CN114463617A - Device, method, equipment, medium and product for identifying mounting hole of anchor steel belt - Google Patents
Device, method, equipment, medium and product for identifying mounting hole of anchor steel belt Download PDFInfo
- Publication number
- CN114463617A CN114463617A CN202210114608.1A CN202210114608A CN114463617A CN 114463617 A CN114463617 A CN 114463617A CN 202210114608 A CN202210114608 A CN 202210114608A CN 114463617 A CN114463617 A CN 114463617A
- Authority
- CN
- China
- Prior art keywords
- anchor
- steel belt
- parameters
- image
- anchoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 125
- 239000010959 steel Substances 0.000 title claims abstract description 125
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000004873 anchoring Methods 0.000 claims abstract description 52
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 238000003384 imaging method Methods 0.000 claims abstract description 5
- 239000013598 vector Substances 0.000 claims description 41
- 238000005553 drilling Methods 0.000 claims description 30
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 10
- 238000012163 sequencing technique Methods 0.000 claims description 6
- 238000004080 punching Methods 0.000 abstract description 4
- 238000004891 communication Methods 0.000 description 13
- 238000010276 construction Methods 0.000 description 10
- 230000009467 reduction Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000005641 tunneling Effects 0.000 description 4
- 238000000605 extraction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000012876 topography Methods 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
Landscapes
- Engineering & Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Theoretical Computer Science (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Artificial Intelligence (AREA)
- Bioinformatics & Computational Biology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
Abstract
The invention provides a device, a method, equipment, a medium and a product for identifying an anchor steel strip mounting hole, wherein the device comprises the following components: an image acquisition part and a posture adjustment part; the image acquisition part is used for acquiring image information of an underground roadway after the anchor steel belt is laid; the displacement adjusting part is connected with the image acquisition part and is used for adjusting the acquisition posture of the image acquisition part; the image acquisition part at least comprises a projection light path and two imaging light paths. According to the device, the method, the equipment, the medium and the product for identifying the mounting hole of the anchor steel belt, the mounting hole of the anchor steel belt is identified by adopting binocular vision structured light, an accurate cloud point picture can be generated in a limited range, unmanned and intelligent underground anchoring operation is realized, unmanned anchoring and intelligent anchoring are realized, and meanwhile, a powerful guarantee is provided for subsequent punching and anchoring operation.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a device, a method, equipment, a medium and a product for identifying an anchor steel belt mounting hole.
Background
Along with the rapid development of artificial intelligence, depth cameras, point cloud data processing and sensor technologies, the intelligentization of engineering machinery is gradually realized, the construction difficulty and conditions are extremely severe and have certain dangerousness in the process of anchoring and protecting underground roadways, particularly under special geological conditions, meanwhile, because underground working surfaces are special, light and dust are large, vibration amplitude is large, and the current mechanical equipment adopts the modes of manual tunneling and manual anchoring and protecting in the anchoring and protecting operation and tunneling operation processes. Scanning by using a laser radar and performing secondary processing on point cloud data of the laser radar to find point cloud, on one hand, the point cloud effect in an underground dusty environment is poor due to the high cost of the laser radar, and on the other hand, the position of a hole is difficult to accurately position due to the small hole ratio in an anchored steel belt.
Disclosure of Invention
The invention provides a device and a method for identifying an anchor steel belt mounting hole, which are used for solving the defects that the point cloud effect is poor in an underground dusty environment and the anchor steel belt mounting hole is difficult to accurately position in the conventional anchoring and tunneling operation process.
The invention also provides an electronic device.
The invention further provides a non-transitory computer readable storage medium.
The invention also provides a computer program product.
According to a first aspect of the invention, an identification device for a mounting hole of an anchoring and protecting steel belt of an underground roadway comprises: an image acquisition part and a posture adjustment part;
the image acquisition part is used for acquiring image information of an underground roadway after the anchor steel belt is laid;
the displacement adjusting part is connected with the image acquisition part and is used for adjusting the acquisition posture of the image acquisition part;
the image acquisition part at least comprises a projection light path and two imaging light paths.
According to an embodiment of the present invention, the acquisition pose includes at least an acquisition displacement and an acquisition angle of the image acquisition part.
Specifically, the embodiment provides an implementation mode of acquiring a posture, and by adjusting the position and the angle of the image acquisition part, the method and the device realize acquisition of the anchor steel strip in the same area or different areas through multiple directions, so as to construct an anchor steel strip space virtual model through more comprehensive data.
According to an embodiment of the present invention, the attitude adjustment portion is a robot arm.
Specifically, the present embodiment provides an implementation manner of the posture adjustment portion, and the posture adjustment portion is configured as a mechanical arm, so that the adjustment of the acquisition posture of the image acquisition portion is realized.
According to a second aspect of the present invention, there is provided an identification method for the identification device for the steel strip installation hole of the underground roadway anchor protection, including:
after an anchor steel belt is laid to an underground roadway, acquiring image parameters of the anchor steel belt;
constructing a space virtual model of the anchoring and protecting steel belt according to the image parameters;
and extracting hole site parameters of the anchor steel belt according to the space virtual model, and generating a drilling decision according to the hole site parameters.
