A mine-used three-dimensional color point cloud reconstruction system and method

Abstract

The application provides a mine three-dimensional color point cloud reconstruction system and method, and the system comprises a first multi-line laser radar, a second multi-line laser radar, a laser radar support, a panoramic camera, an inertial navigation device and a data processing computer; wherein the first multi-line laser radar is arranged on the laser radar support and is in a horizontal direction, the second multi-line laser radar is arranged on the laser radar support and is arranged in a right angle complementary structure with the first multi-line laser radar; the panoramic camera is arranged above the first multi-line laser radar; the inertial navigation device is arranged below the laser radar support; and the data processing computer is arranged below the laser radar support. The technical scheme provided by the application enables the construction of point cloud and the addition of RGB information to the point cloud, restores the real scene of the scanned environment, and solves the problem that it is difficult to identify objects on a coal mine working face.

Description

Technical Field

[0001] This application relates to the field of three-dimensional reconstruction technology for coal mines, and in particular to a three-dimensional color point cloud reconstruction system and method for mines. Background Technology

[0002] Currently, the main methods for 3D reconstruction of the underground environment in coal mines are to use lidar or depth camera devices to collect environmental information and combine them with inertial navigation devices to create point cloud maps and complete 3D reconstruction.

[0003] However, information obtained solely from LiDAR measurements only provides the positional information of the scanned object, lacking the color RGB information of the object's surface texture. This means that LiDAR scanning of the environment can only create a point cloud map containing positional information, which is difficult for the human eye to use to identify targets, especially in coal mine environments where real-time observation of objects is crucial in addition to constructing a point cloud map using depth information. While using depth cameras for 3D reconstruction can generate color depth images, the effects of lighting are significant, and the accuracy of the acquired point cloud data is easily affected by environmental interference, ultimately resulting in a significant discrepancy between the generated image and the actual situation. Summary of the Invention

[0004] This application provides a three-dimensional color point cloud reconstruction system and method for mining, so as to at least solve the technical problem in the related art that it is impossible to accurately restore the real scene of the scanned coal mine working face environment.

[0005] The first aspect of this application proposes a three-dimensional color point cloud reconstruction system for mining applications, comprising:

[0006] The system comprises a first multi-line lidar, a second multi-line lidar, a lidar bracket, a panoramic camera, an inertial navigation device, and a data processing computer.

[0007] The first multi-line lidar is mounted on the lidar bracket and is horizontal in the direction of the lidar bracket. The second multi-line lidar is mounted on the lidar bracket and its position is a right-angle complementary structure with the first multi-line lidar.

[0008] The panoramic camera is positioned above the first multi-line lidar;

[0009] The inertial navigation device is located below the lidar bracket at the location of the first multi-line lidar.

[0010] The data processing computer is located below the lidar bracket and is connected to the first multi-line lidar, the second multi-line lidar, the panoramic camera, and the inertial navigation device.

[0011] Preferably, the mining three-dimensional color point cloud reconstruction system further includes: a panoramic camera base, an inertial navigation device bracket, and a data processing computer bracket;

[0012] The panoramic camera is mounted above the first multi-line lidar via the panoramic camera base;

[0013] The inertial navigation device is mounted below the lidar bracket at the location of the first multi-line lidar via an inertial navigation device bracket.

[0014] The data processing computer is mounted below the lidar bracket via a data processing computer stand.

[0015] Preferably, the vertical viewing angle of the first multi-line lidar and the second multi-line lidar is ±15°, and the horizontal viewing angle is 360°.

[0016] Preferably, both the first multi-line lidar and the second multi-line lidar are used to collect three-dimensional geological information of the coal mine working face and send the collected three-dimensional geological information of the coal mine working face to a data processing computer.

[0017] The panoramic camera is a 360° spherical panoramic camera used to collect color information of the coal mine working face and send the collected color information of the coal mine working face to a data processing computer.

