CN113630581B - Multi-arm rock drilling trolley remote video monitoring method, device and system - Google Patents
Multi-arm rock drilling trolley remote video monitoring method, device and system Download PDFInfo
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- CN113630581B CN113630581B CN202110860806.8A CN202110860806A CN113630581B CN 113630581 B CN113630581 B CN 113630581B CN 202110860806 A CN202110860806 A CN 202110860806A CN 113630581 B CN113630581 B CN 113630581B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/268—Signal distribution or switching
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a method, a device and a system for remotely monitoring a multi-arm rock drilling trolley, belonging to the technical field of remote monitoring of engineering machinery, wherein the method comprises the following steps: acquiring video information of a plurality of angles in different operation areas through a video acquisition end; judging the position and shielding condition of the region where the video information is located according to the video information; determining a corresponding video acquisition end according to the position of the region where the video information is located, and determining control angle information of the corresponding video acquisition end according to the shielding condition; the invention carries out angle control through interaction between a plurality of video acquisition ends and a remote control end, adopts an automatic switching mode when meeting the requirement and carries out a manual switching mode when not meeting the requirement when judging the position of an area where the video information is positioned, and the operation is very convenient and effective to improve the operation area of the rock drilling trolley.
Description
Technical Field
The invention relates to a remote video monitoring method, device and system for a multi-arm rock drilling trolley, and belongs to the technical field of engineering machinery remote monitoring.
Background
The rock drilling trolley is suitable for rock drilling equipment for tunnel and underground engineering construction by adopting a drilling and blasting method, has severe construction environment and even has dangerous conditions such as rock blasting and the like, and seriously affects the comfort and safety of constructors, so that the working efficiency is improved in order to ensure the personal safety of the constructors, and the rock drilling trolley can be operated in a remote video monitoring mode.
The remote video monitoring technology generally relies on a video acquisition system of a construction site to transmit acquired videos to a far end, so that a remote operator can conveniently conduct remote control according to the videos, and the imaging condition of the video acquisition system directly affects the operation and construction quality of the far end operator.
The multi-arm rock drilling trolley has the characteristics of multiple arms, so that the construction efficiency is greatly improved, and for a multi-arm rock drilling trolley remote monitoring system, the following problems can be caused due to the existence of multiple arms: firstly, the video acquisition system is difficult to cover an enlarged working surface completely, and secondly, the existence of multiple arms can cause the shielding of the arm support to the video acquisition system; in addition, a large amount of dust exists in the working environment of the drilling jumbo, once the video information of a single video acquisition system is blurred, the imaging quality of a remote monitoring system can be seriously influenced, and accordingly, the judgment error of a remote operator is caused. Therefore, a set of remote video monitoring system capable of meeting the requirement of the multi-arm drilling jumbo needs to be developed, so that the problems of wide working range, arm support shielding and high dust working environment of the multi-arm drilling jumbo are solved.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a remote video monitoring method, device and system for a multi-arm drill jumbo, which can be used for carrying out remote video monitoring on the multi-arm drill jumbo, can completely cover the whole working surface of the multi-arm drill jumbo, eliminate blind areas brought by a multi-arm shielding video acquisition system, and simulate the action effects of exploring and turning a head of a near-end operator when construction environment dust is too high, so as to monitor the construction environment and a drill boom from different visual angles, thereby being convenient for remote control of a far-end operator.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
in a first aspect, an embodiment of the present invention provides a remote video monitoring method for a multi-arm drilling jumbo, where the method includes:
acquiring video information of a plurality of angles in different operation areas through a video acquisition end;
judging the position and shielding condition of the region where the video information is located according to the video information;
determining a corresponding video acquisition end according to the position of the region where the video information is located, and determining control angle information of the corresponding video acquisition end according to the shielding condition;
and transmitting the control angle information to a corresponding video acquisition end to realize the angle control of the video acquisition end.
Further, the method for determining the corresponding video acquisition end according to the position of the region where the video information is located comprises an automatic switching mode and a manual switching mode;
the automatic switching mode is to automatically switch and select a corresponding video acquisition end by detecting an area where a drill boom enters;
the manual switching mode is to confirm the corresponding video acquisition end by manually observing video information.
In a second aspect, an embodiment of the present invention provides a remote control terminal, including:
an acquisition unit: the video acquisition terminal is used for acquiring video information of a plurality of angles in different operation areas;
a judging unit: the method is used for judging the position and shielding condition of the region where the video information is located according to the video information;
a first determination unit: the video acquisition terminal is used for determining a corresponding video acquisition terminal according to the position of the region where the video information is located;
a second determination unit: the control angle information of the corresponding video acquisition end is determined according to the shielding condition;
a transmitting unit: the method is used for transmitting the control angle information to the corresponding video acquisition end, so that the angle control of the video acquisition end is realized.