According to an embodiment of the present invention, the step of obtaining the image parameters of the anchor steel strip after the anchor steel strip is laid in the underground roadway specifically includes:
after the anchor and protection steel belt is laid to the underground roadway, acquiring a first image characteristic vector and a second image characteristic vector of the anchor and protection steel belt, wherein the first image characteristic vector points to an acquisition area of the anchor and protection steel belt, and the second image characteristic vector points to a mounting hole of the anchor and protection steel belt;
generating image acquisition information according to the first image feature vector and the second image feature vector;
adjusting the acquisition position and/or the acquisition angle, and repeating the steps for N times to obtain N pieces of acquisition information, wherein N is a positive integer greater than or equal to one;
and generating the image parameters according to the N pieces of acquisition information.
Particularly, this embodiment provides an acquire embodiment of the image parameter of anchor steel band, through dividing the collection element of anchor steel band into first image eigenvector and second image eigenvector, make on the one hand through first image eigenvector to the collection region of anchor steel band divide, when realizing the all-round collection of image to the anchor steel band, can also mark the region, avoid the problem of repeated collection, on the other hand through second image eigenvector to the mounting hole of anchor steel band discernment, when being convenient for follow-up edge extraction that carries on, can more accurate location the mounting hole, at the in-process of gathering, just discern and mark collection region and mounting hole, the robustness of algorithm has been promoted.
According to an embodiment of the present invention, the step of adjusting the acquisition position and/or the acquisition angle, and repeating the above steps N times to obtain N pieces of acquisition information specifically includes:
randomly acquiring coordinate information of an acquisition area corresponding to one first image feature vector, and taking the coordinate information as an original coordinate;
acquiring first image characteristic vectors of the rest N pieces of acquired information, extracting coordinate information of each first image characteristic vector, and taking the coordinate information as a comparison coordinate;
acquiring the offset between each contrast coordinate and the original coordinate, and taking N offsets as a group of offset parameters;
repeating the steps M times to obtain M groups of the offset parameters, wherein M is a positive integer greater than or equal to one.
Specifically, this embodiment provides an implementation manner for obtaining N pieces of acquisition information, and the coordinate information of an acquisition area corresponding to one first image feature vector is used as an original coordinate, so as to implement construction of a virtual model of an anchor steel strip space according to the original coordinate.
Furthermore, M groups of offset parameters are obtained by repeating the steps for M times, and the error of calculation can be reduced according to the calculation of the offset for many times, so that the calculation of the position of the mounting hole is more accurate, and the subsequent punching and anchoring protection are guaranteed.
According to an embodiment of the present invention, after the step of repeating the above step M times to obtain M sets of the offset parameters, the method specifically further includes:
performing weighted calculation on the M groups of offset parameters, and obtaining M confidence coefficients corresponding to each group of offset parameters;
sequencing the M confidence coefficients according to the sequence from high to low, and outputting the weighted offset corresponding to the confidence coefficient of the ranking head in the sequencing;
and generating corrected coordinates corresponding to the rest N first image feature vectors according to the weighted offset and the original coordinates, and generating the acquisition information according to the original coordinates and the corrected coordinates.
Specifically, the embodiment provides an implementation mode for generating acquisition information according to M groups of offset parameters, the confidence of each group of offset parameters is obtained by performing weighted calculation on the offset parameters, a group of weighted offsets with the highest confidence is output according to the confidence ranking, corrected coordinates corresponding to the rest N first image feature vectors are obtained according to the weighted offsets, and further the construction of the anchor steel strip space virtual model is realized according to the original coordinates and the corrected coordinates.
Furthermore, the weighted offset is extracted according to the confidence after weighted calculation, so that the influence of errors on the construction of a system model is reduced, and a space virtual model closer to the real anchoring and protecting condition of the anchoring and protecting steel strip can be obtained by randomly selecting any position as an original coordinate.
According to an embodiment of the present invention, the step of constructing the spatial virtual model of the anchor steel strip according to the image parameters specifically includes:
acquiring anchor protection contour characteristics of the space virtual model, wherein the anchor protection contour characteristics at least comprise contact surface contour information of the anchor protection steel belt and the underground roadway;
matching corresponding preset anchor protection parameters in a preset anchor protection database according to the anchor protection profile characteristics, and extracting a first anchor protection strategy of the preset anchor protection parameters, wherein the first anchor protection strategy comprises a drilling strategy after the anchor protection steel belt is laid to the underground roadway;
and extracting hole site parameters of the anchor steel belt according to the space virtual model, and generating a drilling decision according to the first anchor strategy and the hole site parameters.
