Digital construction system and method for underground coal mine full-face scene space

Abstract

The invention provides a coal mine underground full working face scene space digital construction system and method. The system comprises fixed-point sensors which are disposed on hydraulic support top plates at the head and tail of a working face, and are used for obtaining fixed-point space data; a routing inspection sensor which is arranged on the routing inspection walking mechanism and walks along a track of the routing inspection walking mechanism to obtain routing inspection space data; and a controller which is used for receiving the fixed-point spatial data and the inspection spatial data and obtaining spatial data of the full-working-face scene space according to the fixed-point spatial data and the inspection spatial data. According to the system, a fixed-point scanning mode and an inspection scanning mode are combined to obtain scene space data of the whole working face, and in the head area and the tail area of the working face, an inspection sensor automatically rotates a scanning rotating shaft which is consistent with a fixed-point sensor at the position; registration precision when the two sensors respectively acquire the spatial data is ensured, and splicing acquisition of the spatial data of the whole working face scene is realized.

Description

technical field [0001] The invention relates to the technical field of intelligent mining of coal, in particular to a system and method for digitally constructing a scene space of a full working face underground in a coal mine. Background technique [0002] In recent years, with the rapid development of autonomous driving and artificial intelligence technology, in order to realize the intelligent and unmanned mining of coal mines, it is first necessary to digitally construct the underground scene space of coal mines, especially the digitalization based on scanning data information and geological survey data information To realize the accurate perception of the space and location information of the coal mine underground scene. [0003] At present, in complex scenes in coal mines, sensors are usually used to scan the working scene in order to obtain real-time local spatial data information of the space, and at the same time use pre-measured global coal seam geological data inf...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to provide a digital construction system and method for the scene space of the entire working face in underground coal mines, so as to solve the technical problem in the prior art that it is difficult to obtain the scene information of the entire working face as a whole

Images