Fully mechanized coal mining face real-time three-dimensional imaging method and system based on multiple laser radars

A fully mechanized mining face, laser radar technology, applied in radio wave measurement systems, instruments, measurement devices, etc., can solve the problems of poor real-time imaging results, high cost, and complicated installation process of imaging systems.

Pending Publication Date: 2022-08-05
NANJING BESTWAY AUTOMATION SYST
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  • Application Information

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Problems solved by technology

The imaging method is used to solve the technical problem of poor real-time imaging results during three-dimensional imaging of the existing fully mechanized mining face
The imaging system is built based on the imaging method, which not only solves the technical problem of how to improve the real-time imaging of fully mechanized mining face, but also solves the technical problem of complex installation process and high cost of the existing imaging system

Method used

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  • Fully mechanized coal mining face real-time three-dimensional imaging method and system based on multiple laser radars
  • Fully mechanized coal mining face real-time three-dimensional imaging method and system based on multiple laser radars
  • Fully mechanized coal mining face real-time three-dimensional imaging method and system based on multiple laser radars

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] like figure 1 As shown, the imaging method includes:

[0057] Step S102 , obtaining the pose of any laser radar in the coordinate system corresponding to the hydraulic support; the laser radar is an array laser radar, which is preset on the corresponding hydraulic support.

[0058] Since the hydraulic supports are the supporting equipment of the fully mechanized mining face, they are separately arranged in the entire fully mechanized mining face, and are pushed forward synchronously with the advancement of the fully mechanized mining face. In this step, the lidar is set on the hydraulic support, and the pose of the lidar is converted to the coordinate system corresponding to the hydraulic support. Therefore, in the later stage, whether local imaging or global imaging is performed, at any time, the original point data obtained relatively statically in the field of view of the lidar will correspond to the local three-dimensional structure of the fully mechanized mining f...

Embodiment 2

[0097] like Figure 4 As shown, the imaging system is constructed based on the imaging method, and includes several lidars, several hydraulic supports, several sub-processors, a general processor and software.

[0098] The laser radar is an array-type laser radar, which is hoisted on the hydraulic support at intervals and used to obtain the original point data of the local fully mechanized mining face in its field of view.

[0099] The sub-processors are connected to the lidars in one-to-one correspondence, and are used to process the original point data of the corresponding lidars to perform local real-time imaging; the general processor is connected to each of the sub-processors for Perform global live imaging. The software is loaded on the sub-processor and the main processor for executing the imaging method described in Embodiment 1.

[0100] And when the global real-time imaging is performed by the general processor, it can be performed based on the result of the local ...

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Abstract

The invention discloses a fully mechanized coal mining face real-time three-dimensional imaging method and system based on multiple laser radars. The imaging method comprises the steps that the pose of any laser radar in a corresponding hydraulic support coordinate system is acquired, and the laser radar is preset on the corresponding hydraulic support; acquiring original point data of a local fully mechanized coal mining face in the field of view of any laser radar at the current moment; performing local real-time imaging on the local fully mechanized coal mining face through the original point data; and by taking a hydraulic support coordinate system as a reference, converting a result of any local real-time imaging into the hydraulic support coordinate system so as to carry out global real-time imaging. According to the imaging system, laser radars are arranged on a hydraulic support, and sub-processors corresponding to the laser radars, a total processor connected with the sub-processors and software for executing the imaging method are arranged. Local real-time imaging and global real-time imaging of the fully mechanized coal mining face can be achieved, and an original mine structure does not need to be transformed.

Description

technical field [0001] The invention relates to the field of unmanned mining in coal mines, in particular to a real-time three-dimensional imaging method and system for a fully mechanized mining face based on multiple laser radars. Background technique [0002] Coal is a mineral resource stored in the ground and is one of the most widely used mineral resources at present. Fully mechanized mining is one of the processes of coal mining. It can achieve high-yield and high-efficiency coal mining through fully mechanized operations of main processes such as coal falling, coal loading, transportation, and support machine goaf treatment, so it gradually dominates coal mining. status. [0003] The fully mechanized mining equipment for fully mechanized mining is a complete set of equipment, and its main components include: a shearer as the coal mining equipment, a flexible scraper conveyor as the working face transportation equipment, and a self-moving hydraulic support as the worki...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/894G01S17/87G01S7/481
CPCG01S17/894G01S17/87G01S7/481
Inventor 郭彬连振中金勇
Owner NANJING BESTWAY AUTOMATION SYST
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