CN119878005A - Autonomous positioning and controlling device and method for underground coal mine anchor rod - Google Patents
Autonomous positioning and controlling device and method for underground coal mine anchor rod Download PDFInfo
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- CN119878005A CN119878005A CN202411867497.7A CN202411867497A CN119878005A CN 119878005 A CN119878005 A CN 119878005A CN 202411867497 A CN202411867497 A CN 202411867497A CN 119878005 A CN119878005 A CN 119878005A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/73—Deblurring; Sharpening
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- General Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Theoretical Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses an automatic positioning and controlling device and method for an underground coal mine anchor rod, wherein the automatic positioning and controlling device for the underground coal mine anchor rod comprises a frame, a visual positioning mechanism and a controlling mechanism, the frame is connected with a first end of a swinging arm, a second end of the swinging arm is connected with a swinging drive, the swinging drive is connected with a platform to drive the swinging arm to rotate relative to the platform, a jumbolter is connected with one side of the frame far away from the swinging arm, the visual positioning mechanism comprises a camera and a laser emitter, the camera is arranged on the platform and is spaced from the frame by a preset distance, the camera points to a roadway top plate to acquire an image of the roadway top plate, the laser emitter is arranged on the frame to emit laser to the roadway top plate, the controlling mechanism comprises a controller and an industrial personal computer, and the industrial personal computer is arranged on the platform to move along with the platform. The device and the method for autonomously positioning and controlling the underground coal mine anchor rod have the advantages of high positioning precision, high installation efficiency and less manual participation.
Description
Technical Field
The invention relates to the technical field of anchor rod positioning, in particular to an autonomous positioning and controlling device and method for an underground coal mine anchor rod.
Background
In the underground coal mine tunnel tunneling, tunnel support is needed by setting anchor rods. The roadway support effect has an important influence on the safety of the coal mine, and accurate and rapid positioning of the roadway support effect is a precondition for support before the anchor rod is constructed. Currently, anchor rod positioning is mainly achieved manually, and the basic flow is that a worker roughly estimates the position of a preset anchor hole by observing front-row anchor rods, the drill boom is controlled to swing to point to the position of the coordinate point by an operation panel, the position of the preset anchor rod is determined again by observing the number of metal grids between the front-row anchor rods and the rear-row anchor rods, and the direction is continuously and finely adjusted in the feeding process until the anchor rod contacts a coal wall.
The whole positioning process has obvious errors, influences the overall supporting effect of the roadway, and the manual operation time is often long, so that the method is a key factor for restricting the improvement of the anchor rod construction efficiency.
Disclosure of Invention
The invention is based on the discovery and knowledge of the inventor of the fact that the anchor rod positioning has a lot of manual participation and large error. The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the embodiment of the invention provides the automatic positioning and controlling device for the underground coal mine anchor rod, which has the advantages of high positioning precision, high installation efficiency and less manual participation.
According to the coal mine underground anchor rod automatic positioning and controlling device, the coal mine underground anchor rod automatic positioning and controlling device comprises a frame, a visual positioning mechanism and a controlling mechanism, wherein the frame is connected with a first end of a swinging arm, a second end of the swinging arm is connected with a swinging drive, the swinging drive is connected with a platform to drive the swinging arm to rotate relative to the platform, an anchor rod drilling machine is connected with one side, far away from the swinging arm, of the frame, the visual positioning mechanism comprises a camera and a laser emitter, the camera is arranged on the platform and is spaced from the frame by a preset distance, the camera points to a roadway top plate to obtain an image of the roadway top plate, the laser emitter is arranged on the frame to emit laser to the roadway top plate, the controlling mechanism comprises a controller and an industrial personal computer, the industrial personal computer is arranged on the platform to move along with the platform, and the controller is arranged on the anchor rod drilling machine and is in communication connection with the camera and the controller.
The underground coal mine anchor rod autonomous positioning and controlling device has the advantages of high positioning precision, high installation efficiency and less manual participation. The device has the advantages that the device can reduce positioning errors caused by manual positioning at present, improve positioning accuracy before anchor rod construction, ensure roadway support safety, realize an automatic process of positioning the anchor rod support of the underground coal mine roadway, reduce labor intensity of workers and improve roadway support efficiency.
In some embodiments, the underground coal mine anchor rod autonomous positioning and controlling device further comprises a hydraulic motor, wherein the hydraulic motor is positioned at the first end of the swing arm and is in transmission connection with the frame, and the hydraulic motor is used for driving the frame to rotate relative to the swing arm.
In some embodiments, the camera is disposed on top of the industrial personal computer.
In some embodiments, the coal mine underground rock bolt autonomous positioning and control apparatus further comprises a calibration piece that emits laser light toward the roadway roof to provide calibration point coordinates, the calibration piece being disposed on the platform.
According to the method for autonomously positioning and controlling the underground coal mine anchor rod, which is disclosed by the embodiment of the invention, the method for autonomously positioning and controlling the underground coal mine anchor rod comprises the following steps of:
Starting a camera to acquire an image of a real-time tunnel roof, starting a laser transmitter to transmit cross laser to the tunnel roof, and receiving image data of the camera by an industrial personal computer to obtain a central coordinate of an anchor rod on the tunnel roof and a central point coordinate of the cross laser;
According to the central point coordinates of the cross laser, the pointing direction of the anchor rod drilling machine is obtained, and the industrial control computer calculates the difference value between the actual coordinates of the anchor rod drilling machine and the expected coordinates of the anchor rod drilling machine;
and the industrial personal computer sends a command to the controller, and the controller controls the slewing drive and the hydraulic motor to drive the jumbolter to move until the actual pointing coordinate coincides with the expected coordinate, so that the automatic positioning of the anchor rod is completed.
In some embodiments, the actual coordinates are obtained by performing manual compensation processing according to a fixed deviation between the center point coordinates of the cross laser and the pointing coordinates of the laser transmitter and the jumbolter.
In some embodiments, the center point coordinates of all the existing anchors are fitted in a straight line according to the center point coordinates of each of the existing anchors on the roadway roof, and the expected coordinates are obtained according to the average relative distance between the existing anchors and any adjacent existing anchors.
In some embodiments, a plurality of existing anchors on the roadway roof are numbered, the existing anchors in the same row are divided into the same group, straight line fitting is performed on anchor positions of the existing anchors in each group and coordinates of central points of the anchors, and the expected coordinates are obtained according to average relative distances of the anchors in each group.
In some embodiments, the real-time roadway image acquired by the camera is preprocessed to improve the image quality.
In some embodiments, the preprocessing includes denoising, contrast enhancement, geometric correction, and image sharpening.
Drawings
Fig. 1 is a schematic structural view of an autonomous positioning and controlling device for an underground anchor in a coal mine according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an anchor rod arrangement of a roadway roof of an autonomous positioning and control device for an anchor rod under a coal mine according to an embodiment of the invention.
The device comprises a reference numeral 1, a frame, a swing arm 2, a swing arm 3, a rotary drive 4, a platform 5, a camera 6, a laser emitter 7, an industrial personal computer 8, a hydraulic motor 9 and a jumbolter.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
According to the embodiment of the invention, the device comprises a frame 1, a visual positioning mechanism and a control mechanism, wherein the frame 1 is connected with a first end of a swing arm 2, a second end of the swing arm 2 is connected with a swing drive 3, the swing drive 3 is connected with a platform 4 to drive the swing arm 2 to rotate relative to the platform 4, an anchor drilling machine 9 is connected with one side of the frame 1 far away from the swing arm 2, the visual positioning mechanism comprises a camera 5 and a laser emitter 6, the camera 5 is arranged on the platform 4 and is spaced from the frame 1 by a preset distance, the camera 5 points to a roadway roof to acquire an image of the roadway roof, the laser emitter 6 is arranged on the frame 1 to emit laser to the roadway roof, the control mechanism comprises a controller and an industrial personal computer 7, the industrial personal computer 7 is arranged on the platform 4 to move along with the platform 4, the controller is arranged on the anchor drilling machine 9, and the industrial personal computer 7 is in communication connection with the camera 5 and the controller. The controller is a PLC controller. The frame 1 is used for installing the jumbolter 9, the jumbolter 9 can move relative to the frame 1 and finish the installation of the anchor rod, the swing arm 2 is connected with the frame 1 and is used for driving the frame 1 to move, the swing drive 3 is used for driving the swing arm 2 to rotate relative to the platform 4, the frame 1, the swing arm 2 and the swing drive 3 integrally provide a plurality of rotational degrees of freedom for the device, the position and the angle of the jumbolter 9 are convenient to adjust, the vision positioning mechanism collects image information through the anchor rod on a roadway roof through the camera 5, the laser transmitter 6 marks the position and the gesture of the frame 1 through transmitting laser, the control mechanism can obtain the coordinate of the installation position of the anchor rod and the actual installation position and the coordinate of the jumbolter 9 after analyzing and processing the image information, the swing arm 2, the swing drive 3 and the like on the frame 1 are controlled to rotate and finish the adjustment of the actual installation position of the anchor rod, and the installation of the anchor rod can be realized.
The underground coal mine anchor rod autonomous positioning and controlling device has the advantages of high positioning precision, high installation efficiency and less manual participation.
In some embodiments, the underground coal mine anchor autonomous positioning and controlling device further comprises a hydraulic motor 8, wherein the hydraulic motor 8 is located at the first end of the swing arm 2 and is in transmission connection with the frame 1, and the hydraulic motor 8 is used for driving the frame 1 to rotate relative to the swing arm 2.
Specifically, the arrangement of the hydraulic motor 8 at the first end of the swing arm 2 increases the rotational freedom of the frame 1, the hydraulic motor 8 is fixedly connected with the first end of the swing arm 2, and the rotation of the hydraulic motor 8 can drive the frame 1 to rotate. The hydraulic motor 8 increases the flexibility of movement of the frame 1 on one hand, can finish the installation requirement of anchor rods with different angles and positions, and on the other hand, the hydraulic motor 8 can realize accurate control to meet the accurate positioning requirement of the anchor rods.
In some embodiments, the camera 5 is arranged on top of the industrial personal computer 7.
Specifically, the camera 5 is arranged on the top of the industrial personal computer 7, so that the shielding and the obstruction of the image information collected by the camera 5 during the movement of the stand 1 can be avoided. The camera 5 is arranged on top of the industrial personal computer 7 to fully capture the image information of the roadway roof of the mining machine, and the camera 5 can be at a distance from the frame 1 to have a distance difference from the laser transmitter 6 on the frame 1, and the distance difference can be a fixed value for application in subsequent image processing. The camera 5 is a panoramic camera 5.
In some embodiments, the apparatus further comprises a calibration member for lasing the roadway roof to provide calibration point coordinates, the calibration member being disposed on the platform 4.
Specifically, the calibration piece is arranged on the platform 4 to be used for providing an accurate reference point, accuracy of visual positioning can be guaranteed, the calibration piece can adopt the laser emitter 6 to emit laser, the distance between the calibration piece and the camera 5 is fixed, the calibration piece emits the laser to the roadway roof to generate one or more calibration points with known coordinates, and the camera 5 can be helped to calibrate collected image information to generate a coordinate system. The calibration piece can be movably connected with the platform 4, and the position of the calibration point can be adjusted according to the requirement so as to meet the positioning requirements of different roadway conditions.
According to the method for autonomously positioning and controlling the underground coal mine anchor rod, which is disclosed by the embodiment of the invention, the method for autonomously positioning and controlling the underground coal mine anchor rod comprises the following steps of:
The camera 5 is started to acquire an image of the real-time tunnel roof, the laser transmitter 6 is started to transmit cross laser to the tunnel roof, the industrial personal computer 7 receives the image data of the camera 5 and obtains the central coordinates of the anchor rod on the tunnel roof and the central point coordinates of the cross laser, and necessary data are provided for subsequent image processing and coordinate calculation.
The pointing direction of the jumbolter 9 is obtained according to the center point coordinates of the cross laser, the industrial personal computer 7 calculates the difference value between the actual coordinates of the jumbolter 9 and the expected coordinates of the jumbolter 9, and the direction and the distance to be adjusted of the jumbolter 9 can be determined by comparing the actual coordinates with the expected coordinates.
The industrial personal computer 7 sends a command to the controller, and the controller controls the slewing drive 3 and the hydraulic motor 8 to drive the jumbolter 9 to move until the actual pointing coordinate coincides with the expected coordinate, so that the automatic positioning of the anchor rod is completed. The control of the hydraulic system of the jumbolter 9 can be completed by controlling the electromagnetic valve through the controller, and the installation operation of the anchor rod is completed. The cross in fig. 2 is the cross laser formed by the laser transmitter 6 on the roadway roof, the white circle is the existing anchor, and the hatched circle is the location of the anchor that is desired to be installed.
The technical advantages of the method for autonomously positioning and controlling the underground coal mine anchor rod according to the embodiment of the invention are the same as those of the device for autonomously positioning and controlling the underground coal mine anchor rod, and are not repeated here.
In some embodiments, the actual coordinates are obtained by a manual compensation process based on the fixed deviation between the center point coordinates of the cross laser and the pointing coordinates of the laser transmitter 6 and the jumbolter 9.
Specifically, the laser transmitter 6 is arranged between the side surface of the frame 1 and the jumbolter 9, a certain deviation distance exists, the deviation distance is a fixed value, the deviation distance can cause errors when the movement adjustment is performed according to the central point coordinate of the cross laser, after the fixed deviation is compensated manually, the influence of the fixed deviation on the movement of the jumbolter 9 can be reduced and ignored, the actual coordinate is obtained, and the adjustment movement is performed.
In some embodiments, the coordinates of the center points of all existing anchors are fitted linearly according to the coordinates of the center point of each existing anchor on the roof of the roadway, and the desired coordinates are obtained according to the average relative distance between the existing anchor and any adjacent existing anchors.
Specifically, the expected coordinates are the positions of the existing anchor rods which are already installed on the top plate and the coordinates of the central points of the anchor rods, which are detected by the industrial personal computer 7 through running a target detection algorithm, the coordinates of the central points of the anchor rods to be installed next are obtained through linear fitting calculation, and the coordinates of the central points of the anchor rods to be installed next are obtained through calculation by combining the average relative distance obtained by the distance between one of the anchor rods and any adjacent anchor rod.
In some embodiments, a plurality of existing anchors on a roadway roof are numbered, the same row of existing anchors are grouped into the same group, straight line fitting is performed on anchor location of the existing anchors of each group and coordinates of a center point of the anchors, and expected coordinates are obtained according to average relative distances of the anchors of each group.
Specifically, the existing anchor rods on the roadway roof are arranged in a plurality of rows, the existing anchor rods are subjected to grouping treatment according to the rows, so that the calculation efficiency can be improved, errors caused by the relative distances of the anchor rods in different rows are reduced, and the distances between the anchor rods in each group are more accurate.
In some embodiments, the real-time roadway images acquired by the camera 5 are preprocessed to improve image quality.
Specifically, the acquired real-time roadway image is preprocessed to improve the image quality, so that the industrial personal computer 7 can conveniently detect the anchor rod position and the center point coordinate by a target detection algorithm in subsequent operation. In a complex downhole environment, image preprocessing is critical to improving image quality and ensuring accuracy of subsequent image analysis.
In some embodiments, preprocessing includes denoising, contrast enhancement, image filtering, and image sharpening.
Specifically, denoising can reduce noise influence in an image, the existing anchor rod can be accurately identified by enhancing contrast, image sharpness can enhance edge information of the image to improve image definition, image filtering can reduce brightness of an overexposed area, and meanwhile brightness of an underexposed area is improved, so that the image is more uniform.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, or communicable with each other, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interactive relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those skilled in the art without departing from the scope of the invention.
Claims (10)
1. An autonomous positioning and controlling device for underground coal mine anchor rods, which is characterized by comprising:
The frame is connected with the first end of the swing arm, the second end of the swing arm is connected with a swing drive, the swing drive is connected with a platform to drive the swing arm to rotate relative to the platform, and the jumbolter is connected with one side, far away from the swing arm, of the frame;
The visual positioning mechanism comprises a camera and a laser transmitter, the camera is arranged on the platform and is spaced from the rack by a preset distance, the camera points to the roadway roof to acquire an image of the roadway roof, and the laser transmitter is arranged on the rack to transmit laser to the roadway roof;
the control mechanism comprises a controller and an industrial personal computer, wherein the industrial personal computer is arranged on the platform and used for moving along with the platform, the controller is arranged on the jumbolter, and the industrial personal computer is in communication connection with the camera and the controller.
2. The apparatus of claim 1, further comprising a hydraulic motor positioned at the first end of the swing arm and drivingly coupled to the frame, the hydraulic motor configured to drive the frame to rotate relative to the swing arm.
3. The underground coal mine anchor rod autonomous positioning and control device of claim 1, wherein the camera is arranged on top of the industrial personal computer.
4. A downhole anchor autonomous positioning and control device according to claim 1, further comprising a calibration member for lasing the roadway roof to provide calibration point coordinates, the calibration member being disposed on the platform.