Further, the first determining unit includes:
mode selection unit: the method comprises the steps of responding to mode switching operation of a user, and executing selection of an automatic switching mode and a manual switching mode;
an automatic switching mode execution unit: the method is used for automatically switching and selecting corresponding video acquisition ends by detecting the area where the drill boom enters in an automatic switching mode:
and a display unit: the method is used for outputting and displaying video information so as to assist in mode selection, construction operation and manual determination of corresponding video acquisition ends.
In a third aspect, an embodiment of the present invention provides a remote control terminal, which includes a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative to perform the steps of the method described above in accordance with the instructions.
In a fourth aspect, an embodiment of the invention provides a computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor implements the steps of the aforementioned method.
In a fifth aspect, an embodiment of the present invention provides a remote video monitoring system for a multi-arm drilling jumbo, including:
the plurality of video acquisition ends are used for acquiring working state video information and construction environment video information of each drill boom of the drill jumbo;
remote control end: the control method is used for controlling the angles of the video acquisition ends.
Further, the video acquisition end comprises a cradle head with adjustable pitching and rotating angles and a camera arranged on the cradle head.
Further, the remote control terminal includes:
mode selection unit: the method comprises the steps of responding to mode switching operation of a user, and executing selection of an automatic switching mode and a manual switching mode;
an automatic switching mode execution unit: the video acquisition terminal is used for automatically switching and selecting a corresponding video acquisition terminal by detecting the area which the drill boom enters in an automatic switching mode;
and a display unit: the method is used for outputting and displaying video information so as to assist in mode selection, construction operation and manual determination of corresponding video acquisition ends.
Further, the video acquisition device also comprises a plurality of groups of operation handles for manually adjusting the video acquisition angles of the video acquisition ends.
Compared with the prior art, the invention has the beneficial effects that:
acquiring video information of a plurality of angles in different operation areas through a video acquisition end; transmitting video information to a remote control end; when the position of the region where the video information is located is judged, the automatic switching is firstly carried out through detecting the region of the drill boom, and meanwhile, whether the automatic switching mode meets the requirement is judged, the automatic switching mode is adopted under the condition that the requirement is met, the manual switching mode is carried out under the condition that the requirement is not met, the angles of the video acquisition ends in all the regions are automatically or manually controlled, the operation is very convenient, and the operation area of the rock drilling trolley is effectively improved.
The remote control system aims at the problems that the multi-arm drilling jumbo is wide in working range, the arm support shields a video acquisition system, a high-dust construction environment and the like, video acquisition is carried out on the drilling jumbo construction environment by utilizing a plurality of groups of cameras carrying the cloud deck system, a basis is provided for remote control, and as the remote end of the multi-arm drilling jumbo needs multiple-person operation, different working drill arms can be automatically matched with corresponding vision acquisition systems according to different operators, and manual mode switching is carried out, so that the remote control of the operators is facilitated.
Drawings
FIG. 1 is a diagram of a remote video monitoring system provided by an embodiment of the present invention;
fig. 2 is a view of an installation position of a vision acquisition system (taking a three-arm drilling jumbo as an example) provided by an embodiment of the present invention;
FIG. 3 is a flow chart of a video switching system according to an embodiment of the present invention;
fig. 4 is a flowchart of an automatic switching mode (taking a three-arm drilling rig as an example) provided in an embodiment of the present invention;
fig. 5 is a flowchart of a manual switching mode (taking a three-arm drilling rig as an example) according to an embodiment of the present invention.
Description of the embodiments
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Examples
The embodiment provides a remote video monitoring method for a multi-arm rock drilling trolley, which comprises the following steps:
acquiring video information of a plurality of angles in different operation areas through a video acquisition end;
judging the position and shielding condition of the region where the video information is located according to the video information;
determining a corresponding video acquisition end according to the position of the region where the video information is located, and determining control angle information of the corresponding video acquisition end according to the shielding condition;
and transmitting the control angle information to a corresponding video acquisition end to realize the angle control of the video acquisition end.
The method for determining the corresponding video acquisition end according to the position of the region where the video information is located comprises an automatic switching mode and a manual switching mode;
the automatic switching mode is to automatically switch and select a corresponding video acquisition end by detecting an area where a drill boom enters;
the manual switching mode is to confirm the corresponding video acquisition end by manually observing video information.
