CN115110974A

CN115110974A - Anchor protection operation monitoring method, device, server, system and readable storage medium

Info

Publication number: CN115110974A
Application number: CN202210713162.4A
Authority: CN
Inventors: 周佳宇; 龚大立; 朱晓宁; 吴喆峰; 任兴刚; 白慧杰; 王海锐; 董俊枝; 王永超
Original assignee: Jingying Digital Technology Co Ltd
Current assignee: Jingying Digital Technology Co Ltd
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-09-27

Abstract

The invention provides an anchoring operation monitoring method, an anchoring operation monitoring device, a server system and a readable storage medium, and relates to the technical field of coal mining, wherein the anchoring operation monitoring method comprises the following steps: acquiring image data of a head-on operation space in the anchoring and protecting operation process, wherein the image data comprises a plurality of drill bit images shot at intervals of a first preset duration; determining the moving track of the drill bit in the head-on working space according to the image data; and determining the operation data of the anchoring operation according to the moving track, wherein the operation data of the anchoring operation comprises the depth of the drilled hole and the operation duration of the anchoring process. Therefore, the drilling depth and the automatic acquisition of the operation duration of the anchoring process are realized, and compared with a manual inspection and supervision mode, the manual subjective influence is avoided, the human cost input is reduced, and the production efficiency is improved.

Description

Anchor protection operation monitoring method, device, server, system and readable storage medium

Technical Field

The invention relates to the technical field of coal mining, in particular to an anchoring operation monitoring method, an anchoring operation monitoring device, a server, a system and a readable storage medium.

Background

In the coal mine tunnel excavation production process, the anchor rod/anchor rope supporting drilling operation (namely the anchoring operation) is an extremely important and time-consuming longer process, the overlong anchoring operation time of a single anchor rod/anchor rope (which can be called as an anchor rope when the anchor rod body is made of high-strength steel strands) can directly influence the progress of the whole production process, the tunneling operation cannot be completed on time, however, if the operation time is pursued blindly, the operation quality is not considered, the drilling depth is not enough, the operation time in the anchoring process is not enough, the anchoring quality can be unqualified, the problem of abnormal sinking of a top plate can be caused, and roof collapse accidents can be caused under severe conditions.

Therefore, the coal mine development team is concerned about the anchor protection operation, and a special inspector is arranged to supervise the execution of the anchor protection operation under general conditions. The mode of arranging special personnel to supervise the anchoring operation needs to invest a large amount of labor cost, has large artificial subjective influence and complex operation, and leads to lower production efficiency.

Disclosure of Invention

The invention aims to provide an anchor maintenance operation monitoring method, an anchor maintenance operation monitoring device, a server, a system and a readable storage medium, so that the labor cost input is reduced, and the production efficiency is improved.

In a first aspect, an embodiment of the present invention provides an anchor maintenance operation monitoring method, including:

acquiring image data of a head-on operation space in the anchoring and protecting operation process, wherein the image data comprises a plurality of drill bit images shot at intervals of a first preset duration;

determining the moving track of the drill bit in the head-on operation space according to the image data;

and determining the operation data of the anchoring operation according to the moving track, wherein the operation data of the anchoring operation comprises the depth of the drilled hole and the operation duration of the anchoring process.

Further, the determining the moving track of the drill bit in the head-on working space according to the image data comprises:

identifying a drill bit for each drill bit image to obtain a drill bit coordinate of each drill bit image;

and determining the moving track of the drill bit in the head-on working space according to the drill bit coordinate and the shooting time of each drill bit image.

Further, the moving track includes a plurality of drill coordinates arranged in a shooting time sequence, and the determining of the operation data of the anchoring operation according to the moving track includes:

when a plurality of drill bit coordinates of the drill bit moving upwards continuously appear in a second preset time, determining that the drill bit starts to drill on the drill rod, and storing the corresponding drill bit coordinates into a drill rod set;

after the drill bit starts to drill on the rod, when coordinate vectors of a preset number of drill bits moving upwards appear in a third preset time period, determining that the drill bit is in the rod-feeding process, and storing corresponding drill bit coordinates into the rod-feeding set; the coordinate vector corresponding to the current drill bit coordinate is a vector formed by the drill bit coordinate of the current drill bit coordinate pointing to the previous shooting time;

under the condition that the judgment of the rod-up process is finished, when a coordinate vector with the length being larger than a preset pixel value exists when the drill moves downwards, determining that the drill is in the rod-withdrawing process, and storing corresponding drill coordinates into a rod-withdrawing set;

under the condition that the judgment of the rod feeding process and the judgment of the rod retreating process are finished, when the irregular transverse movement of the drill bit exists, the end of the drilling process is determined;

determining the drilling position of the drilling according to the last element of the upper rod set;

when the drill bit is detected to drill on the rod again and the current drilling position is consistent with the previous drilling position, determining that the current drilling hole is the same as the previous drilling hole;

and for each drill hole, determining the depth of the drill hole according to the drilling times of the drill hole and the length of the drill rod drilled each time.

Further, after determining that the drilling process is finished, the anchor maintenance operation monitoring method further includes:

respectively determining the shooting time of the first element and the shooting time of the last element of the rod feeding set as the starting time and the ending time of the drilling and rod feeding process of the time, and respectively determining the shooting time of the first element and the shooting time of the last element of the rod returning set as the starting time and the ending time of the drilling and rod returning process of the time;

calculating the operation duration of the drilling and rod feeding process according to the starting time and the ending time of the drilling and rod feeding process;

and calculating the operation duration of the drilling and rod withdrawing process according to the starting time and the ending time of the drilling and rod withdrawing process.

Further, the anchoring process includes a cartridge stirring process, and the determining of the operation data of the anchoring operation according to the moving track further includes:

under the condition that one or more times of drilling is finished, when the stay time of the drill bit at the current drilling position reaches a fourth preset time length, determining that the drill bit starts a cartridge stirring process, and storing corresponding drill bit coordinates into a drilling set;

under the condition that the drill bit starts the cartridge stirring process, when the time length that the drill bit leaves the current drilling position reaches a fifth preset time length, determining that the cartridge stirring process is finished;

determining the time interval between the last element and the first element of the drilling set as the operation duration of the stirring process of the explosive cartridge;

and determining the operation duration of the anchoring process according to the operation duration of the stirring process of the explosive cartridge.

