Working face high-precision navigation model generation method for unmanned mining

Abstract

The invention discloses a working face high-precision navigation model generation method for unmanned mining. A working face high-precision navigation model is automatically generated by comprehensively utilizing a slot wave detector, a geological surveying and mapping instrument, a laser scanner, a ground penetrating radar and other devices.The method comprises the following steps: (1) obtaininga multi-source information feature database of a working face, and carrying out optimization processing on a coordinate position, a data type and an element attribute of the multi-source information feature database; (2) performing consistency processing on coordinate positions, data characteristics and element relations of the multi-source data, and establishing a working face Delaunay triangulation network based on multi-source data fusion; and (3) integrating the Delaunay triangulation network of the working face into a mine geographic information system, and automatically generating a high-precision navigation model of the working face. The method has the advantages that the high-precision navigation model of the working face can be rapidly and effectively generated, the positioning precision can reach the centimeter level, and accurate navigation data are provided for unmanned mining.

Description

Technical field [0001] The invention relates to a method for generating a navigation model, in particular to a method for generating a centimeter-level high-precision navigation model of a working face suitable for unmanned mining of coal mines, and belongs to the technical field of unmanned mining of coal mines. Background technique [0002] Unmanned coal mining is a cutting-edge technology commonly pursued in the international coal mining field. It is an important means to reduce casualties and ensure safe production. It is also an effective way to achieve safe, efficient and green mining in coal mines in my country. At present, in working faces with relatively simple geological conditions and coal seam structures, a combination of memory cutting and manual remote intervention can be used to realize automated / unmanned mining. However, most of the working faces in my country have very complex geological conditions and coal seam structures (such as The coal seams are undulating an...

AI Technical Summary

Problems solved by technology

At present, in working faces with relatively simple geological conditions and coal seam structures, automatic / unmanned mining can be realized by combining memory cutting and manual remote intervention, but most of the working faces in my country have very complicated geological conditions and coal seam structures (such as Coal seams fluctuate greatly, and there are dangerous geological structures such as faults and folds), which makes it impossible to realize automated / unmanned mining with existing technologies

In recent years, with the rapid development of 3D visualization technology and computer graphics, some large coal mines have established mine geographic information systems for the production management of coal mine enterprises. The floor plan of the roadway, the distribution map of personnel positioning, and the distribution map of equipment and materials. The elements of these maps are simple geographic information and topological relationships, which cannot realize the centimeter-level high-precision positioning and navigation functions of fully mechanized mining equipment.

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