Research on the Positioning Method of Steel Belt Anchor Holes Applied in Coal Mine Underground

Abstract

In order to improve the automation and safety of underground steel belt support in coal mines, a method for the intelligent identification and positioning of steel belt anchor holes in roadway support using inductive sensors is proposed. Using STM32F407ZGT6 as the main control chip, tasks such as data acquisition and processing, motor motion control, etc., are assigned based on the real-time operating system FreeRTOS. Using the XY mobile platform equipped with inductive sensors to detect steel belts, The collected data includes coordinate values and voltage values. Adaptive threshold generation and correction strategies are used for threshold segmentation and extraction of anchor hole boundary points. The principle of Hough circle transformation is used to fit the extracted boundary points into circles. The results show that this method can perform anchor hole positioning with a positioning error of within 5 mm, meeting the design requirements.