[0018] The inertial navigation device is used to collect the pose information of the degrees of freedom of the lidar support in real time, and send the collected pose information of the degrees of freedom of the lidar support to the data processing computer.

[0019] The data processing computer is used to receive three-dimensional geological information, color information and pose information of the degrees of freedom of the lidar support of the coal mine working face, and to reconstruct the three-dimensional laser point cloud information of the coal mine working face based on the received information.

[0020] Furthermore, the reconstructing of the three-dimensional laser point cloud information of the coal mine working face based on the received information includes:

[0021] The extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, and the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device are obtained, and the three-dimensional laser point cloud information corresponding to the coal mine working face is determined based on the extrinsic parameter matrix.

[0022] Based on the pose information of the lidar support degrees of freedom collected by the inertial navigation device, the three-dimensional laser point cloud information corresponding to the coal mine working face is subjected to distortion compensation processing to obtain the point cloud information after distortion compensation processing.

[0023] The point cloud information after distortion compensation and the acquired color information are transformed to the same coordinate system, and then color information is added to the corresponding point cloud positions to obtain the reconstructed three-dimensional laser point cloud information corresponding to the coal mine working face.

[0024] Furthermore, determining the three-dimensional laser point cloud information corresponding to the coal mine working face based on the extrinsic parameter matrix includes:

[0025] Based on the extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, the three-dimensional geological information of the coal mine working face collected by the second multi-line lidar is transformed to the coordinate system corresponding to the first multi-line lidar.

[0026] Based on the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device, the pose information of the lidar support degrees of freedom collected is transformed into the coordinate system corresponding to the first multi-line lidar.

[0027] The point cloud information in the coordinate system corresponding to the first multi-line lidar after transformation is used as the three-dimensional laser point cloud information corresponding to the coal mine working face.

[0028] Furthermore, the pose information of the lidar support's degrees of freedom acquired by the inertial navigation device is used to perform distortion compensation processing on the three-dimensional laser point cloud information corresponding to the coal mine working face, including:

[0029] The attitude calculation results are obtained by using the extended Kalman filter algorithm to calculate the pose information of the collected lidar support degrees of freedom.

[0030] Using the attitude calculation results, the points in each frame of the three-dimensional laser point cloud information corresponding to the coal mine working face are transformed to the coordinate system of the first point of the frame point cloud at that time.

[0031] The second aspect of this application proposes a method for reconstructing three-dimensional color point clouds for mining, including:

[0032] Collect three-dimensional geological information, color information, and pose information of the degrees of freedom of the lidar support of the coal mine working face, and obtain the extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, and the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device.

[0033] Based on the collected three-dimensional geological information and color information of the coal mine working face, and the acquired extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, and the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device, the three-dimensional laser point cloud information corresponding to the coal mine working face is determined.

[0034] The pose information of the laser radar support degree of freedom is collected and the three-dimensional laser point cloud information corresponding to the coal mine working face is subjected to distortion compensation processing to obtain the point cloud information after distortion compensation processing.

[0035] The point cloud information after distortion compensation and the acquired color information are transformed to the same coordinate system, and then color information is added to the corresponding point cloud positions to obtain the reconstructed three-dimensional laser point cloud information corresponding to the coal mine working face.

[0036] Preferably, determining the three-dimensional laser point cloud information corresponding to the coal mine working face based on the collected three-dimensional geological information, color information, and the acquired extrinsic parameter matrices between the first and second multi-line lidars and between the first multi-line lidar and the inertial navigation device includes:

[0037] Based on the extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, the three-dimensional geological information of the coal mine working face collected by the second multi-line lidar is transformed to the coordinate system corresponding to the first multi-line lidar.

[0038] Based on the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device, the pose information of the lidar support degrees of freedom collected is transformed into the coordinate system corresponding to the first multi-line lidar.

[0039] The point cloud information in the coordinate system corresponding to the first multi-line lidar after transformation is used as the three-dimensional laser point cloud information corresponding to the coal mine working face.

