Coal mine drilling and anchoring robot drilling accurate positioning method based on visual calibration

Abstract

The invention discloses a coal mine drilling and anchoring robot drilling accurate positioning method based on visual calibration. A distributed radar ranging sensor is adopted to collect distance information of a front side, a rear side, an inner side and an outer side of a drilling and anchoring robot, and the drilling and anchoring robot is ensured to advance along the center line of a roadwaywithout offset through a program design; a photoelectric encoder and an angular displacement sensor are adopted to form a semi-closed-loop control system for a translation distance and a rotation angle of a drilling machine on a drilling and anchoring platform; an inclination angle sensor is adopted to collect ground inclination angle information of the drilling and anchoring robot, and posture adjustment of the drilling machine platform is achieved to compensate errors caused by ground inclination angles; and a tail end of the drilling machine is intelligently aligned with an anchor mesh to complete an accurate drilling target in a vision-based mode, and accurate positioning of the drilling machine is achieved. The accurate positioning method is simple and complete, the problems that manual drilling operation wastes time and labor, a danger coefficient is high and so on are solved, the accuracy and real-time performance of drilling and anchor rod operation are improved, and wide application prospects are achieved.

Description

technical field [0001] The invention relates to the technical field of drilling positioning, in particular to a method for precise positioning of coal mine anchor drilling robots based on vision calibration. Background technique [0002] Coal is an important basis for my country's electric energy and power source, and an important source of industrial development and civil economy. The development of the coal mining industry is inseparable from the support of manpower, resulting in a large demand for manpower, poor working environment and other adverse factors that have a serious impact on people. In the roadway excavation process, excavation, support, drilling and anchoring, transportation, etc. all require human support to ensure the safety of coal mine operations. Most of the excavation work is completed by manual driving and operation of the excavation machine; the supporting work is completed by manual anchoring and transportation; the drilling and anchoring work is al...

AI Technical Summary

Problems solved by technology

[0005] The invention provides a method for precise positioning of coal mine anchor drilling robots based on vision calibration, which overcomes the shortcomings of low work efficiency, large manpower demand, and poor completion accuracy in existing coal mine roadway drilling and anchor operations.

Images