In the embodiment, video information of a plurality of angles in different operation areas is acquired through a video acquisition end; judging the position and shielding condition of the region where the video information is located according to the video information; determining a corresponding video acquisition end according to the position of the region where the video information is located, and determining control angle information of the corresponding video acquisition end according to the shielding condition; and the control angle information is issued to the corresponding video acquisition end, so that the angle control of the video acquisition end is realized, the operation is very convenient, and the operation area of the rock drilling trolley is effectively increased.
Examples
The embodiment provides a remote control terminal, including:
an acquisition unit: the video acquisition terminal is used for acquiring video information of a plurality of angles in different operation areas;
a judging unit: the method is used for judging the position and shielding condition of the region where the video information is located according to the video information;
a first determination unit: the video acquisition terminal is used for determining a corresponding video acquisition terminal according to the position of the region where the video information is located;
a second determination unit: the control angle information of the corresponding video acquisition end is determined according to the shielding condition;
a transmitting unit: the method is used for transmitting the control angle information to the corresponding video acquisition end, so that the angle control of the video acquisition end is realized.
The first determination unit includes:
mode selection unit: the method comprises the steps of responding to mode switching operation of a user, and executing selection of an automatic switching mode and a manual switching mode;
an automatic switching mode execution unit: the method is used for automatically switching and selecting corresponding video acquisition ends by detecting the area where the drill boom enters in an automatic switching mode:
and a display unit: the method is used for outputting and displaying video information so as to assist in mode selection, construction operation and manual determination of corresponding video acquisition ends. The display unit can firstly judge whether the automatic switching mode meets the requirement of the required video information or not: if yes, directly counting an automatic switching mode, and performing construction operation through video information displayed by a display unit; if the video information does not meet the requirements, switching to a manual switching mode, assisting in manually determining the corresponding video acquisition end, and displaying the video information to perform construction operation.
According to the embodiment, the acquisition unit, the judging unit, the first determining unit, the second determining unit and the sending unit are arranged, so that the angle control of the video acquisition end is realized, the operation is very convenient, and the operation area of the rock drilling trolley is effectively improved.
Examples
The embodiment provides a remote control terminal, which is characterized by comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative according to the instructions to perform the steps of the method according to claim 1 or 2.
According to the embodiment, the remote control end is arranged, the angle control of the video acquisition end is realized through the processor and the storage medium, the operation is very convenient, and the operation area of the rock drilling trolley is effectively improved.
Examples
The present embodiment provides a computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the method of claim 1 or 2.
According to the embodiment, the computer readable storage medium is arranged, the angle control of the video acquisition end is realized through the computer program, the operation is very convenient, and the operation area of the rock drilling trolley is effectively improved.
Examples
The embodiment provides a remote video monitoring system of multi-arm drill jumbo, which is characterized by comprising:
the plurality of video acquisition ends are used for acquiring working state video information and construction environment video information of each drill boom of the drill jumbo;
remote control end: the method is used for controlling the angle of each video acquisition end according to the control method of claim 1 or 2.
The video acquisition end comprises a cradle head with adjustable pitching and rotating angles and a camera arranged on the cradle head.
The remote control end comprises:
mode selection unit: the method comprises the steps of responding to mode switching operation of a user, and executing selection of an automatic switching mode and a manual switching mode;
an automatic switching mode execution unit: the video acquisition terminal is used for automatically switching and selecting a corresponding video acquisition terminal by detecting the area which the drill boom enters in an automatic switching mode;
and a display unit: the method is used for outputting and displaying video information so as to assist in mode selection, construction operation and manual determination of corresponding video acquisition ends. The display unit can firstly judge whether the automatic switching mode meets the requirement of the required video information or not: if yes, directly counting an automatic switching mode, and performing construction operation through video information displayed by a display unit; if the video information does not meet the requirements, switching to a manual switching mode, assisting in manually determining the corresponding video acquisition end, and displaying the video information to perform construction operation.
The video acquisition device also comprises a plurality of groups of operation handles for manually adjusting the video acquisition angles of the video acquisition ends.
According to the embodiment, the angle control of the video acquisition end is realized by arranging the plurality of video acquisition ends, the remote control end, the mode selection unit, the automatic switching mode execution unit and the display unit, so that the operation is very convenient, and the operation area of the rock drilling trolley is effectively improved.
The matters devised in the above embodiments are explained below in connection with a preferred embodiment.
Fig. 1 is a diagram of a remote video monitoring system of the present invention, which comprises a visual acquisition system, a remote communication system, a remote display system, a cradle head handle and a video switching system. The vehicle-mounted end vision acquisition system consists of two groups or more than two groups, and the remote end operator operates by two or more than two people.