Further, the operation data of the anchoring operation also comprises the total operation duration of the drilling; the anchor maintenance operation monitoring method further comprises the following steps:

determining the total operation time length of the drill holes according to the time interval between the last element of the drill hole set corresponding to each drill hole and the first element of the upper rod set during the first drilling;

when the depth of the drill hole does not meet the preset depth requirement, determining that the current drilling operation is illegal;

and when the operation time of the current cartridge stirring process does not meet the preset time length requirement, determining that the cartridge stirring operation is illegal.

In a second aspect, an embodiment of the present invention further provides an anchor work monitoring apparatus, including:

the image acquisition module is used for acquiring image data of a head-on operation space in the anchoring and protecting operation process, wherein the image data comprises a plurality of drill bit images shot at intervals of a first preset duration;

the track determining module is used for determining the moving track of the drill bit in the head-on operation space according to the image data;

and the data determining module is used for determining the operation data of the anchoring operation according to the moving track, wherein the operation data of the anchoring operation comprises the depth of the drilled hole and the operation duration of the anchoring process.

In a third aspect, an embodiment of the present invention further provides a server, including a memory and a processor, where the memory stores a computer program that can be run on the processor, and the processor implements the anchor work monitoring method of the first aspect when executing the computer program.

In a fourth aspect, an embodiment of the present invention further provides a readable storage medium, where a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the method for monitoring an anchor job in the first aspect is executed.

According to the anchor protection operation monitoring method, the anchor protection operation monitoring device, the anchor protection operation monitoring server, the anchor protection operation monitoring system and the readable storage medium, in the anchor protection operation process, image data of a head-on operation space are obtained, wherein the image data comprise a plurality of drill bit images shot at intervals of a first preset duration; determining the moving track of the drill bit in the head-on working space according to the image data; and determining the operation data of the anchoring operation according to the movement track, wherein the operation data of the anchoring operation comprises the depth of the drilled hole and the operation duration of the anchoring process. The automatic acquisition of the length of the degree of depth of so having realized drilling and the operation of anchor process is compared with manual inspection supervision mode, has stopped artificial subjective influence, has reduced the human cost input, has promoted production efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a design view of a bolt/cable support according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a monitoring method for anchor maintenance operation according to an embodiment of the present invention;

fig. 3 is a logic diagram illustrating a drilling process in an anchor work monitoring method according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating a movement trajectory of a drill according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of borehole coordinates provided by an embodiment of the present invention;

fig. 6 is a logic diagram illustrating an anchoring process in an anchoring operation monitoring method according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an anchoring operation monitoring device according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a server according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of an anchor work monitoring system according to an embodiment of the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

At present, special testers are arranged to supervise execution of anchor protection operation, and whether drilling depth of anchor rods/anchor cables meets requirements of operation regulations or not and whether stirring time of cartridges (a type of anchoring agent, such as resin cartridges) meets requirements of the operation regulations or not are supervised. The mode of arranging special personnel to supervise the anchoring operation needs to invest a large amount of labor cost, has large artificial subjective influence, complex operation and low production efficiency due to insufficient convenience, and therefore, the monitoring and judgment of the whole process is very necessary to realize through a machine vision technology. Based on the method, the device, the server and the system for monitoring the anchoring operation and the readable storage medium, provided by the embodiment of the invention, the anchoring process of the anchor rod/anchor cable is monitored and judged in a full flow based on a machine vision technology, so that a manual inspection and supervision mode can be replaced, the artificial subjective influence is avoided, the labor cost input is reduced, and the production efficiency is improved.

For the convenience of understanding the embodiment, a detailed description will be given to an anchor work monitoring method disclosed in the embodiment of the present invention.

According to the coal mine tunneling operation specification, the supporting operation (i.e. anchoring operation) is usually one anchor digging operation. The first anchor digging means that the heading machine cuts coal and digs the support distance of a row of anchor rods/anchor cables, and then immediately carries out support operation to complete the support operation of the row of anchor rods/anchor cables. The width and height of the excavation roadway are different, the geological conditions of the top plate are different, the design of the top plate support is also different, different numbers of anchor rods/anchor cables can be arranged in different spacing distances in a row of transverse top plate supports, one possible design diagram of the anchor rod/anchor cable support is shown in fig. 1 (the spacing distance between the anchor rods 101 is not shown in fig. 1), and the anchor rods 101 in fig. 1 can be glass fiber reinforced plastic anchor rods, preferably high-strength glass fiber reinforced plastic anchor rods. Usually, the drilling depth of stock is far less than the anchor rope degree of depth (the stock under general condition length can reach more than 2000mm, the degree of depth also is more than 2000mm, the anchor rope under general condition length can reach more than 8000mm, the degree of depth also is more than 8000 mm), and under different geological conditions, stock/anchor rope length is different, consequently, stock/anchor rope are bored the in-process, can carry out the action of going up the drilling rod many times.

For ease of understanding, the present embodiment provides a single bolt/cable anchoring process, as follows:

(1) an anchor rod drilling machine enters a field and the position of a drilling hole is determined;

(2) installing a drill rod, starting drilling, and pushing a drill bit to the top from the bottom within a certain time;

(3) lengthening a drill rod, continuously drilling, pushing a drill bit from the bottom to the top within a certain time, continuously adding the length of the drill rod according to the requirement of an operation rule, repeating the action until the requirement of the drilling depth is met, and repeatedly putting the drill rod in the process;

(4) mounting the cartridges according to the operation requirements, and stirring the cartridges within a specified time, wherein the number of the mounted cartridges is different under different conditions, and the number of the mounted cartridges is generally 1 to 3 cartridges;

(5) and (4) installing the tray and the nut, fastening the tray and the nut, and finishing the anchoring of the single anchor rod/anchor cable.

Wherein, the steps (2) and (3) are drilling processes, and the steps (4) and (5) are anchoring processes.