Specifically, this embodiment provides an implementation method for constructing a space virtual model of an anchor and guard steel strip, in which anchor and guard profile features of the space virtual model are extracted and matched with a preset anchor and guard database to obtain a first anchor and guard strategy corresponding to the anchor and guard profile features in the preset anchor and guard database, where the first anchor and guard strategy at least includes a drilling strategy corresponding to the anchor and guard profile features.
It should be noted that, because the conditions of the downhole roadway are complicated and varied, the first anchoring strategy is only a reference for similarity, and provides support for subsequent drilling and anchoring.
According to an embodiment of the present invention, the step of extracting hole site parameters of the anchor steel strip according to the virtual space model specifically includes:
extracting point cloud distribution parameters corresponding to the mounting holes of the anchoring and protecting steel belt according to the space virtual model;
denoising the point cloud distribution parameters according to the first anchor protection strategy, and extracting boundary characteristics of the denoised point cloud distribution parameters;
and determining the central position of the mounting hole according to the boundary characteristics, and generating the hole site parameters according to the central position.
Specifically, the embodiment provides an implementation method for extracting hole site parameters of an anchor steel strip, which extracts point cloud distribution parameters of a mounting hole of the anchor steel strip, and performs noise reduction through a first anchor protection strategy, so that the point cloud distribution parameters after noise reduction are clearer, and the central position of the mounting hole is convenient to determine.
According to an embodiment of the present invention, the step of determining the center position of the mounting hole according to the boundary feature and generating the hole site parameter according to the center position specifically includes:
classifying the mounting holes according to the hole site parameters, and obtaining a second anchoring strategy at least corresponding to the size of the mounting holes, the drilling mode and the drilling sequence;
and generating the drilling decision according to the first anchor protection strategy and the second anchor protection strategy.
Specifically, the embodiment provides an implementation manner for generating hole site parameters according to the central position, and the second anchoring strategy is generated by classifying the mounting holes according to the size, the drilling mode, the drilling sequence and the like, so that the determination of the drilling anchoring implementation manner according to the specific conditions of the mounting holes is realized.
According to a third aspect of the present invention, there is provided an electronic apparatus comprising: a memory and a processor;
the memory and the processor complete mutual communication through a bus;
the memory stores computer instructions executable on the processor;
and when the processor calls the computer instruction, the identification method of the underground roadway anchoring and protecting steel belt mounting hole can be executed.
According to a fourth aspect of the present invention, there is provided a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the method for identifying a mounting hole of a steel strip anchored in a downhole roadway.
According to a fifth aspect of the present invention, there is provided a computer program product comprising a non-transitory machine readable medium storing a computer program which, when executed by a processor, performs the steps of the method for identifying a steel strip installation hole for down-hole roadway anchor protection.
One or more technical solutions in the present invention have at least one of the following technical effects: according to the device, the method, the equipment, the medium and the product for identifying the mounting hole of the anchor steel belt, the mounting hole of the anchor steel belt is identified by adopting binocular vision structured light, an accurate cloud point picture can be generated in a limited range, unmanned and intelligent underground anchoring operation is realized, unmanned anchoring and intelligent anchoring are realized, and meanwhile, a powerful guarantee is provided for subsequent punching and anchoring operation.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural view of an apparatus for identifying a mounting hole of an anchor and protective steel strip according to the present invention;
FIG. 2 is a second schematic structural view of an apparatus for identifying an anchor steel strip installation hole provided by the present invention;
FIG. 3 is a schematic flow chart of the method for identifying the mounting hole of the anchor and protective steel strip provided by the invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Reference numerals:
10. an image acquisition unit; 11. a projection light path; 12. an imaging optical path;
20. an attitude adjustment unit;
810. a processor; 820. a communication interface; 830. a memory; 840. a communication bus.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The present invention is described in detail below with reference to the drawings, and the specific operation methods in the method embodiments can also be applied to the apparatus embodiments or the system embodiments. In the description of the present invention, "at least one" includes one or more unless otherwise specified. "plurality" means two or more. For example, at least one of A, B and C, comprising: a alone, B alone, a and B in combination, a and C in combination, B and C in combination, and A, B and C in combination. In the present invention, "/" indicates "or" means, for example, A/B may indicate A or B; "and/or" herein is merely an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone.
The present invention will be described in detail with reference to the following embodiments.
In some embodiments of the present invention, as shown in fig. 1 and 2, the present invention provides an identification device for a steel strip installation hole anchored in a downhole roadway, comprising: an image acquisition unit 10 and a posture adjustment unit 20; the image acquisition part 10 is used for acquiring image information of an underground roadway after the anchor steel belt is laid; the displacement adjusting part is connected with the image acquisition part 10 and is used for adjusting the acquisition posture of the image acquisition part 10; the image acquisition unit 10 includes at least one projection optical path 11 and two imaging optical paths 12.
In detail, the invention provides a device for identifying an anchor steel belt mounting hole, which is used for solving the defects that the point cloud effect is poor in an underground dusty environment and the anchor steel belt mounting hole is difficult to accurately position in the conventional anchoring and tunneling operation process.