[0040] Preferably, the step of using the pose information of the acquired lidar support degrees of freedom to perform distortion compensation processing on the three-dimensional laser point cloud information corresponding to the coal mine working face includes:

[0041] The attitude calculation results are obtained by using the extended Kalman filter algorithm to calculate the pose information of the collected lidar support degrees of freedom.

[0042] Using the attitude calculation results, the points in each frame of the three-dimensional laser point cloud information corresponding to the coal mine working face are transformed to the coordinate system of the first point of the frame point cloud at that time.

[0043] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects:

[0044] This application provides a three-dimensional color point cloud reconstruction system and method for mining applications. The system includes: a first multi-line lidar, a second multi-line lidar, a lidar support, a panoramic camera, a panoramic camera base, an inertial navigation device, and a data processing computer. The first multi-line lidar is mounted on the lidar support in a horizontal direction. The second multi-line lidar is mounted on the lidar support, and its position is perpendicular to the first multi-line lidar, forming a complementary structure. The panoramic camera is mounted above the first multi-line lidar via the panoramic camera base. The inertial navigation device is positioned below the lidar support where the first multi-line lidar is located. The data processing computer is positioned below the lidar support and is connected to the first multi-line lidar, the second multi-line lidar, the panoramic camera, and the inertial navigation device. The technical solution provided by this application allows for the addition of RGB information to the point cloud during construction, restoring the true appearance of the scanned environment and solving the problem of difficulty in object recognition at coal mine working faces.

[0045] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0046] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0047] Figure 1 This is a structural diagram of a mining three-dimensional color point cloud reconstruction system according to an embodiment of this application;

[0048] Figure 2 This is a system structure diagram of a mining three-dimensional color point cloud reconstruction system containing an inertial navigation device support, according to an embodiment of this application;

[0049] Figure 3 This is a flowchart of a mining three-dimensional color point cloud reconstruction method according to an embodiment of this application.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1. First multi-line LiDAR, 2. Second multi-line LiDAR, 3. LiDAR bracket, 4. Panoramic camera, 5. Panoramic camera base, 6. Inertial navigation device, 7. Data processing computer, 8. Inertial navigation device bracket, and 9. Data processing computer bracket. Detailed Implementation

[0052] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0053] This application proposes a three-dimensional color point cloud reconstruction system and method for mining applications. The system includes: a first multi-line lidar 1, a second multi-line lidar 2, a lidar support 3, a panoramic camera 4, an inertial navigation device 6, and a data processing computer 7. The first multi-line lidar 1 is mounted on the lidar support and is horizontally oriented. The second multi-line lidar 2 is mounted on the lidar support 3, and its position is perpendicular to the first multi-line lidar 1, forming a complementary structure. The panoramic camera 4 is positioned above the first multi-line lidar 1. The inertial navigation device 6 is positioned below the lidar support 3 where the first multi-line lidar 1 is located. The data processing computer 7 is positioned below the lidar support 3 and is connected to the first multi-line lidar 1, the second multi-line lidar 2, the panoramic camera 4, and the inertial navigation device 6. The technical solution provided by this application enables the addition of RGB information (color information) to the point cloud during point cloud construction, restoring the true scene of the scanned environment and solving the problem of difficulty in object recognition at coal mine working faces.

[0054] The following description, with reference to the accompanying drawings, illustrates a mining-use three-dimensional color point cloud reconstruction system and method according to embodiments of this application.

[0055] Example 1

[0056] Figure 1 This is a structural diagram of a mining three-dimensional color point cloud reconstruction system according to an embodiment of this application, such as... Figure 1 As shown, the mining three-dimensional color point cloud reconstruction system includes: at least one first multi-line lidar 1, at least one second multi-line lidar 2, at least one lidar support 3, at least one panoramic camera 4, at least one inertial navigation device 6, and a data processing computer 7.

[0057] It is important to note that Figure 1 The diagram shown is a system structure diagram of a first multi-line lidar 1, a second multi-line lidar 2, a lidar bracket 3, a panoramic camera 4, an inertial navigation device 6, and a data processing computer 7. Figure 1 This is merely an example and is not intended to limit the embodiments of this application.