Based on the process scenes, the scenes and data of key identification and judgment can be determined:

(1) starting time and ending time of one-time rod feeding drilling;

(2) drilling coordinate data of one complete drilling;

(3) the number of upper rods of the same drill hole is combined with the length data and rule of a single drill hole to calculate the depth of the drill hole;

(4) in the anchoring process of a single anchor rod/anchor cable, judging whether the time length meets the minimum stirring time length required by regulations or not according to the starting time and the ending time of stirring of the explosive cartridge each time;

(5) calculation of start and end times for a single bolt/cable anchorage process.

In the embodiment of the invention, an explosion-proof camera is arranged at a proper position of a head of the development machine or a head-on top plate, the head-on operation space is required to be clearly observed, a drill bit image of the anchor rod drilling machine is mainly and clearly observed, a video image is transmitted to a GPU (graphic processing unit) server in real time for image recognition and analysis, a target detection model is used for recognizing a drill bit in the image, a two-dimensional plane rectangular coordinate system is established by using a current video frame, the drill bit coordinates of each time node are recorded in real time, the moving track of the drill bit is calculated by an algorithm model, and data such as drilling action, drilling starting time, drilling ending time, the number of drill rods and the like are judged and output.

An embodiment of the present invention provides an anchor job monitoring method, which may be executed by an electronic device with image processing capability, where the electronic device may be a GPU (graphics processing unit) server. Referring to the flow diagram of the anchor work monitoring method shown in fig. 2, the anchor work monitoring method mainly includes the following steps S202 to S206:

step S202, image data of a head-on operation space in the anchoring and protecting operation process is obtained, wherein the image data comprises a plurality of drill bit images shot at intervals of a first preset duration.

The first preset time can be a shooting interval of the explosion-proof camera, and the first preset time can be set according to actual requirements, for example, the first preset time is 1s, namely, the explosion-proof camera shoots a drill bit image every 1 s.

And step S204, determining the moving track of the drill bit in the head-on working space according to the image data.

Optionally, drill bit identification may be performed on each drill bit image to obtain drill bit coordinates of each drill bit image; and determining the moving track of the drill bit in the head-on working space according to the drill bit coordinates and the shooting time of each drill bit image, wherein the moving track comprises a plurality of drill bit coordinates which are arranged according to the shooting time sequence.

And step S206, determining the operation data of the anchoring operation according to the movement track, wherein the operation data of the anchoring operation comprises the depth of the drilled hole and the operation duration of the anchoring process.

The operation stage and the drilling position of the anchoring operation can be determined according to the moving track; according to each operation stage and the corresponding drilling position, the drilling times of each drilling hole can be determined, and further according to the drilling times of each drilling hole and the corresponding length of the drill rod, the depth of the drilling hole can be determined; and determining corresponding operation time length according to the starting time and the ending time of each operation stage, such as the operation time length in the drilling and rod feeding process, the operation time length in the drilling and rod withdrawing process, the total operation time length in one-time drilling, the operation time length in the explosive stick stirring process, the operation time length in the anchoring process, the total operation time length of a single drill hole and the like.

In the anchoring operation monitoring method provided by the embodiment of the invention, in the anchoring operation process, image data of a head-on operation space is obtained firstly, wherein the image data comprises a plurality of drill bit images shot at intervals of a first preset duration; then determining the moving track of the drill bit in the head-on operation space according to the image data; and determining the operation data of the anchoring operation according to the moving track, wherein the operation data of the anchoring operation comprises the depth of the drilled hole and the operation duration of the anchoring process. Therefore, the drilling depth and the automatic acquisition of the operation duration of the anchoring process are realized, and compared with a manual inspection and supervision mode, the manual subjective influence is avoided, the human cost input is reduced, and the production efficiency is improved.

In some possible embodiments, the step S206 may be implemented by the following processes:

(1) and when a plurality of drill bit coordinates of the drill bit continuously moving upwards appear in a second preset time period, determining that the drill bit starts to drill on the drill rod, and storing the corresponding drill bit coordinates into the drill rod set. The second preset time period may be set according to an actual requirement, for example, the second preset time period is 5s (an optimal parameter value determined after model training).

(2) After the drill bit starts to drill by putting the drill rod, when coordinate vectors of a preset number of drill bits moving upwards appear in a third preset time, determining that the drill bit is in the putting process, and storing corresponding drill bit coordinates into a putting rod set; and the coordinate vector corresponding to the current drill bit coordinate is a vector formed by the drill bit coordinate of the current drill bit coordinate pointing to the previous shooting time. The third preset time period and the preset number can be set according to actual requirements, for example, the third preset time period is 30s, and the preset number is 20.

(3) And under the condition of finishing the judgment of the rod feeding process, when the drill bit moves downwards and the length of the drill bit is greater than the coordinate vector of the preset pixel value, determining that the drill bit is in the rod withdrawing process, and storing the corresponding drill bit coordinate into a rod withdrawing set. The preset pixel value can be set according to actual requirements, for example, the preset pixel value is 100 pixels.

(4) And under the condition of finishing the judgment of the rod feeding process and the judgment of the rod retreating process, when the irregular transverse movement of the drill bit exists, determining that the drilling process is finished.

(5) And determining the drilling position of the drilling according to the last element of the upper rod set. In order to avoid the data calculation problem caused by data errors, a certain range expansion can be performed on the last element of the upper rod set, for example, a coordinate range expansion of 50px is performed, and the expanded coordinate range is used as the drilling position.

(6) And when the drill bit is detected to drill on the rod again and the current drilled drill hole position is consistent with the previous drilled drill hole position, determining that the current drilled drill hole is the same as the previous drilled drill hole.

(7) And for each drill hole, determining the depth of the drill hole according to the drilling times of the drill hole and the length of the drill rod drilled in each time. The length of the drill rod drilled each time is preset, and when the length of the drill rod drilled each time is equal, the depth of the drill hole is equal to the product of the drilling times and the length of the drill rod.