In some possible embodiments of the present invention, the acquisition pose includes at least an acquisition displacement and an acquisition angle of the image acquisition part 10.
Specifically, the present embodiment provides an implementation manner of acquiring a pose, and by adjusting the position and the angle of the image acquisition unit 10, the anchor and guard steel bands in the same area or different areas are acquired through multiple orientations, so that the construction of a virtual model of the anchor and guard steel band space is realized through more comprehensive data.
In a possible embodiment, one image capturing part 10 and one attitude adjusting part 20 are included, and the image capturing part 10 is provided to the attitude adjusting part 20.
In a possible embodiment, at least two image capturing sections 10 are included, and the posture adjustment section 20 corresponds one-to-one to the image capturing sections 10.
In a possible embodiment, at least two image acquisition parts 10 and one attitude adjusting part 20 are included, and one attitude adjusting part 20 has adjusting stations corresponding to the number of the image acquisition parts 10, so that the attitude of each image acquisition part 10 can be independently adjusted.
In some possible embodiments of the present invention, the attitude adjustment section 20 is a robot arm.
Specifically, the present embodiment provides an embodiment of the posture adjustment unit 20, and the posture adjustment unit 20 is configured as a robot arm, so that the adjustment of the acquisition posture of the image acquisition unit 10 is realized.
In a possible embodiment, the attitude adjustment section 20 is a six-axis robot arm.
In a possible embodiment, the attitude adjustment unit 20 is provided in a mobile device, and realizes movement in a downhole tunnel.
In a possible embodiment, the attitude adjusting unit 20 is provided in a heading device for a roadway so as to meet the requirements of heading, collection, and anchoring while maintaining.
In a possible embodiment, the system further comprises an industrial personal computer, and the industrial personal computer is respectively connected with the attitude adjusting part 20 and the image acquisition part 10 to control the attitude adjusting part 20 and the image acquisition part 10.
In a possible embodiment, the image acquisition part 10 is a structured light device based on binocular vision, including a structured light camera, a projector, a lens, and the like.
In some embodiments of the present invention, as shown in fig. 1 to 3, the present invention provides a method for identifying an installation hole of an anchoring and protecting steel strip of a downhole roadway, which includes:
after the anchor protection steel belt is laid to an underground roadway, acquiring image parameters of the anchor protection steel belt;
constructing a space virtual model of the anchor steel strip according to the image parameters;
and extracting hole site parameters of the anchor steel belt according to the space virtual model, and generating a drilling decision according to the hole site parameters.
In some possible embodiments of the present invention, the step of obtaining the image parameters of the anchor and protection steel strip after the anchor and protection steel strip is laid in the underground roadway specifically includes:
after an anchor and protection steel belt is laid in an underground roadway, a first image characteristic vector and a second image characteristic vector of the anchor and protection steel belt are obtained, wherein the first image characteristic vector points to an acquisition area of the anchor and protection steel belt, and the second image characteristic vector points to a mounting hole of the anchor and protection steel belt;
generating image acquisition information according to the first image characteristic vector and the second image characteristic vector;
adjusting the acquisition position and/or the acquisition angle, and repeating the steps for N times to obtain N pieces of acquisition information, wherein N is a positive integer greater than or equal to one;
and generating image parameters according to the N pieces of acquired information.
Particularly, this embodiment provides an implementation mode of obtaining image parameters of anchor steel band, through dividing the collection element of anchor steel band into first image eigenvector and second image eigenvector, make on the one hand through first image eigenvector to the collection region of anchor steel band divide, when realizing the all-round collection of image to the anchor steel band, can also mark the region, avoid the problem of repeated collection, on the other hand through second image eigenvector to the mounting hole of anchor steel band discernment, when being convenient for follow-up edge extraction that carries on, can more accurate location the mounting hole, at the in-process of gathering, just discern and mark collection region and mounting hole, the robustness of algorithm has been promoted.
In a possible implementation mode, through the setting of the first image feature vector, after multiple times of acquisition, the surface topography feature of the anchoring and protecting steel belt paved to the underground roadway is identified.
In a possible implementation mode, in the acquisition process, the situation that the acquisition regions corresponding to the two first image feature vectors intersect exists, so that after the anchor and protection steel belt is laid to an underground roadway, in the step of acquiring the first image feature vector and the second image feature vector of the anchor and protection steel belt, noise reduction processing needs to be performed on the overlapped acquisition regions, accuracy of reconstruction of the surface topography of the anchor and protection steel belt is achieved, and the problem that repeated calculation exists in the topography stitching process, and further the counting of the mounting holes pointed by the second image feature vector is caused to be deviated.
In a possible implementation mode, the number of the mounting holes on the surface of the anchor steel strip is obtained in advance to realize a preset reference condition for constructing the virtual model of the anchor steel strip space, and the completeness of the construction of the virtual model of the anchor steel strip space is judged after the preset reference condition is met by calculating the mounting holes pointed by the second image feature vector.