[0058] In this embodiment of the disclosure, the first multi-line lidar 1 is mounted on the lidar bracket 3 and is in a horizontal direction, and the second multi-line lidar 2 is mounted on the lidar bracket 3 and its position is a right-angle complementary structure with the first multi-line lidar 1.

[0059] The vertical viewing angle of the first multi-line lidar and the second multi-line lidar is ±15°, and the horizontal viewing angle is 360°.

[0060] The first multi-line lidar 1 and the second multi-line lidar 2 are both used to collect three-dimensional geological information of the coal mine working face and send the collected three-dimensional geological information of the coal mine working face to the data processing computer 7.

[0061] In this embodiment of the disclosure, the panoramic camera 4 is positioned above the first multi-line lidar 1;

[0062] The panoramic camera 4 is a 360° spherical panoramic camera used to collect color information, i.e., RGB information, of the coal mine working face, and to send the collected color information of the coal mine working face to the data processing computer 7.

[0063] In this embodiment of the disclosure, the inertial navigation device 6 is disposed below the lidar bracket 3 at the location of the first multi-line lidar 1;

[0064] The inertial navigation device 6 is used to collect the pose information of the lidar support's degrees of freedom in real time and send the collected pose information of the lidar support's degrees of freedom to the data processing computer.

[0065] In this embodiment of the disclosure, the data processing computer 7 is disposed below the lidar bracket 3 and is connected to the first multi-line lidar 1, the second multi-line lidar 2, the panoramic camera 4 and the inertial navigation device 6 respectively.

[0066] The data processing computer is used to receive three-dimensional geological information, color information and pose information of the degrees of freedom of the lidar support of the coal mine working face, and to reconstruct the three-dimensional laser point cloud information of the coal mine working face based on the received information.

[0067] The data processing computer 7 can use an 8-core processor, and the power consumption of the computer can be set to 10W, 15W, or 30W as needed.

[0068] It should be noted that the data processing computer 7 located below the lidar bracket 3 is only an example; it can also be fixed to other parts of the lidar bracket 3 or placed separately.

[0069] In the embodiments disclosed herein, such as Figure 2As shown,

[0070] The mining three-dimensional color point cloud reconstruction system also includes: a panoramic camera base 5, an inertial navigation device bracket 8, and a data processing computer bracket 9;

[0071] The panoramic camera 4 is mounted above the first multi-line lidar 1 via the panoramic camera base 5.

[0072] The inertial navigation device 6 is mounted below the laser radar bracket 3 at the location of the first multi-line laser radar 1 via an inertial navigation device bracket 8.

[0073] The data processing computer 7 is mounted below the lidar bracket 3 via a data processing computer stand 9.

[0074] It should be noted that the reconstruction of the three-dimensional laser point cloud information of the coal mine working face based on the received information includes:

[0075] The extrinsic parameter matrix between the first multi-line lidar 1 and the second multi-line lidar 1, and the extrinsic parameter matrix between the first multi-line lidar 1 and the inertial navigation device 6 are obtained, and the three-dimensional laser point cloud information corresponding to the coal mine working face is determined based on the extrinsic parameter matrix.

[0076] Based on the pose information of the lidar support 3 degrees of freedom collected by the inertial navigation device 6, the three-dimensional laser point cloud information corresponding to the coal mine working face is subjected to distortion compensation processing to obtain the point cloud information after distortion compensation processing.

[0077] The point cloud information after distortion compensation and the acquired color information are transformed to the same coordinate system, and then color information is added to the corresponding point cloud positions to obtain the reconstructed three-dimensional laser point cloud information corresponding to the coal mine working face.

[0078] Furthermore, determining the three-dimensional laser point cloud information corresponding to the coal mine working face based on the extrinsic parameter matrix includes:

[0079] Based on the extrinsic parameter matrix between the first multi-line lidar 1 and the second multi-line lidar 2, the three-dimensional geological information of the coal mine working face collected by the second multi-line lidar 2 is transformed to the coordinate system corresponding to the first multi-line lidar 1.

