Coal mine underground stacking type rod box and drill rod separation system and method

The invention discloses an underground coal mine stacking type rod box and drill rod separation system and method. The separation system comprises a stacking type rod box, a liftable 3D camera arranged above the stacking type rod box, a six-degree-of-freedom mechanical arm located beside the stacking type rod box, a magnetic attraction claw connected to the tail end of the mechanical arm and a drill rod separation control unit. According to the separation method, 3D visual recognition of drill rod poses and theoretical calculation of poses calculated through a stacking algorithm are fused, the advantages of the two methods are complementary, and the drill rods in the stacking type rod box are accurately recognized and positioned and then grabbed and separated. According to the method, the problems of failure of identification and failure of separation caused by single dependence on 3D vision due to complex underground environment of a coal mine can be solved, and the robustness of a drill rod separation syste