In a possible implementation manner, the acquisition region to which the first image feature vector points includes plane information divided by the surface region of the anchor and protection steel strip and depth information after the anchor and protection steel strip is laid to the underground roadway, wherein the depth information includes a change of a three-dimensional coordinate of the mounting hole after the anchor and protection steel strip is deformed.
In some possible embodiments of the present invention, the step of adjusting the acquisition position and/or the acquisition angle, and repeating the above steps N times to obtain N pieces of acquisition information specifically includes:
randomly acquiring coordinate information of an acquisition area corresponding to a first image feature vector, and taking the coordinate information as an original coordinate;
acquiring first image characteristic vectors of the rest N pieces of acquired information, extracting coordinate information of each first image characteristic vector, and taking the coordinate information as a contrast coordinate;
acquiring the offset between each comparison coordinate and the original coordinate, and taking N offsets as a group of offset parameters;
repeating the steps M times to obtain M groups of offset parameters, wherein M is a positive integer greater than or equal to one.
Specifically, this embodiment provides an implementation manner for obtaining N pieces of acquisition information, and the coordinate information of an acquisition area corresponding to one first image feature vector is used as an original coordinate, so as to implement construction of a virtual model of an anchor steel strip space according to the original coordinate.
Furthermore, M groups of offset parameters are obtained by repeating the steps for M times, and the error of calculation can be reduced according to the calculation of the offset for many times, so that the calculation of the position of the mounting hole is more accurate, and the subsequent punching and anchoring protection are guaranteed.
In some possible embodiments of the present invention, after repeating the above step M times to obtain M sets of offset parameters, the method specifically further includes:
performing weighted calculation on the M groups of offset parameters, and obtaining M confidence coefficients corresponding to each group of offset parameters;
sequencing the M confidences according to the sequence from high to low, and outputting the weighted offset corresponding to the confidence of the first ranking in the sequencing;
and generating corrected coordinates corresponding to the rest N first image feature vectors according to the weighted offset and the original coordinates, and generating acquisition information according to the original coordinates and the corrected coordinates.
Specifically, the embodiment provides an implementation method for generating acquisition information according to M sets of offset parameters, the confidence of each set of offset parameters is obtained by performing weighted calculation on the offset parameters, a set of weighted offset with the highest confidence is output according to the confidence ranking, corrected coordinates corresponding to the rest N first image feature vectors are obtained according to the weighted offset, and the construction of an anchor steel strip space virtual model is further realized according to the original coordinates and the corrected coordinates.
Furthermore, the weighted offset is extracted according to the confidence after weighted calculation, so that the influence of errors on the construction of a system model is reduced, and a space virtual model closer to the real anchoring and protecting condition of the anchoring and protecting steel strip can be obtained by randomly selecting any position as an original coordinate.
In some possible embodiments of the present invention, the step of constructing a spatial virtual model of the anchor steel strip according to the image parameters specifically includes:
acquiring anchor and guard profile characteristics of the space virtual model, wherein the anchor and guard profile characteristics at least comprise profile information of a contact surface of an anchor and guard steel belt and an underground roadway;
matching corresponding preset anchor protection parameters in a preset anchor protection database according to the anchor protection profile characteristics, and extracting a first anchor protection strategy of the preset anchor protection parameters, wherein the first anchor protection strategy comprises a drilling strategy after an anchor protection steel belt is laid to an underground roadway;
and extracting hole site parameters of the anchor steel belt according to the space virtual model, and generating a drilling decision according to the first anchor strategy and the hole site parameters.
Specifically, this embodiment provides an implementation method for constructing a space virtual model of an anchor and guard steel strip, in which anchor and guard profile features of the space virtual model are extracted and matched with a preset anchor and guard database to obtain a first anchor and guard strategy corresponding to the anchor and guard profile features in the preset anchor and guard database, where the first anchor and guard strategy at least includes a drilling strategy corresponding to the anchor and guard profile features.
It should be noted that, because the conditions of the downhole roadway are complicated and varied, the first anchoring strategy is only a reference for similarity, and provides support for subsequent drilling and anchoring.
In a possible implementation manner, operations of corresponding similar hole sites in the first anchor protection strategy, such as operations of drilling, anchoring and the like, are extracted according to the hole site parameters, and the operations are used as suggested operations to generate drilling decisions.
In some possible embodiments of the present invention, the step of extracting hole site parameters of the anchor steel strip according to the spatial virtual model specifically includes:
extracting point cloud distribution parameters of the mounting holes corresponding to the anchoring and protecting steel strips according to the space virtual model;
denoising the point cloud distribution parameters according to a first anchor protection strategy, and extracting boundary characteristics of the denoised point cloud distribution parameters;
and determining the central position of the mounting hole according to the boundary characteristics, and generating hole site parameters according to the central position.
Specifically, the embodiment provides an implementation method for extracting hole site parameters of an anchor steel strip, which extracts point cloud distribution parameters of a mounting hole of the anchor steel strip, and performs noise reduction through a first anchor protection strategy, so that the point cloud distribution parameters after noise reduction are clearer, and the central position of the mounting hole is convenient to determine.