The vehicle-mounted end vision acquisition system comprises a camera and a cradle head system, the camera can rotate at multiple angles and face upward under the drive of the cradle head system to acquire video information of the construction site and the drill boom state of the multi-arm drill jumbo, and the multiple groups of vision acquisition systems can mutually supplement visual angles to fully cover the whole working surface of the multi-arm drill jumbo; the remote communication transmits the collected multiple groups of video information to a remote terminal; each operator of the remote terminal is provided with a set of display system and a handle, the display system displays remote video information so that the operators can remotely monitor, the handle can remotely control the cradle head system to act, meanwhile, different operators of the remote terminal can automatically match corresponding vision acquisition systems through the video switching system, when the automatic switching mode is not in accordance with the requirement, a manual switching mode is available for selection, and the cradle head system of the vehicle-mounted terminal is further controlled by the handle according to the requirement, so that video information of a required visual angle is obtained.
Fig. 3 is a flow chart of a video switching system: after the video monitoring system is started, firstly, entering an automatic switching mode, and in the automatic mode, automatically matching with the best corresponding vision acquisition system when drilling booms operated by different operators enter different areas; when the video information displayed in the automatic switching mode cannot eliminate the blind area caused by the shielding video acquisition system of the multiple arms or the construction environment and the drill boom are required to be monitored from different view angles, the manual switching mode can be switched.
The implementation of this solution will be further elucidated with reference to fig. 1, 2, 3, 4 and 5, taking a three-arm rock-drilling rig, two-person remote operation as an example.
The remote monitoring system of the three-arm rock drill trolley based on remote double operation adopts two groups of vision acquisition systems consisting of a camera 1, a cradle head system 1, a camera 2 and a cradle head system 2, acquires video information of a construction site, transmits the video information to a remote end through a remote communication system, and is switched to a required vision acquisition system by utilizing a video switching system, and is respectively displayed on an operator 1 and an operator 2 at the remote end through a display system 1 and a display system 2 so as to be remotely controlled; meanwhile, the remote end operator 1 and the remote end operator 2 can respectively control the action of the cradle head system by utilizing the remote end handle 1 and the handle 2, so that the vision acquisition system is driven to acquire multi-angle videos.
Fig. 2 is a diagram of installation positions of vision acquisition systems of a three-arm drill jumbo, in which reference numeral a is two sets of vision acquisition systems, each of which consists of a camera 1, a holder system 1, a camera 2 and a holder system 2, and is respectively installed at the left and right ends of a cab, so that blind areas caused by the working surface of the three-arm drill jumbo and the shielding of a drill boom can be covered completely, and meanwhile, the action effects of the exploring and turning of a near-end operator can be simulated, and video monitoring information with different visual angles can be obtained.
Fig. 4 is an automatic switching mode of the video switching system. The working surface of the three-arm drilling trolley is defined as a left part and a right part, and the left part and the right part are respectively matched with a left group of vision acquisition system and a right group of vision acquisition system. When the drill boom enters the left area, the left vision acquisition system is automatically matched, if the angle of the left vision acquisition system is required to be further adjusted, whether the pan-tilt handle of the left vision acquisition system is occupied or not is further detected, if the pan-tilt handle of the left vision acquisition system is not occupied, the control right of the left vision acquisition system is preferentially enjoyed, the control right is switched to the left vision acquisition system handle, the angle control is carried out on the control right, and the video information of the left vision acquisition system is displayed; if the video information is occupied, only the video information of the left video acquisition system can be shared, and no control right exists; when the drill boom enters the right area, the right vision acquisition system is automatically matched, if the right vision acquisition system is required to acquire control right, whether the handle of the right vision acquisition system is occupied or not is required to be monitored, the right vision acquisition system is occupied, the right vision acquisition system is provided with priority control right, if the handle of the right vision acquisition system is occupied, the right vision acquisition system video information can be shared only, and the right vision acquisition system has no control right.
Fig. 5 is a manual switching mode of the video switching system. When an operator switches to a manual switching mode according to the need, the operator can directly select a required vision acquisition system through the holder handle, when the operator needs to switch to a left vision acquisition system, whether the holder handle corresponding to the vision acquisition system is occupied or not is judged, if not, the operator directly enters the left vision acquisition system, and the operator is in priority of enjoying the control right of the left holder handle, and the angle of the left vision acquisition system can be adjusted through the holder handle of the left vision acquisition system to obtain required video information; if the holder handle is detected to be occupied by other operators, the left vision acquisition system is also entered, but only video information can be shared, and control rights are not available.
The remote video monitoring system of the multi-arm drill jumbo provided by the invention aims at the problems of wide working range, boom shielding video acquisition system, high dust construction environment and the like of the multi-arm drill jumbo, utilizes a plurality of groups of cameras carrying a holder system to acquire video of the drill jumbo construction environment, provides a basis for remote control, and can automatically match with a corresponding vision acquisition system according to different operating arms operated by different operators as the remote end of the multi-arm drill jumbo needs a plurality of people to operate, and has a manual mode switching, so that the remote monitoring of the operators is convenient.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (9)
1. A video angle remote control method of a multi-arm drilling jumbo, the method comprising:
acquiring video information of a plurality of angles in different operation areas through a video acquisition end;
judging the position and shielding condition of the region where the video information is located according to the video information;
determining a corresponding video acquisition end according to the position of the region where the video information is located, and determining control angle information of the corresponding video acquisition end according to the shielding condition;
the control angle information is issued to the corresponding video acquisition end, so that the angle control of the video acquisition end is realized;
the method for determining the corresponding video acquisition end according to the position of the region where the video information is located comprises an automatic switching mode and a manual switching mode, wherein the automatic switching mode is selected by detecting the region where the drill boom enters, and meanwhile, whether the automatic switching mode meets the requirement is judged according to the video information: if the requirements are met, determining a corresponding video acquisition end by adopting an automatic switching mode; if the requirements are not met, determining a corresponding video acquisition end by adopting a manual switching mode;
the automatic switching mode is to automatically switch and select a corresponding video acquisition end by detecting an area where the drill boom enters; the manual switching mode is to confirm the corresponding video acquisition end by manually observing video information.
2. A remote control terminal, comprising:
an acquisition unit: the video acquisition terminal is used for acquiring video information of a plurality of angles in different operation areas;
a judging unit: the method is used for judging the position and shielding condition of the region where the video information is located according to the video information;
a first determination unit: the video acquisition terminal is used for determining a corresponding video acquisition terminal according to the position of the region where the video information is located;
a second determination unit: the control angle information of the corresponding video acquisition end is determined according to the shielding condition;
a transmitting unit: the video acquisition terminal is used for transmitting the control angle information to the corresponding video acquisition terminal to realize the angle control of the video acquisition terminal;
mode selection unit: the method for executing the selection of the automatic switching mode and the manual switching mode in response to the mode switching operation of the user specifically comprises the following steps: firstly, selecting an automatic switching mode by detecting an area which is entered by a drill boom, and judging whether the automatic switching mode meets the requirement according to video information: if the requirements are met, selecting an automatic switching mode; if the requirement is not met, selecting a manual switching mode;
an automatic switching mode execution unit: the method is used for automatically switching and selecting the corresponding video acquisition end by detecting the area where the drill boom enters in an automatic switching mode.
3. The remote control terminal according to claim 2, wherein the first determining unit includes:
and a display unit: the method is used for outputting and displaying video information so as to assist in mode selection, construction operation and manual determination of corresponding video acquisition ends.
4. The remote control terminal is characterized by comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative according to the instructions to perform the steps of the method of claim 1.
5. A computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the method according to claim 1.
6. A multi-arm rock drill jumbo remote video monitoring system, comprising:
the plurality of video acquisition ends are used for acquiring working state video information and construction environment video information of each drill boom of the drill jumbo;
remote control end: the control method is used for controlling the angles of the video acquisition ends according to the control method of claim 1;
mode selection unit: the method comprises the steps of responding to mode switching operation of a user, and executing selection of an automatic switching mode and a manual switching mode; the method specifically comprises the following steps: firstly, selecting an automatic switching mode by detecting an area which is entered by a drill boom, and judging whether the automatic switching mode meets the requirement according to video information: if the requirements are met, selecting an automatic switching mode; if the requirement is not met, selecting a manual switching mode;
an automatic switching mode execution unit: the method is used for automatically switching and selecting the corresponding video acquisition end by detecting the area where the drill boom enters in an automatic switching mode.
7. The remote video monitoring system of a multi-arm rock-drilling rig of claim 6, wherein,
the video acquisition end comprises a cradle head with adjustable pitching and rotating angles and a camera arranged on the cradle head.
8. A multi-arm rock drilling rig remote video monitoring system according to claim 6, wherein the remote control end comprises:
and a display unit: the method is used for outputting and displaying video information so as to assist in mode selection, construction operation and manual determination of corresponding video acquisition ends.
9. The remote video monitoring system of a multi-arm drill jumbo of claim 6 further comprising a plurality of sets of operating handles for manually adjusting the video acquisition angle of the video acquisition end.
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