(8) And under the condition that one or more times of drilling is finished, when the stay time of the drill bit at the current drilling position reaches a fourth preset time length, determining that the drill bit starts a cartridge stirring process (the cartridge stirring action starts to be executed), and storing the corresponding drill bit coordinates into a drilling set. The fourth preset time period can be set according to actual requirements, for example, the fourth preset time period is 5s, that is, in the case that one or more drilling operations are finished, the drill bit stays at the drilling position within 5s continuously, and it is determined that the cartridge stirring action is started to be executed.

(9) And under the condition that the drill bit starts the cartridge stirring process, determining that the cartridge stirring process is finished when the time length of the drill bit leaving the current drilling position reaches a fifth preset time length. The fifth preset time period may be set according to actual requirements, for example, the fifth preset time period is 5s, that is, after the drill bit stays in the drilling position for a long time (for example, 20s or more), the drill bit leaves the drilling position for 5s, and it can be determined that the stirring process of the explosive cartridge is finished.

(10) And determining the time interval between the last element and the first element of the drilling set as the operation duration of the stirring process of the explosive cartridge, and determining the operation duration of the anchoring process according to the operation duration of the stirring process of the explosive cartridge. After the explosive cartridge stirring operation, the tray and the nuts need to be installed, after the tray and the nuts are installed, the complete anchor rod/anchor cable anchoring process is finished, the installation time of the tray and the nuts can be judged according to the estimation of the actual condition, the general condition is 2 minutes to 3 minutes, the installation time of the tray and the nuts is increased on the basis of the operation time of the explosive cartridge stirring process, and the operation time of the anchoring process can be obtained.

In some possible embodiments, after determining that the drilling process is finished, the method for monitoring the anchor work further includes: respectively determining the shooting time of the first element and the last element of the rod feeding set as the starting time and the ending time of the drilling and rod feeding process of the time, and respectively determining the shooting time of the first element and the last element of the rod returning set as the starting time and the ending time of the drilling and rod returning process of the time; calculating the operation duration of the drilling and rod feeding process according to the starting time and the ending time (calculating the difference value of the two) of the drilling and rod feeding process; and calculating the operation duration of the drilling and rod withdrawing process according to the starting time and the ending time (calculating the difference value of the two) of the drilling and rod withdrawing process. The total operation time length of the drilling can be calculated according to the starting time of the drilling and rod feeding process and the ending time of the drilling and rod withdrawing process (calculating the difference value of the two times). How to realize the automatic identification of the starting time and the ending time of the drilling process (including the drilling rod feeding process and the drilling rod withdrawing process) and the automatic acquisition of the corresponding operation duration.

In some possible embodiments, the operation data of the anchor work further includes a total operation duration of the borehole, and the anchor work monitoring method further includes: determining the total operation time length of the drilling according to the time interval between the last element of the drilling set corresponding to each drilling and the first element of the upper rod set during the first drilling; when the depth of the drill hole does not meet the preset depth requirement, determining that the current drilling operation is illegal; and when the operation time of the stirring process of the explosive cartridge does not meet the preset time length requirement, determining that the stirring operation of the explosive cartridge is illegal. Therefore, the automatic acquisition of the total operation duration of a single drilling hole is realized, and whether drilling operation and explosive stick stirring operation violate rules or not is automatically judged.

For ease of understanding, the anchor work monitoring method will be described in detail below with reference to fig. 3 to 6.

The method comprises the steps that an anchor rod drilling machine drill bit image in a video image shot by an explosion-proof camera is recognized through a target detection model of machine vision, once the drill bit target is recognized in the drill bit image, real-time calculation of a model algorithm is started, a two-dimensional plane rectangular coordinate system is built by the model according to a current image area (the left lower corner position serves as the (0,0) origin coordinate of the coordinate system), and the coordinate position (drill bit coordinate) and the occurrence time (shooting time) of the drill bit are recorded at intervals of certain time (for example, data are recorded every 1 s).

Identification and determination of start time and end time of single drilling

Based on the business execution logic, the drill bit can also present vertical linear motion due to the fact that the drill rod is linear in the drilling process, the drill bit presents upward linear motion in the process of drilling the upward push rod, and the drill bit presents downward linear motion in the process of retreating the rod; in other scenes, the movement track of the drill bit is irregular or transversely moved; based on the rule, algorithm model calculation can be carried out by means of coordinate data, the starting point and the ending point of the vertical movement of the drill bit are judged, and the starting time and the ending time of one-time drilling are further calculated.

The model rules and logics for one-time drilling rod feeding and rod retreating are as follows:

(1) identification of the beginning of drilling

Because the drill rod is linear, once a drill hole is drilled, a linear motion track is certainly presented, the average time of the whole rod feeding process is about 30s, if the drill bit coordinate is acquired once at an interval of 1s, the drill bit points identified in 30s are certainly presented with a linear track, vectors are created by the moving points, the vectors usually present upward moving tracks, namely, the included angle between the vectors and the Y axis of a coordinate system presents a small angle (considering the deviation of the camera angle and the drilling angle, an influence parameter can be set, in the actual model training process, the parameters are continuously adjusted, the deviation of the 20-degree angle can be set, and when the included angle between the moving vector and the Y axis coordinate is less than 20 degrees, the vector can be determined to be the upward moving vector).

Considering that during a drilling process, in some special cases, the track of the drill bit may also move downwards (e.g. the drill is not steady and slides downwards), move transversely (e.g. the drill is driven to a harder rock formation and shakes), and the like, but the vectors of the downward movement and the transverse movement are necessarily few. According to the above rule, an upward movement track within a threshold time (here, 5s) of the drill bit is set continuously, and the drill bit is judged to start drilling.

(2) Identification of the rod-setting process

After the drill bit is judged to start the up drilling, the drill bit is subjected to an upward movement process lasting for 30s, and the 30s time is judged to be the up drilling process, namely, within 30s, a certain threshold value (20 are set here) of coordinate vectors moving upwards can be identified. In this process, if a motion vector moving downward by a small distance occurs, this is regarded as interference data.