In a possible implementation mode, the sparse point cloud is removed from the point cloud distribution parameters after noise reduction, the appearance of the point cloud is kept, meanwhile, the mounting holes corresponding to the first anchoring strategy are kept, and the subsequent calculation speed is convenient to improve.
In a possible implementation mode, clustering segmentation is carried out on the point cloud distribution parameters after noise reduction, the clustering segmentation is mainly to segment the most concentrated point cloud according to the distance information between the point clouds and reject the secondary aggregated point cloud, and the method can be used for excluding other point cloud information in an actual environment.
In a possible implementation mode, the point cloud distribution parameters are mainly the boundaries of the point cloud extracted according to the normal of the point cloud, the outline of the point cloud can be approximately seen from the extracted boundaries, meanwhile, the quantity of the point cloud is relatively less, the radius parameters of the adjacent search are involved in the boundary extraction, the requirements on the calculation speed and the accuracy of the boundaries are high, and the point cloud distribution parameters need to be set according to actual requirements.
In some possible embodiments of the present invention, the step of determining the center position of the mounting hole according to the boundary characteristics and generating hole site parameters according to the center position specifically includes:
classifying the mounting holes according to the hole site parameters, and obtaining a second anchoring strategy at least corresponding to the size of the mounting holes, the drilling mode and the drilling sequence;
and generating a drilling decision according to the first anchor protection strategy and the second anchor protection strategy.
Specifically, the embodiment provides an implementation manner for generating hole site parameters according to the central position, and the second anchoring strategy is generated by classifying the mounting holes according to the size, the drilling mode, the drilling sequence and the like, so that the determination of the drilling anchoring implementation manner according to the specific conditions of the mounting holes is realized.
Fig. 4 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 4: a processor (processor)810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform the method of identifying the anchor steel strip mounting hole.
It should be noted that, when being implemented specifically, the electronic device in this embodiment may be a server, a PC, or other devices, as long as the structure includes the processor 810, the communication interface 820, the memory 830, and the communication bus 840 shown in fig. 4, where the processor 810, the communication interface 820, and the memory 830 complete mutual communication through the communication bus 840, and the processor 810 may call the logic instructions in the memory 830 to execute the above method. The embodiment does not limit the specific implementation form of the electronic device.
The server may be a single server or a server group. The set of servers can be centralized or distributed (e.g., the servers can be a distributed system). In some embodiments, the server may be local or remote to the terminal. For example, the server may access information stored in the user terminal, a database, or any combination thereof via a network. As another example, the server may be directly connected to at least one of the user terminal and the database to access information and/or data stored therein. In some embodiments, the server may be implemented on a cloud platform; by way of example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud (community cloud), a distributed cloud, an inter-cloud, a multi-cloud, and the like, or any combination thereof. In some embodiments, the server and the user terminal may be implemented on an electronic device having one or more components in embodiments of the invention.
Further, the network may be used for the exchange of information and/or data. In some embodiments, one or more components (e.g., servers, user terminals, and databases) in an interaction scenario may send information and/or data to other components. In some embodiments, the network may be any type of wired or wireless network, or combination thereof. Merely by way of example, the Network may include a wired Network, a Wireless Network, a fiber optic Network, a telecommunications Network, an intranet, the internet, a Local Area Network (LAN), a Wide Area Network (WAN), a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), a Public Switched Telephone Network (PSTN), a bluetooth Network, a ZigBee Network, or a Near Field Communication (NFC) Network, among others, or any combination thereof. In some embodiments, the network may include one or more network access points. For example, the network may include wired or wireless network access points, such as base stations and/or network switching nodes, through which one or more components of the interaction scenario may connect to the network to exchange data and/or information.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In a possible implementation manner, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, and the computer program is implemented by a processor to execute the method for identifying an anchor steel strip installation hole provided by each of the above embodiments.
In a possible implementation, the embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is capable of executing the method provided by the above-mentioned method embodiments.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. The utility model provides an identification means of underworkings anchor protection steel band mounting hole which characterized in that includes: an image acquisition unit (10) and an attitude adjustment unit (20);
the image acquisition part (10) is used for acquiring image information of an underground roadway after the anchor steel belt is laid;
the displacement adjusting part is connected with the image acquisition part (10) and is used for adjusting the acquisition posture of the image acquisition part (10);
wherein the image acquisition part (10) comprises at least one projection light path (11) and two imaging light paths (12).
2. The device for identifying the mounting hole of the anchoring and protecting steel belt of the underground roadway according to claim 1, wherein the acquisition posture at least comprises an acquisition displacement and an acquisition angle of the image acquisition part (10).
3. The device for identifying the mounting hole of the steel strip for the anchoring and protecting the underground roadway according to claim 1, wherein the attitude adjusting part (20) is a mechanical arm.
