## 6 Conclusions  
1. To address the current issue of rapid excavation and slow support at excavation faces and to advance the development of anchor-drilling robots toward automation and intelligence, this study proposes an anchor hole-steel belt positioning method based on monocular vision and develops a visual measurement system for anchor hole pose. By capturing the light spot characteristics projected onto the coal wall by three laser pointers, as well as the edge and anchor hole characteristics of the steel belt, the system establishes a corresponding pose solution model to determine the pose of the steel belt anchor hole within the camera's coordinate system;
2. Given the challenges in achieving high-accuracy spot center extraction using current methods based on spot edge information and spot grayscale information, this paper proposes a novel spot center extraction method based on the two-dimensional inverse tangent function. Experimental verification demonstrates that the proposed method exhibits high accuracy and stability;
3. To verify the feasibility and accuracy of the monocular vision-based steel belt-anchor hole position method presented in this paper, an experimental platform was constructed in the laboratory. The results demonstrate that the proposed method achieves high accuracy in terms of pose measurement. The average measurement errors along the \(X\)-axis, \(Y\)-axis, and \(Z\)-axis in the camera's coordinate system are 3.36 mm, 3.30 mm, \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**Figure 9** & \begin{tabular}{c} **X-Axis** \\ **Error/mm** \\ \end{tabular} & \begin{tabular}{c} **Y-Axis** \\ **Error/mm** \\ \end{tabular} & \begin{tabular}{c} **Z-Axis** \\ **Error/mm** \\ \end{tabular} & \begin{tabular}{c} **Yaw Error\({}^{\circ}\)** \\ **Error/mm** \\ \end{tabular} & \
\begin{tabular}{c} **Pitch Error\({}^{\circ}\)** \\ **Error/\({}^{\circ}\)** \\ \end{tabular} &
\begin{tabular}{c} **Roll Error\({}^{\circ}\)** \\ \end{tabular} \\ \hline (a) & 2.61 & 2.46 & 4.98 & 0.08 & 0.12 & 0.07 \\ (b) & 2.43 & 2.36 & 4.85 & 0.10 & 0.09 & 0.03 \\ (c) & 2.69 & 2.51 & 5.01 & 0.13 & 0.16 & 0.09 \\ (d) & 4.23 & 4.12 & 6.63 & 0.22 & 0.19 & 0.11 \\ (e) & 4.04 & 3.97 & 6.44 & 0.17 & 0.21 & 0.05 \\ (f) & 4.16 & 4.39 & 6.57 & 0.27 & 0.20 & 0.13 \\ Average error & 3.36 & 3.30 & 5.75 & 0.16 & 0.16 & 0.08 \\ Maximum error & 4.23 & 4.39 & 6.63 & 0.27 & 0.21 & 0.13 \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Experimental error analysis of steel belt-anchor hole positioning method based on monocular vision. \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**Items** & **Figure 9** & **X/mm** & **Y/mm** & **Z/mm** & **Yaw/\({}^{\circ}\)** & **Pitch/\({}^{\circ}\)** & **Roll/\({}^{\circ}\)** \\ \hline \multirow{6}{*}{Calculated values *} & (a) & 15.19 & \(-\)14.06 & 129.08 & 19.51 & 1.93 & 1.51 \\  & (b) & \(-\)30.57 & \(-\)13.96 & 122.45 & \(-\)4.11 & 1.74 & 0.03 \\  & (c) & 32.19 & 14.01 & 127.09 & \(-\)20.88 & 8.32 & \(-\)0.98 \\  & (d) & 24.53 & \(-\)15.72 & 175.73 & 13.84 & 2.16 & 1.49 \\  & (e) & \(-\)28.64 & \(-\)7.63 & 175.14 & \(-\)2.46 & 2.22 & 0.05 \\  & (f) & 23.66 & 21.09 & 176.03 & \(-\)24.01 & 6.98 & \(-\)0.99 \\  & (a) & 17.80 & \(-\)11.60 & 124.10 & 19.43 & 1.81 & 1.58 \\  & (b) & \(-\)33.00 & \(-\)11.60 & 117.60 & \(-\)4.21 & 1.83 & 0.00 \\  & (c) & 29.50 & 11.50 & 132.10 & \(-\)21.01 & 8.16 & \(-\)1.07 \\  & (d) & 20.30 & \(-\)11.60 & 169.10 & 14.06 & 1.97 & 1.6 \\  & (e) & \(-\)24.60 & \(-\)11.60 & 168.70 & \(-\)2.63 & 2.01 & 0.00 \\  & (f) & 19.50 & 16.70 & 182.60 & \(-\)23.74 & 6.78 & \(-\)1.12 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Experimental results of steel belt-anchor hole positioning method based on monocular vision. and 5.75 mm, respectively, with maximum errors of 4.23 mm, 4.39 mm, and 6.63 mm.