(3) Identification of the rod-retracting process

When the drill bit rapidly moves from the top to the bottom in the condition that the judgment of the rod-up process is completed, the process is judged to be rod-back. In practical conditions, the time for moving the drill bit from the top to the bottom to retreat the drill bit is basically maintained at 1s to 2s, and the moving distance is long instantaneously.

When a vector of downward movement of the drill bit is identified and the length of the vector is greater than a certain threshold (100 pixels), and occurs 1 or 2 times, the process is considered to be a rod-retracting process.

(4) Recognition and judgment of drilling completion

And under the conditions of finishing the judgment of the rod feeding process and the judgment of the rod retreating process, if the drill bit has irregular transverse motion, the drilling is judged to be finished.

Based on the above rules, referring to a logic schematic diagram of a drilling process in the anchor maintenance operation monitoring method shown in fig. 3, a specific model algorithm logic is as follows:

1) creating three storage variables, namely an upList (upper rod set), a downList (lower rod set) and an otherList (other sets), wherein the upList variable is used for storing coordinate point data similar to vertical upward movement, the downList variable is used for storing coordinate point data similar to vertical downward movement, and the otherList is used for storing interference data occurring in the drilling process;

2) when detecting that a first drill coordinate point a (a first coordinate point a) appears, recording coordinate data of the point a and current time;

3) after the interval of 1s, when a second drill bit coordinate point b (a second coordinate point b) is detected, recording coordinate data of the point b and the current time;

4) establishing vector by coordinate points a and b

Establishing a vector starting from an origin o with the Y-axis of a coordinate system

Computing vectors

And

angle θ (i.e., calculating the angle θ between the coordinate vector formed by a and b and the Y-axis coordinate vector).

5) Judging vector

And

whether the included angle θ of (a) is less than or equal to 20 ° (the angular deviation set here is 20 °); if the judgment result is negative, executing the step 6; when the judgment result is yes, executing the step 7;

6) when theta is larger than 20 degrees, the coordinate vector is not a vector moving upwards, the coordinate data of the current point a is abandoned, the point b is used as a coordinate point (a first coordinate point a) of initial judgment, then the step 3 is executed, and program judgment is continued after a second coordinate point b appears;

7) judging whether the number of the elements of the upList is 0, if not, executing the step 8; if the value is 0, executing the step 11; the process is used to determine whether the current flow is the first vector to identify an upward movement;

8) judging whether the coordinate of the current point a is the coordinate of the point b of the last element of the UPList, if so, executing the step 11, and showing that the current vector is continuous with the last coordinate vector in the UPList set and is a continuous upward movement process; if not, executing the 9 th step and the 10 th step, showing that the current vector is not continuous with the coordinate vector in the UPList set, and considering that the rod-up process of continuous upward movement is not started;

9) since it is not a continuous upward movement process, it is necessary to restart a flow of identifying records, and therefore, it is necessary to clear the upList set data;

10) taking the coordinate of the point b of the current vector as a first coordinate point a, then executing the step 3, and restarting the judgment process after identifying the next coordinate point;

11) storing the coordinate data of the points a and b in the current coordinate vector into an UPList set;

12) judging whether the size (namely the number of elements) of the current upList set is larger than or equal to 5, if not, executing a step 10, showing that the current vector is continuously upward but does not reach a threshold value 5 for confirming the start of drilling and rod feeding, and continuing to carry out identification judgment; if yes, step 13 is executed, which shows that the current identification process confirms that the drilling and the feeding start are confirmed;

13) taking the coordinate of the point b in the current vector as a first coordinate point a;

14) after the interval of 1s, when detecting that a second coordinate point b appears, recording the coordinate data of the point b and the current time;

15) establishing vector by coordinate points a and b

Computing vectors

And

angle theta.

16) Judging vector

And

whether the included angle theta is less than or equal to 20 degrees; when the judgment result is yes, executing the step 17; when the judgment result is negative, executing the step 18;

17) the current vector is still the coordinate vector moving upwards, the coordinate data of the points a and b in the vector are stored in an upList set, and then the step 13 is executed, and the judgment process is continuously executed;

18) judging whether the included angle theta is larger than or equal to 160 degrees, if so, executing the step 19, namely, explaining that the vector is a vector moving downwards; if not, executing step 22 to show that the vector is not an upward moving vector or a downward moving vector;

19) judging vector

If not, executing step 13, which shows that the moving distance of the vector does not reach the predetermined threshold value, the vector moving downwards is an interference condition, abandoning the process and restarting the judgment; if yes, executing step 20, and showing that the vector is a long-distance downward movement process which may be a rod withdrawing process;

20) judging whether the size of the upList set is greater than or equal to 20, if not, executing the step 13, which shows that the rod-up process is not completed, a large-distance downward moving process occurs and is possibly an unexpected interference condition, abandoning the process and restarting the judgment; if yes, executing step 21 to show that the rod-up process is completed and the large-distance rod-down process occurs, and showing that the process is the rod-down process;

21) storing the coordinate data of the points a and b into a down List set, executing the step 13, and restarting the judgment;

22) whether the length of the upList is greater than 20 and the length of the downList is greater than 2, if not, executing the step 13, which indicates that the upward movement process of the upper rod is not finished or the downward movement process of the lower rod is not finished, and the transverse movement process is an interference condition, discarding and restarting the identification process; if so, executing the step 23, finishing the upward movement process of the upper rod, finishing the downward movement process of the lower rod, and finishing the transverse movement to show that the whole process of one-time drilling is finished;

23) acquiring the time of the point a of the first element of the upList set, namely the starting time of a single drill rod;

24) and (5) obtaining the time of the last element b point of the downList set, namely the end time of the single drill rod, and ending the whole identification process.

The starting time and the ending time of single drilling can be judged through the process, the time of the point a of the first element of the upList set is the starting time of the whole process, and the time of the point b of the last element of the downList set is the ending time of the whole process; if the starting time and the ending time of the rod-up process are to be acquired, the time of the point a of the first element of the UPList set can be acquired, namely the starting time, and the time of the point b of the last element of the UPList set is the ending time; if the starting time and the ending time of the rod retreating process are to be obtained, the time of the point a of the first element of the downList set can be obtained, namely the starting time, and the time of the point b of the last element of the downList set is the ending time.

Taking fig. 4 as an example, points 1 to 5 are disturbance moving points before drilling is started; points 6 to 11 are a point set of the upper rod moving upwards; points 11 to 13 are the point sets where the backing bar moves downward.

(II) drilling coordinate data (drilling position) of one-time complete drilling

To avoid data calculation problems caused by data errors, a certain range expansion is performed on the b-point coordinates, for example, a coordinate range expansion of 50px is performed, and as shown in fig. 5, assuming that the x-point coordinate is (350,900), the drill hole position points at the four corners of the expanded coordinate range are a (300,950), b (300,850), c (400,850) and d (400,950).

(III) borehole depth calculation

After the single drilling process is identified, the coordinate range of the drill hole can be calculated, in the subsequent drilling identification, the drilling position of the subsequent drilling is combined, whether the drilling position of the subsequent drilling is in the coordinate range of the drill hole drilled for the first time is judged, and if the drilling position is in the coordinate range, the current drilling process is the same drill hole, namely the anchoring process of the same anchor rod/anchor cable.

Through the counting of single drilling of the same drilling hole, the drilling hole can be known to finish several times of rod feeding drilling, and the drilling depth can be calculated by combining the length of the drilling rod drilled every time in each coal mine.

Depth of borehole S _{General assembly} The calculation formula of (a) is as follows:

S _{general assembly} ＝S ₁ +S ₂ +···+S _n ，

Wherein S is ₁ Length of drill rod for first drilling, S ₂ Length of drill rod for second drilling, S _n The length of the drill rod drilled in the nth time.

(IV) in the anchoring process of the single anchor rod/anchor cable, the starting time and the ending time of the stirring of the explosive cartridge

The stirring of the explosive sticks is carried out after the drilling of the drill rod is finished, the drilling construction is finished, the process that the drill bit pushes the explosive sticks to move upwards also presents a straight line, but the duration is very fast and is basically maintained at 1s to 2 s; when the explosive cartridge is pushed to the top of the drill hole, the explosive cartridge stays at the top for a longer time (the explosive cartridges are different in types, the stirring and condensing time is different, and the range of 60s to 120s is generally required); after the explosive cartridge is anchored and bonded with the anchor rod/anchor cable, the drill bit is moved downwards and then is withdrawn, and the downward moving process of the drill bit is also fast and basically maintained at 1s to 2 s.

Based on the above business processes, the logic of the process identification model can be combed as follows:

(1) the process of stirring the explosive cartridge is carried out after the single or multiple rod drilling processes are finished, and the drilling position is determined;

(2) the drill bit stays at the drilling position within 5 seconds continuously, and the stirring action of the explosive cartridge is judged to be started to be executed;

(3) the drill bit stays in the drilling coordinate range for a long time (a certain time is set for 20s, the drill bit stays in the drilling position for more than 20s to judge that the stirring of the explosive cartridge is performed, but in some very special cases, the process may not be continuous, the drill bit leaves the drilling range position for 1 second or several seconds in the middle), the starting time of the stay can be regarded as the starting time of the stirring of the explosive cartridge, and the ending time of the stay can be regarded as the ending time of the stirring of the explosive cartridge;

(4) after the drill bit stays in the drilling coordinate range for a long time, the position of the drill bit is left for a long time (5 s of time is set, namely 5 times of detection), and the end of the cartridge stirring process can be confirmed.

Referring to a logic diagram of an anchoring process in the anchoring operation monitoring method shown in fig. 6, a specific model algorithm logic is as follows:

1. judging whether the single rod feeding drilling process is finished, if so, executing the step 2, and showing that the cartridge stirring execution has a precondition; if not, ending the flow, and indicating that the stirring of the explosive cartridge is not started;

2. creating two storage variables pointList and otherList, wherein the pointList set is used for storing coordinate points appearing in the stirring execution process of the cartridges, and the otherList set is used for storing interference points appearing in the stirring execution process of the cartridges;

3. detecting once at an interval of 1s, detecting that a drill bit coordinate point a appears, and recording coordinate data and time;

4. judging whether the coordinates of the point a are in the coordinate range of the drill hole, if so, executing the step 5, and indicating that the stirring of the explosive cartridge possibly starts to be executed; if not, executing step 10;

5. judging whether the size of the pointList set is larger than 0, if not, executing the step 6; if yes, executing step 7;

6. storing the coordinate data of the point a into a pointList set;

7. judging whether the interval between the time of the last element of the pointList set and the time of the point a is larger than 1, if not, executing the step 6, and showing that the current point and the last point appear continuously; if yes, executing step 8 to show that the current point a is not continuous with the last appearing point;

8. judging whether the size of the pointList set is greater than or equal to 5, if so, executing step 6, wherein the length of the drill bit at the drilling position within 5s after 5 is greater than 5, and the cartridge stirring process is started, so that the existing point a is added into the pointList set; if not, executing step 9, and indicating that the drill bit does not continuously appear for 5s at the drilling position;

9. clearing pointList set elements, restarting recognition calculation, and executing the step 3;

10. judging whether the size of the pointList set is greater than or equal to 20, namely judging whether the drill bit stops at the drilling position for 20s, if not, executing the step 3, indicating that the drill bit does not stop at the drilling position for more than 20s, and the current coordinate point a does not appear at the drilling position and is an interference point, and discarding; if yes, step 11 is executed, which indicates that the drill bit stays at the drilling position for more than 20s, and the explosive cartridge stirring process may be ended;

11. storing the coordinate data of the point a into the otherList set;

12. judging whether the size of the otherList set is larger than or equal to 5, if not, executing the step 3, and judging whether the number of elements of the otherList set after the stirring of the drug rolls is finished does not exceed 5, so that the judgment needs to be continued; if yes, executing step 13 to indicate that the stirring action of the explosive cartridge is finished;

13. the time of obtaining the first element point of the pointList set is the starting time of stirring the medicated roll;

14. and (5) acquiring the time of the last element point of the pointList set, namely the end time of the stirring of the medicated roll, and ending the process.

Through the process, the starting time and the ending time of the stirring of the single anchor rod/anchor cable anchoring cartridge can be judged, the time of the first element point of the pointList set is the starting time of the stirring of the cartridge, and the time of the last element point of the pointList set is the ending time of the stirring of the cartridge. Calculating the difference between the ending time and the starting time to obtain the execution time length of stirring the explosive sticks, wherein if the execution time length is greater than or equal to the regulation requirement, the stirring operation of the explosive sticks at the time is in accordance with the regulation requirement; if the execution time is less than the rule requirement, the operation violation is determined that the batch stirring operation does not meet the rule requirement.

(V) calculation of start time and end time of single anchor rod/anchor cable anchoring process

Based on the calculation of the single drilling rod feeding and withdrawing process and the cartridge stirring time, the starting time and the ending time of the drilling anchoring process of the complete primary anchor rod/anchor cable can be calculated.

The starting time of the first drilling and rod feeding of a single drill hole is the starting time of the whole process; after the explosive cartridge is stirred, the tray and the nuts need to be installed, after the tray and the nuts are installed, the anchoring process of the complete anchor rod/anchor cable is finished, the installation time of the tray and the nuts can be judged according to the estimation of the actual condition, the time for finishing the stirring of the explosive cartridge is obtained in 2 to 3 minutes under the general condition, and the time for finishing the anchoring process of the whole anchor rod/anchor cable can be obtained by adding 2 to 3 minutes on the basis.

Therefore, based on a machine vision technology, the anchor rod/anchor cable anchoring process is monitored and judged in the whole process, the starting time and the ending time of single anchor rod/anchor cable anchoring are automatically identified, the operation duration of a single anchor rod/anchor cable is recorded, the difference of the operation duration of single anchor rod/anchor cable anchoring in each shift is compared, whether the operation efficiency of which shift is high, the operation efficiency of which tunnel is high, the reason of different operation durations is related to the geology or not is judged, and the basis is provided for the statistical analysis of subsequent data through data accumulation; the number of the drill rods driven into a single drill hole is automatically identified and recorded, so that the drilling depth is calculated, a personnel inspection and supervision mode is replaced, the artificial subjective influence is eliminated, the labor cost input is reduced, and the production efficiency is improved.

The embodiment of the invention identifies the drill bit target of the anchor rod drilling machine through a target detection model algorithm, and carries out algorithm calculation judgment by combining the moving track rule of the drill bit in the drilling process of the anchor rod/anchor cable, and accurately judges key data in the anchoring process of the anchor rod/anchor cable, wherein the key data comprises the starting time and the ending time of one-time upper rod drilling; drilling coordinate data of one complete drilling; in the anchoring process of a single anchor rod/anchor cable, the number of upper rods and the drilling depth are increased; in the single anchor rod/anchor cable anchoring process, the starting time and the ending time of the stirring of the explosive cartridge judge whether the execution time of the stirring of the explosive cartridge meets the minimum stirring time required by the regulations; the method has the advantages that the calculation of the starting time and the ending time of the anchoring process of the single anchor rod/anchor cable and the like are realized, the artificial intelligence technology is utilized to carry out supervision and judgment on the anchoring process, the artificial inspection and supervision mode is replaced, the artificial subjective influence is eliminated, the human cost input is reduced, the production efficiency is improved, meanwhile, the quality monitoring in the operation process is more comprehensive and timely, abnormal violation behaviors are found, the early warning is timely sent out, the safety production is guaranteed, and the safety accident is avoided.

Corresponding to the anchoring operation monitoring method, an embodiment of the present invention further provides an anchoring operation monitoring device, referring to a schematic structural diagram of an anchoring operation monitoring device shown in fig. 7, where the anchoring operation monitoring device includes:

the image acquisition module 71 is configured to acquire image data of a head-on operation space in the anchoring and protecting operation process, where the image data includes a plurality of drill bit images shot at intervals of a first preset duration;

a track determining module 72, configured to determine a moving track of the drill bit in the head-on working space according to the image data;

and the data determining module 73 is used for determining the operation data of the anchoring operation according to the moving track, wherein the operation data of the anchoring operation comprises the depth of the drilled hole and the operation duration of the anchoring process.

In the anchoring operation monitoring device provided by the embodiment of the invention, in the anchoring operation process, image data of a head-on operation space is obtained firstly, wherein the image data comprises a plurality of drill bit images shot at intervals of a first preset duration; then determining the moving track of the drill bit in the head-on operation space according to the image data; and determining the operation data of the anchoring operation according to the moving track, wherein the operation data of the anchoring operation comprises the depth of the drilled hole and the operation duration of the anchoring process. Therefore, the drilling depth and the automatic acquisition of the operation duration of the anchoring process are realized, and compared with a manual inspection and supervision mode, the manual subjective influence is avoided, the human cost input is reduced, and the production efficiency is improved.

Further, the trajectory determination module 72 is specifically configured to: identifying the drill bit for each drill bit image to obtain the drill bit coordinate of each drill bit image; and determining the moving track of the drill bit in the head-on working space according to the drill bit coordinate and the shooting time of each drill bit image.

Further, the moving track includes a plurality of drill coordinates arranged in the shooting time sequence, and the data determining module 73 is specifically configured to: when a plurality of drill bit coordinates of the drill bit moving upwards continuously appear in a second preset time, determining that the drill bit starts to drill on the drill rod, and storing the corresponding drill bit coordinates into a drill rod set; after the drill bit starts to drill on the rod, when coordinate vectors of a preset number of drill bits moving upwards appear in a third preset time period, determining that the drill bit is in the rod-feeding process, and storing corresponding drill bit coordinates into a rod-feeding set; the coordinate vector corresponding to the current drill coordinate is a vector formed by the drill coordinate of which the current drill coordinate points to the previous shooting time; under the condition that the rod-up process is judged, when the drill moves downwards and the length of the coordinate vector is larger than a preset pixel value, the drill is determined to be in the rod-withdrawing process, and corresponding drill coordinates are stored into a rod-withdrawing set; under the condition that the judgment of the rod feeding process and the judgment of the rod retreating process are finished, when the irregular transverse movement of the drill bit exists, the end of the drilling process is determined; determining the drilling position of the drilling according to the last element of the upper rod set; when the situation that the drill bit carries out drilling on the drill rod again and the drilling position of the current drilling is consistent with the drilling position of the previous drilling is detected, determining that the drilling hole of the current drilling is the same as the drilling hole of the previous drilling; and for each drill hole, determining the depth of the drill hole according to the drilling times of the drill hole and the length of the drill rod drilled in each time.

Further, the data determining module 73 is further configured to: respectively determining the shooting time of the first element and the last element of the rod feeding set as the starting time and the ending time of the drilling and rod feeding process of the time, and respectively determining the shooting time of the first element and the last element of the rod returning set as the starting time and the ending time of the drilling and rod returning process of the time; calculating the operation duration of the drilling and rod feeding process according to the starting time and the ending time of the drilling and rod feeding process; and calculating the operation duration of the drilling and rod withdrawing process according to the starting time and the ending time of the drilling and rod withdrawing process.

Further, the anchoring process includes a cartridge stirring process, and the data determining module 73 is further configured to: under the condition that one or more times of drilling is finished, when the stay time of the drill bit at the current drilling position reaches a fourth preset time length, determining that the drill bit starts a cartridge stirring process, and storing corresponding drill bit coordinates into a drilling set; under the condition that the drill bit starts the cartridge stirring process, when the time length that the drill bit leaves the current drilling position reaches a fifth preset time length, determining that the cartridge stirring process is finished; determining the time interval between the last element and the first element of the drilling set as the operation duration of the stirring process of the explosive cartridge; and determining the operation duration of the anchoring process according to the operation duration of the stirring process of the explosive cartridge.

Further, the operation data of the anchoring operation further includes a total operation duration of the drilling, and the data determining module 73 is further configured to: determining the total operation time length of the drilling according to the time interval between the last element of the drilling set corresponding to each drilling and the first element of the upper rod set during the first drilling; the anchoring operation monitoring device further comprises an violation determining module connected with the data determining module 73, wherein the violation determining module is used for determining that the current drilling operation is violated when the depth of the drilled hole does not meet the preset depth requirement; and when the operation time of the stirring process of the explosive cartridge does not meet the preset time requirement, determining that the stirring operation of the explosive cartridge is illegal.

The implementation principle and the technical effect of the anchor work monitoring device provided by this embodiment are the same as those of the anchor work monitoring method embodiment, and for brief description, reference may be made to the corresponding contents in the anchor work monitoring method embodiment for the portions not mentioned in the anchor work monitoring device embodiment.

Referring to fig. 8, an embodiment of the present invention further provides a server 800, including: the device comprises a processor 80, a memory 81, a bus 82 and a communication interface 83, wherein the processor 80, the communication interface 83 and the memory 81 are connected through the bus 82; the processor 80 is adapted to execute executable modules, such as computer programs, stored in the memory 81.

The Memory 81 may include a Random Access Memory (RAM) or a non-volatile Memory (NVM), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 83 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.

The bus 82 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 8, but that does not indicate only one bus or one type of bus.

The memory 81 is used for storing a program, the processor 80 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 80, or implemented by the processor 80.

The processor 80 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware integrated logic circuits or software in the processor 80. The Processor 80 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory 81, and the processor 80 reads the information in the memory 81 and performs the steps of the above method in combination with its hardware.

In addition, an embodiment of the present invention further provides an anchor work monitoring system, referring to a schematic structural diagram of an anchor work monitoring system shown in fig. 9, where the anchor work monitoring system includes an image pickup apparatus 900 and the server 800 described above, and the server 800 is connected to the image pickup apparatus 900; the image pickup apparatus 900 is configured to pick up image data of a head-on work space and transmit the image data to the server 800.

Alternatively, the server 800 may be, but is not limited to, a GPU server.

An embodiment of the present invention further provides a readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program executes the anchor job monitoring method described in the foregoing method embodiment. The readable storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.

In all examples shown and described herein, any particular value should be construed as exemplary only and not as a limitation, and thus other examples of example embodiments may have different values.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and 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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An anchor maintenance operation monitoring method is characterized by comprising the following steps:

2. An anchor work monitoring method according to claim 1, wherein the determining a movement trajectory of the drill bit in the head-on work space based on the image data includes:

3. An anchor work monitoring method according to claim 1, wherein the movement trajectory includes a plurality of drill coordinates arranged in a shooting time sequence, and the determining of the work data of the anchor work based on the movement trajectory includes:

after the drill bit starts to drill by putting on the rod, when coordinate vectors of a preset number of drill bits moving upwards appear in a third preset time period, determining that the drill bit is in the rod putting process, and storing corresponding drill bit coordinates into the rod putting set; the coordinate vector corresponding to the current drill bit coordinate is a vector formed by the drill bit coordinate of the current drill bit coordinate pointing to the previous shooting time;

4. An anchor work monitoring method according to claim 3, wherein after determining that the drilling process is finished, the anchor work monitoring method further comprises:

5. The anchor work monitoring method according to claim 3, wherein the anchoring process includes a cartridge stirring process, and the determining of the work data of the anchor work based on the movement trajectory further includes:

6. An anchor work monitoring method according to claim 5, wherein the work data of the anchor work further includes a total work duration of the borehole; the anchor maintenance operation monitoring method further comprises the following steps:

and when the operation time of the stirring process of the explosive cartridge does not meet the preset time requirement, determining that the stirring operation of the explosive cartridge is illegal.

7. An anchor maintenance operation monitoring device, comprising:

8. A server comprising a memory, a processor, the memory having stored therein a computer program operable on the processor, wherein the processor implements the anchor job monitoring method of any one of claims 1-6 when executing the computer program.

9. An anchor work monitoring system comprising a camera device and the server of claim 8, the server being connected to the camera device; the camera shooting equipment is used for shooting image data of the head-on operation space and sending the image data to the server.

10. A readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, performs the anchor job monitoring method of any one of claims 1-6.