4. A method for identifying the installation hole of the steel strip for anchoring and protecting the underground roadway according to any one of the claims 1 to 3, which comprises the following steps:
after an anchor steel belt is laid to an underground roadway, acquiring image parameters of the anchor steel belt;
constructing a space virtual model of the anchoring and protecting steel belt according to the image parameters;
and extracting hole site parameters of the anchor steel belt according to the space virtual model, and generating a drilling decision according to the hole site parameters.
5. The method for identifying the mounting hole of the anchoring steel belt of the underground roadway according to claim 4, wherein the step of obtaining the image parameters of the anchoring steel belt after the anchoring steel belt is laid in the underground roadway specifically comprises:
after the anchor and protection steel belt is laid to the underground roadway, acquiring a first image characteristic vector and a second image characteristic vector of the anchor and protection steel belt, wherein the first image characteristic vector points to an acquisition area of the anchor and protection steel belt, and the second image characteristic vector points to a mounting hole of the anchor and protection steel belt;
generating image acquisition information according to the first image feature vector and the second image feature vector;
adjusting the acquisition position and/or the acquisition angle, and repeating the steps for N times to obtain N pieces of acquisition information, wherein N is a positive integer greater than or equal to one;
and generating the image parameters according to the N pieces of acquisition information.
6. The method for identifying the mounting hole of the steel belt anchored and protected in the underground roadway according to claim 5, wherein the step of adjusting the acquisition position and/or the acquisition angle, repeating the step N times, and obtaining N pieces of acquisition information specifically comprises:
randomly acquiring coordinate information of an acquisition area corresponding to one first image feature vector, and taking the coordinate information as an original coordinate;
acquiring first image characteristic vectors of the rest N pieces of acquired information, extracting coordinate information of each first image characteristic vector, and taking the coordinate information as a comparison coordinate;
acquiring the offset between each contrast coordinate and the original coordinate, and taking N offsets as a group of offset parameters;
repeating the steps M times to obtain M groups of the offset parameters, wherein M is a positive integer greater than or equal to one.
7. The method for identifying the mounting hole of the anchoring and protecting steel belt of the underground roadway according to claim 6, wherein after the step of repeating the steps M times to obtain M groups of the offset parameters, the method specifically comprises the following steps:
performing weighted calculation on the M groups of offset parameters, and obtaining M confidence coefficients corresponding to each group of offset parameters;
sequencing the M confidence coefficients according to the sequence from high to low, and outputting the weighted offset corresponding to the confidence coefficient of the ranking head in the sequencing;
and generating corrected coordinates corresponding to the rest N first image feature vectors according to the weighted offset and the original coordinates, and generating the acquisition information according to the original coordinates and the corrected coordinates.
8. The method for identifying the mounting hole of the anchoring and protecting steel belt of the underground roadway according to any one of claims 4 to 7, wherein the step of constructing the spatial virtual model of the anchoring and protecting steel belt according to the image parameters specifically comprises the following steps:
acquiring anchor protection contour characteristics of the space virtual model, wherein the anchor protection contour characteristics at least comprise contact surface contour information of the anchor protection steel belt and the underground roadway;
matching corresponding preset anchor protection parameters in a preset anchor protection database according to the anchor protection profile characteristics, and extracting a first anchor protection strategy of the preset anchor protection parameters, wherein the first anchor protection strategy comprises a drilling strategy after the anchor protection steel belt is laid to the underground roadway;
and extracting hole site parameters of the anchor steel belt according to the space virtual model, and generating a drilling decision according to the first anchor strategy and the hole site parameters.
9. The method for identifying the mounting hole of the anchoring steel belt of the underground roadway according to claim 8, wherein the step of extracting the hole site parameters of the anchoring steel belt according to the space virtual model specifically comprises the following steps:
extracting point cloud distribution parameters of the mounting holes corresponding to the anchor steel belt according to the space virtual model;
denoising the point cloud distribution parameters according to the first anchor protection strategy, and extracting boundary characteristics of the denoised point cloud distribution parameters;
and determining the central position of the mounting hole according to the boundary characteristics, and generating the hole site parameters according to the central position.
10. The method according to claim 9, wherein the step of determining the center position of the mounting hole according to the boundary characteristics and generating the hole site parameters according to the center position specifically comprises:
classifying the mounting holes according to the hole site parameters, and obtaining a second anchoring strategy at least corresponding to the size of the mounting holes, the drilling mode and the drilling sequence;
and generating the drilling decision according to the first anchor protection strategy and the second anchor protection strategy.
11. An electronic device, comprising: a memory (830) and a processor (810);
the memory (830) and the processor (810) communicate with each other via a bus;
the memory (830) stores computer instructions executable on the processor (810);
the processor (810), when invoking the computer instructions, is capable of performing the method of identifying a downhole roadway anchored steel strip installation hole of any of claims 4 to 10.
12. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor (810) implements the steps of the method for identifying a downhole roadway anchored steel strip installation hole as recited in any one of claims 4 to 10.
