrounding rock of the working face; S3. By integrating 3D point cloud data and surface image data, identify support obstacles and surrounding rock conditions within the working face, and mark invalid points that have spatial interference or do not meet anchoring conditions. S4. Perform a neighborhood search on each invalid point, filter out alternative points that meet the anchoring conditions, and generate updated hole layout point coordinates. S5. Based on the updated coordinates of the hole locations, perform kinematic calculations to obtain the execution parameters of each mechanism of the anchor drilling rig, drive the anchor drilling rig to move and position, and complete the positioning determination.

9. The method for remote hole layout of anchor bolt support for tunneling machines according to claim 8, characterized in that, In step S4, the search radius of the neighborhood search is set to ±30cm, and alternative points are selected within a spherical range centered on invalid points. If there are no points within the search range that meet the anchoring conditions, the point is marked as a skipped point and no drilling operation is performed. In step S4, after generating the updated hole layout point coordinates, the laser emitter is controlled to be aligned with the updated drilling points, and laser marks are projected onto the surrounding rock surface. The three-dimensional spatial coordinates of the laser mark points are calculated simultaneously and updated in the hole layout scheme to complete the update of the hole layout diagram.

10. The method for remote hole layout of anchor bolt support for tunneling machines according to claim 8 or 9, characterized in that, In step S5, after the anchor drilling rig moves to the vicinity of the target point, the image acquisition module set on the top of the anchor drilling rig acquires images of the surrounding rock at close range, performs a secondary anchoring condition determination, and completes the final positioning by finely adjusting the borehole position based on the determination result.

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