5. An autonomous positioning and controlling method for an underground coal mine anchor rod, which utilizes the autonomous positioning and controlling device for the underground coal mine anchor rod according to claim 1 to perform anchor rod positioning, and is characterized by comprising the following steps:
Starting a camera to acquire an image of a real-time tunnel roof, starting a laser transmitter to transmit cross laser to the tunnel roof, and receiving image data of the camera by an industrial personal computer to obtain a central coordinate of an anchor rod on the tunnel roof and a central point coordinate of the cross laser;
According to the central point coordinates of the cross laser, the pointing direction of the anchor rod drilling machine is obtained, and the industrial control computer calculates the difference value between the actual coordinates of the anchor rod drilling machine and the expected coordinates of the anchor rod drilling machine;
and the industrial personal computer sends a command to the controller, and the controller controls the slewing drive and the hydraulic motor to drive the jumbolter to move until the actual pointing coordinate coincides with the expected coordinate, so that the automatic positioning of the anchor rod is completed.
6. The autonomous positioning and controlling method of an underground coal mine anchor rod according to claim 5, wherein the actual coordinates are obtained by performing manual compensation processing according to the central point coordinates of the cross laser and the fixed deviation between the pointing coordinates of the laser transmitter and the anchor rod drilling machine.
7. The autonomous positioning and controlling method of underground coal mine anchors according to claim 5, wherein the coordinates of the center points of all existing anchors are fitted linearly according to the coordinates of the center point of each of the existing anchors on the roof of the roadway, and the desired coordinates are obtained according to the average relative distance between the existing anchors and any adjacent existing anchors.
8. The method for autonomous positioning and controlling of underground coal mine anchors according to claim 7, wherein a plurality of existing anchors on the roof of the roadway are numbered, the existing anchors in the same row are divided into the same group, straight line fitting is performed on anchor positions of the existing anchors in each group and coordinates of a central point of the anchors, and the expected coordinates are obtained according to average relative distances of the anchors in each group.
9. The autonomous positioning and control method of an underground coal mine anchor according to claim 5, wherein the real-time roadway image acquired by the camera is preprocessed to improve the image quality.
10. A method of autonomous positioning and control of a mine underground rock bolt according to claim 9, wherein the pre-processing includes denoising, contrast enhancement, image filtering and sharpening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411867497.7A CN119878005A (en) | 2024-12-16 | 2024-12-16 | Autonomous positioning and controlling device and method for underground coal mine anchor rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411867497.7A CN119878005A (en) | 2024-12-16 | 2024-12-16 | Autonomous positioning and controlling device and method for underground coal mine anchor rod |
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| Publication Number | Publication Date |
|---|---|
| CN119878005A true CN119878005A (en) | 2025-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411867497.7A Pending CN119878005A (en) | 2024-12-16 | 2024-12-16 | Autonomous positioning and controlling device and method for underground coal mine anchor rod |
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|---|---|---|---|---|
| US20180298756A1 (en) * | 2017-04-13 | 2018-10-18 | Joy Mm Delaware, Inc. | System and method for measuring and aligning roof bolts |
| CN115898263A (en) * | 2022-10-24 | 2023-04-04 | 中煤科工开采研究院有限公司 | Anchor rod drill carriage and roadway support method thereof |
| CN115929315A (en) * | 2022-10-24 | 2023-04-07 | 中煤科工开采研究院有限公司 | Roadway Supporting Method for Roof Bolter and Roof Bolter |
| WO2024196287A1 (en) * | 2023-03-22 | 2024-09-26 | Epiroc Rock Drills Aktiebolag | Method, control node & computer program for aligning a feed beam in a post-drilling operation |
-
2024
- 2024-12-16 CN CN202411867497.7A patent/CN119878005A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180298756A1 (en) * | 2017-04-13 | 2018-10-18 | Joy Mm Delaware, Inc. | System and method for measuring and aligning roof bolts |
| CN115898263A (en) * | 2022-10-24 | 2023-04-04 | 中煤科工开采研究院有限公司 | Anchor rod drill carriage and roadway support method thereof |
| CN115929315A (en) * | 2022-10-24 | 2023-04-07 | 中煤科工开采研究院有限公司 | Roadway Supporting Method for Roof Bolter and Roof Bolter |
| WO2024196287A1 (en) * | 2023-03-22 | 2024-09-26 | Epiroc Rock Drills Aktiebolag | Method, control node & computer program for aligning a feed beam in a post-drilling operation |
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