[0080] Based on the extrinsic parameter matrix between the first multi-line lidar 1 and the inertial navigation device 6, the pose information of the lidar support 3 degrees of freedom collected is transformed into the coordinate system corresponding to the first multi-line lidar 1.

[0081] The point cloud information in the coordinate system corresponding to the first multi-line lidar 1 after transformation is used as the three-dimensional laser point cloud information corresponding to the coal mine working face.

[0082] The distortion compensation processing of the three-dimensional laser point cloud information corresponding to the coal mine working face is performed on the pose information of the lidar support 3 based on the degrees of freedom collected by the inertial navigation device 6, including:

[0083] The attitude calculation results are obtained by using the extended Kalman filter algorithm to calculate the pose information of the 3-DOF lidar support.

[0084] Using the attitude calculation results, the points in each frame of the three-dimensional laser point cloud information corresponding to the coal mine working face are transformed to the coordinate system of the first point of the frame point cloud at that time.

[0085] In summary, the mining 3D color point cloud reconstruction system proposed in this application utilizes two multi-line lidars arranged at right angles to expand the lidar's scanning range and collect more point cloud information. Simultaneously, a panoramic camera is used to collect color information (RGB information) at the current location. By using an extrinsic parameter matrix, the point cloud information and color information are transformed to the same coordinate system, fusing the information of points located at the same position with the color information. This allows the point cloud to be constructed while simultaneously adding RGB information (color information), restoring the true scene of the scanned environment and solving the problem of difficulty in object recognition at coal mine working faces.

[0086] Example 2

[0087] Figure 3 Here is a flowchart of a mining three-dimensional color point cloud reconstruction method according to an embodiment of this application, such as... Figure 3 As shown, the method may include:

[0088] Step 1: Collect three-dimensional geological information, color information, and pose information of the degrees of freedom of the lidar support of the coal mine working face, and obtain the extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, and the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device;

[0089] Step 2: Based on the collected three-dimensional geological information and color information of the coal mine working face, and the acquired extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, and the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device, determine the three-dimensional laser point cloud information corresponding to the coal mine working face;

[0090] Step 3: Use the pose information of the degrees of freedom of the collected lidar support to perform distortion compensation processing on the three-dimensional laser point cloud information corresponding to the coal mine working face to obtain the distortion-compensated point cloud information.

[0091] Step 4: Transform the distortion-compensated point cloud information and the acquired color information to the same coordinate system, and then add color information to the corresponding point cloud positions to obtain the reconstructed three-dimensional laser point cloud information corresponding to the coal mine working face.

[0092] In this embodiment of the disclosure, determining the three-dimensional laser point cloud information corresponding to the coal mine working face based on the collected three-dimensional geological information, color information, and the acquired extrinsic parameter matrices between the first and second multi-line lidars and between the first multi-line lidar and the inertial navigation device includes:

[0093] Based on the extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, the three-dimensional geological information of the coal mine working face collected by the second multi-line lidar is transformed to the coordinate system corresponding to the first multi-line lidar.

[0094] Based on the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device, the pose information of the lidar support degrees of freedom collected is transformed into the coordinate system corresponding to the first multi-line lidar.

[0095] The point cloud information in the coordinate system corresponding to the first multi-line lidar after transformation is used as the three-dimensional laser point cloud information corresponding to the coal mine working face.

[0096] In this embodiment of the disclosure, the distortion compensation processing of the three-dimensional laser point cloud information corresponding to the coal mine working face using the pose information of the collected degrees of freedom of the lidar support includes:

[0097] The attitude calculation results are obtained by using the extended Kalman filter algorithm to calculate the pose information of the collected lidar support degrees of freedom.

[0098] Using the attitude calculation results, the points in each frame of the three-dimensional laser point cloud information corresponding to the coal mine working face are transformed to the coordinate system of the first point of the frame point cloud at that time.

[0099] In summary, the proposed method for reconstructing three-dimensional color point clouds in mining involves collecting three-dimensional geological information, color information, and pose information of the lidar support's degrees of freedom from the coal mine working face. It also involves obtaining the extrinsic parameter matrices between the first and second multi-line lidars and between the first multi-line lidar and the inertial navigation device. Based on the collected three-dimensional geological and color information of the coal mine working face, and the obtained extrinsic parameter matrices between the first and second multi-line lidars and between the first multi-line lidar and the inertial navigation device, the method determines the three-dimensional laser point cloud information corresponding to the coal mine working face. The method then uses the pose information of the lidar support's degrees of freedom to perform distortion compensation processing on the three-dimensional laser point cloud information corresponding to the coal mine working face, obtaining the distortion-compensated point cloud information. Finally, the distortion-compensated point cloud information and the collected color information are transformed to the same coordinate system, and color information is added to the corresponding point cloud positions to obtain the reconstructed three-dimensional laser point cloud information corresponding to the coal mine working face. This allows for the addition of RGB information, i.e. color information, to the point cloud during its construction, restoring the true appearance of the scanned environment and solving the problem of difficulty in object recognition at coal mine working faces.

[0100] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0101] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0102] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A three-dimensional color point cloud reconstruction system for mining applications, characterized in that, The system includes: a first multi-line lidar, a second multi-line lidar, a lidar bracket, a panoramic camera, an inertial navigation device, and a data processing computer; The first multi-line lidar is mounted on the lidar bracket and is horizontal in the direction of the lidar bracket. The second multi-line lidar is mounted on the lidar bracket and its position is a right-angle complementary structure with the first multi-line lidar. The panoramic camera is positioned above the first multi-line lidar; The inertial navigation device is located below the lidar bracket at the location of the first multi-line lidar. The data processing computer is located below the lidar bracket and is connected to the first multi-line lidar, the second multi-line lidar, the panoramic camera, and the inertial navigation device. Both the first multi-line lidar and the second multi-line lidar are used to collect three-dimensional geological information of the coal mine working face and send the collected three-dimensional geological information of the coal mine working face to a data processing computer. The panoramic camera is a 360° spherical panoramic camera used to collect color information of the coal mine working face and send the collected color information of the coal mine working face to a data processing computer. The inertial navigation device is used to collect the pose information of the degrees of freedom of the lidar support in real time, and send the collected pose information of the degrees of freedom of the lidar support to the data processing computer. The data processing computer is used to receive three-dimensional geological information, color information and pose information of the degrees of freedom of the lidar support of the coal mine working face, and to reconstruct the three-dimensional laser point cloud information of the coal mine working face based on the received information.

2. The mining three-dimensional color point cloud reconstruction system as described in claim 1, characterized in that, The mining three-dimensional color point cloud reconstruction system also includes: a panoramic camera base, an inertial navigation device bracket, and a data processing computer bracket; The panoramic camera is mounted above the first multi-line lidar via the panoramic camera base; The inertial navigation device is mounted below the lidar bracket at the location of the first multi-line lidar via an inertial navigation device bracket. The data processing computer is mounted below the lidar bracket via a data processing computer stand.

3. The mining three-dimensional color point cloud reconstruction system as described in claim 1, characterized in that, The vertical viewing angle of the first and second multi-line lidars is ±15°, and the horizontal viewing angle is 360°.

4. The mining three-dimensional color point cloud reconstruction system as described in claim 1, characterized in that, The reconstruction of the three-dimensional laser point cloud information of the coal mine working face based on the received information includes: The extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, and the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device are obtained, and the three-dimensional laser point cloud information corresponding to the coal mine working face is determined based on the extrinsic parameter matrix. Based on the pose information of the lidar support degrees of freedom collected by the inertial navigation device, the three-dimensional laser point cloud information corresponding to the coal mine working face is subjected to distortion compensation processing to obtain the point cloud information after distortion compensation processing. The distortion-compensated point cloud information and the acquired color information are transformed to the same coordinate system, and then color information is added to the corresponding point cloud positions to obtain the reconstructed three-dimensional laser point cloud information corresponding to the coal mine working face.

5. The mining three-dimensional color point cloud reconstruction system as described in claim 4, characterized in that, The process of determining the three-dimensional laser point cloud information corresponding to the coal mine working face based on the extrinsic parameter matrix includes: Based on the extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, the three-dimensional geological information of the coal mine working face collected by the second multi-line lidar is transformed to the coordinate system corresponding to the first multi-line lidar. Based on the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device, the pose information of the lidar support degrees of freedom collected is transformed into the coordinate system corresponding to the first multi-line lidar. The point cloud information in the coordinate system corresponding to the first multi-line lidar after transformation is used as the three-dimensional laser point cloud information corresponding to the coal mine working face.

6. The mining three-dimensional color point cloud reconstruction system as described in claim 5, characterized in that, The pose information of the lidar support's degrees of freedom, collected by the inertial navigation device, is used to perform distortion compensation processing on the three-dimensional laser point cloud information corresponding to the coal mine working face, including: The attitude calculation results are obtained by using the extended Kalman filter algorithm to calculate the pose information of the collected lidar support degrees of freedom. Using the attitude calculation results, the points in each frame of the three-dimensional laser point cloud information corresponding to the coal mine working face are transformed to the coordinate system of the first point of the frame point cloud at that time.

7. A mining three-dimensional color point cloud reconstruction method based on the mining three-dimensional color point cloud reconstruction system according to any one of claims 1-6, characterized in that, The method includes: Collect three-dimensional geological information, color information, and pose information of the degrees of freedom of the lidar support of the coal mine working face, and obtain the extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, and the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device. Based on the collected three-dimensional geological information and color information of the coal mine working face, and the acquired extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, and the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device, the three-dimensional laser point cloud information corresponding to the coal mine working face is determined. The pose information of the laser radar support degree of freedom is collected and the three-dimensional laser point cloud information corresponding to the coal mine working face is subjected to distortion compensation processing to obtain the point cloud information after distortion compensation processing. The distortion-compensated point cloud information and the acquired color information are transformed to the same coordinate system, and then color information is added to the corresponding point cloud positions to obtain the reconstructed three-dimensional laser point cloud information corresponding to the coal mine working face.

8. The method for reconstructing three-dimensional color point clouds for mining as described in claim 7, characterized in that, The determination of the three-dimensional laser point cloud information corresponding to the coal mine working face based on the collected three-dimensional geological information, color information, and the acquired extrinsic parameter matrices between the first and second multi-line lidars and between the first multi-line lidar and the inertial navigation device includes: Based on the extrinsic parameter matrix between the first multi-line lidar and the second multi-line lidar, the three-dimensional geological information of the coal mine working face collected by the second multi-line lidar is transformed to the coordinate system corresponding to the first multi-line lidar. Based on the extrinsic parameter matrix between the first multi-line lidar and the inertial navigation device, the pose information of the lidar support degrees of freedom collected is transformed into the coordinate system corresponding to the first multi-line lidar. The point cloud information in the coordinate system corresponding to the first multi-line lidar after transformation is used as the three-dimensional laser point cloud information corresponding to the coal mine working face.

9. The method for reconstructing three-dimensional color point clouds for mining as described in claim 7, characterized in that, The distortion compensation processing of the three-dimensional laser point cloud information corresponding to the coal mine working face using the pose information of the collected lidar support degrees of freedom includes: The attitude calculation results are obtained by using the extended Kalman filter algorithm to calculate the pose information of the collected lidar support degrees of freedom. Using the attitude calculation results, the points in each frame of the three-dimensional laser point cloud information corresponding to the coal mine working face are transformed to the coordinate system of the first point of the frame point cloud at that time.

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