Method for quickly constructing three-dimensional scene of underground fully mechanized coal mining face

Abstract

The invention discloses a method for quickly constructing a three-dimensional scene of an underground fully mechanized mining face, which comprises the following steps of: (1) mounting a laser radar,an inertial measurement unit and a speedometer on a movable holder, enabling the movable holder to quickly move on a flexible track, and mounting the flexible track on a track support frame on the outer side of a ledge of a scraper conveyor; (2) acquiring measurement data of the IMU, the odometer and the laser radar in real time and fusing the measurement data to obtain laser scanning three-dimensional point cloud vector data of the fully mechanized coal mining face; (3) respectively performing point cloud denoising, point cloud correction and point cloud segmentation processing on the three-dimensional point cloud vector data; (4) generating an irregular triangulation network of the three-dimensional point cloud vector data; and (5) extracting and separating the contour features of the fully mechanized mining equipment, and quickly constructing a fully mechanized mining face three-dimensional scene model. According to the method, the three-dimensional scene information of the fully mechanized coal mining face can be rapidly constructed, and the fully mechanized coal mining face production full view can be rapidly displayed in a simple and visual mode.

Description

technical field [0001] The invention relates to a method for quickly constructing an underground three-dimensional scene, in particular to a method for rapidly constructing a three-dimensional scene for an underground fully mechanized mining face suitable for the technical field of unmanned mining in coal mines. Background technique [0002] Unmanned mining of coal mines is a cutting-edge technology commonly pursued by the international coal mining field. It is an important means to reduce casualties and ensure safe production, and it is also an effective way for my country's coal mines to achieve safe, efficient and green mining. In order to realize truly unmanned mining, the perception of the fully mechanized mining face scene and equipment status is a prerequisite for intelligent decision-making and control. Basic perception of key information. However, the current monitoring of the fully mechanized mining face mainly has the following disadvantages: (1) The environment ...

AI Technical Summary

Problems solved by technology

However, the current monitoring of the fully mechanized mining face mainly has the following disadvantages: (1) The environment of the fully mechanized mining face is a low-light or even dark environment, requiring artificial lighting, coupled with the influence of water, fog and other factors, making video monitoring difficult Obtain clear images; (2) The image information obtained by video monitoring alone cannot accurately judge the operating status of fully mechanized mining equipment; (3) The existing video monitoring solution for fully mechanized mining face is to arrange enough cameras on the entire working face Instrument, large investment, high cost, especially huge maintenance workload

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