13. A computer program product comprising a non-transitory machine readable medium storing a computer program, wherein the computer program when executed by a processor (810) implements the steps of the method for identifying a downhole roadway bolting steel strip installation hole according to any of the preceding claims 4 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210114608.1A CN114463617A (en) | 2022-01-30 | 2022-01-30 | Device, method, equipment, medium and product for identifying mounting hole of anchor steel belt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210114608.1A CN114463617A (en) | 2022-01-30 | 2022-01-30 | Device, method, equipment, medium and product for identifying mounting hole of anchor steel belt |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114463617A true CN114463617A (en) | 2022-05-10 |
Family
ID=81412138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210114608.1A Pending CN114463617A (en) | 2022-01-30 | 2022-01-30 | Device, method, equipment, medium and product for identifying mounting hole of anchor steel belt |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114463617A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115807685A (en) * | 2023-01-20 | 2023-03-17 | 太原理工大学 | Automatic control system for drilling and anchoring operation of mine anchor protection equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108590657A (en) * | 2018-04-16 | 2018-09-28 | 三重型装备有限公司 | Digging control method, the control system of underworkings |
| CN110910338A (en) * | 2019-12-03 | 2020-03-24 | 煤炭科学技术研究院有限公司 | Three-dimensional live-action video acquisition method, device, equipment and storage medium |
| CN111764902A (en) * | 2020-08-05 | 2020-10-13 | 天地科技股份有限公司 | Intelligent coal caving control method for fully-mechanized top coal caving working face |
| CN113982690A (en) * | 2021-10-26 | 2022-01-28 | 三一智矿科技有限公司 | Control method, device and system based on anchoring and protecting operation and tunneling, anchoring and protecting all-in-one machine |
-
2022
- 2022-01-30 CN CN202210114608.1A patent/CN114463617A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108590657A (en) * | 2018-04-16 | 2018-09-28 | 三重型装备有限公司 | Digging control method, the control system of underworkings |
| CN110910338A (en) * | 2019-12-03 | 2020-03-24 | 煤炭科学技术研究院有限公司 | Three-dimensional live-action video acquisition method, device, equipment and storage medium |
| CN111764902A (en) * | 2020-08-05 | 2020-10-13 | 天地科技股份有限公司 | Intelligent coal caving control method for fully-mechanized top coal caving working face |
| CN113982690A (en) * | 2021-10-26 | 2022-01-28 | 三一智矿科技有限公司 | Control method, device and system based on anchoring and protecting operation and tunneling, anchoring and protecting all-in-one machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115807685A (en) * | 2023-01-20 | 2023-03-17 | 太原理工大学 | Automatic control system for drilling and anchoring operation of mine anchor protection equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220028163A1 (en) | Computer Vision Systems and Methods for Detecting and Modeling Features of Structures in Images | |
| CN108550318B (en) | Map construction method and device | |
| AU2007355942A1 (en) | Arrangement and method for providing a three dimensional map representation of an area | |
| CN111862214B (en) | Computer equipment positioning method, device, computer equipment and storage medium | |
| CN112052847B (en) | Image processing method, apparatus, electronic device, and computer-readable storage medium | |
| US11724721B2 (en) | Method and apparatus for detecting pedestrian | |
| JP2004326264A (en) | Obstacle detecting device and autonomous mobile robot using the same and obstacle detecting method and obstacle detecting program | |
| CN115563732B (en) | Spraying track simulation optimization method and device based on virtual reality | |
| CN110570474B (en) | Pose estimation method and system of depth camera | |
| CN112419501A (en) | Method for constructing geospatial heterogeneous collaborative map | |
| WO2024087962A1 (en) | Truck bed orientation recognition system and method, and electronic device and storage medium | |
| CN114463617A (en) | Device, method, equipment, medium and product for identifying mounting hole of anchor steel belt | |
| US11941755B2 (en) | Method of generating map and visual localization system using the map | |
| CN111664845A (en) | Traffic sign positioning method, visual map making method, device and positioning system | |
| CN112487234A (en) | Track analysis method, equipment and storage medium based on split type hierarchical clustering | |
| CN111862146B (en) | Target object positioning method and device | |
| CN113935946B (en) | Method and device for detecting underground obstacle in real time | |
| Alboul et al. | A system for reconstruction from point clouds in 3D: Simplification and mesh representation | |
| CN108090961B (en) | Rapid adjustment method in three-dimensional laser point cloud imaging | |
| KR20220050386A (en) | Method of generating map and visual localization system using the map | |
| CN113191423A (en) | Wearable device for land supervision based on SLAM | |
| CN112596070B (en) | Robot positioning method based on laser and vision fusion | |
| CN116051915B (en) | Dynamic scene RGB-D SLAM method based on clustering and geometric residual error | |
| CN118089794B (en) | Simulation method for self-adaptive multi-information integrated navigation based on multi-source information | |
| Thompson et al. | Registration of low cost maps within large scale mms maps |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |