基于机器视觉的煤矿井下钻杆抓取系统研究  

Research on Drill Rod Grasping System Based on Machine Vision in Underground Coal Mine

作　　者：任建超 冯彦军 丁维波[1] 白荣财 Ren Jianchao;Feng Yanjun;Ding Weibo;Bai Rongcai(SHCCIG Caojiatan Mining Co.,Ltd.,Yulin 719100,China;CCTEG Coal Mining Research Institute Co.,Ltd.,Beijing 100013,China;Tiandi Science and Technology Co.,Ltd.,Beijing 100013,China)

机构地区：[1]陕西陕煤曹家滩矿业有限公司,陕西榆林719100 [2]中煤科工开采研究院有限公司,北京100013 [3]天地科技股份有限公司,北京100013

出　　处：《煤矿机械》2025年第4期66-68,共3页Coal Mine Machinery

基　　金：国家重点研发计划项目(2023YFC2907502);陕西陕煤曹家滩矿业有限公司项目(KCYJY-2023-ZD-02);天地科技股份有限公司科技创新创业资金专项项目(2023-TD-ZD003-003)。

摘　　要：煤矿井下钻探是实现煤炭资源评估、煤层状态探测、煤矿瓦斯抽采及储层地应力释放等的重要技术手段,然而目前井下钻探过程中钻杆的抓取及拧卸多依靠人工实现,存在效率低下及安全隐患等问题。基于此,基于机器视觉原理研制了一种适用于煤矿井下的钻杆抓取系统,对系统的钻杆定位算法、数据滤波算法及机械手手眼标定等进行了介绍,并在系统完成后利用室内机械手进行了验证试验。结果显示,在无干扰的情况下,抓取成功率可达100%,在钻杆所处环境背景颜色与钻杆相近时,试验成功率降低到84%。研究成果将助力于煤矿井下自动化及智能化钻机的研发,可为从业者提供一定的借鉴。Underground coal mine drilling is an important technical means to assess coal resources,detect coal seam conditions,extract coal mine gas and release reservoir stress.Currently,the grasping and disassembling of drill rod during underground drilling heavily rely on manual operation,resulting in low efficiency and safety hazards.Based on this,developed a drill rod grasping system suitable for underground coal mine based on the principle of machine vision.Introduced the system drill rod positioning algorithm,data filtering algorithm,and hand-eye calibration of the mechanical arm,and after the system completion,validation experiments were conducted by using an indoor mechanical arm.The results show that the successful grasp rate is 100%in undisturbed conditions,when the background color of the environment closely matched the drill rod,the success rate decreased to 84%.The research results will contribute to the development of automated and intelligent drilling machines in underground coal mine and can provide valuable reference for practitioners.

关 键 词：钻杆抓取 煤矿井下 机器视觉 机械手 

分 类 号：TD411[矿业工程—矿山机电]